initial file commit

.gitattributes

@@ -52,3 +52,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 *.jpg filter=lfs diff=lfs merge=lfs -text
 *.jpeg filter=lfs diff=lfs merge=lfs -text
 *.webp filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text

LICENSE.txt

@@ -0,0 +1,14 @@
+These assets represent derivative work of the following authors and are bound by the CC BY-NC-SA 4.0 license (https://creativecommons.org/licenses/by-nc-sa/4.0/legalcode).
+
+Authors:
+Fetch Robotics: https://github.com/fetchrobotics
+
+Adapted from: 
+https://github.com/fetchrobotics/fetch_ros 
+branch melodic_devel
+June 2021
+commit: 9c38de60834e6e51e676a302337e9ca56436e94f
+
+Adaptations include:
+- modifications to URDF file
+- Addition of new collision meshes

meshes/base_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec83c5d6e109f699f7efb3aa0502b636d00f1776d78f18c9ce4dda2245abd7fd
+size 8510362

meshes/bellows_link_collision.obj

@@ -0,0 +1,48 @@
+# chd Mesh group 
+v 0.0431472 0.094064 0.0176975
+v -0.0332084 -0.143629 -0.291713
+v -0.0332084 0.141536 -0.291713
+v -0.0332084 -0.143629 0.0219375
+v 0.0431472 -0.0961567 -0.287473
+v -0.0332084 0.141536 0.0219375
+v 0.0201777 -0.147889 0.0266236
+v 0.0236733 0.140393 -0.290456
+v 0.0431472 -0.0961567 0.0176975
+v 0.0201777 -0.147889 -0.296399
+v 0.0431472 0.094064 -0.287473
+v 0.0236733 0.140393 0.0206802
+v 0.0355066 0.115016 -0.288969
+v 0.0355066 0.115016 0.019193
+v 0.0238743 -0.139962 -0.292176
+v 0.0238743 -0.139962 0.0224
+# Number of vertices 16 
+
+g part_1 mesh
+f 7 15 16
+f 3 2 4
+f 3 4 6
+f 6 4 7
+f 4 2 7
+f 3 6 8
+f 5 1 9
+f 1 7 9
+f 2 3 10
+f 7 2 10
+f 3 8 10
+f 1 5 11
+f 5 10 11
+f 6 7 12
+f 8 6 12
+f 8 12 13
+f 10 8 13
+f 11 10 13
+f 1 11 13
+f 1 13 14
+f 7 1 14
+f 12 7 14
+f 13 12 14
+f 5 9 15
+f 7 10 15
+f 10 5 15
+f 9 7 16
+f 15 9 16

meshes/elbow_flex_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b05f1d7b9fab80751f6b0e25e9da25113c509877549a9627d4b2c48b36333a99
+size 928772

meshes/elbow_flex_link_collision.obj

@@ -0,0 +1,72 @@
+# chd Mesh group 
+v 0.0758418 -0.040974 -0.0039882
+v 0.0531276 0.0687472 0.0139706
+v 0.0531295 0.0687187 -0.0144237
+v -0.0496385 0.00142305 0.0116059
+v 0.167362 -0.00430003 0.0529125
+v 0.167362 -0.0179184 -0.050637
+v -0.0124843 0.00114733 -0.0533625
+v -0.0315406 0.0719875 0.0392744
+v 0.167362 0.0529095 0.00384249
+v -0.0124843 0.0719875 -0.0479114
+v -0.015185 0.00114733 0.0529125
+v 0.167362 -0.0506271 0.0174702
+v 0.167362 0.0283718 -0.0451755
+v -0.015185 0.0719875 0.0474614
+v -0.0451739 0.0719875 -0.0206561
+v 0.167362 -0.0451797 -0.0288327
+v 0.162933 0.0328359 0.0403054
+v -0.0411587 0.00146843 -0.0303269
+v 0.10121 -0.0412097 0.0288257
+v 0.104162 -0.049317 -0.0116907
+v 0.167362 -0.0288254 0.0447255
+v -0.0533625 0.0610682 0.0120191
+v 0.159168 0.0118925 -0.0506713
+v 0.158949 0.0480214 -0.0221618
+# Number of vertices 24 
+
+g part_1 mesh
+f 13 10 24
+f 3 2 9
+f 5 6 9
+f 2 3 10
+f 8 4 11
+f 6 5 12
+f 9 6 13
+f 9 2 14
+f 2 10 14
+f 10 8 14
+f 11 5 14
+f 8 11 14
+f 8 10 15
+f 7 6 16
+f 6 12 16
+f 5 9 17
+f 9 14 17
+f 14 5 17
+f 1 4 18
+f 10 7 18
+f 15 10 18
+f 4 1 19
+f 11 4 19
+f 12 19 20
+f 7 16 20
+f 16 12 20
+f 1 18 20
+f 18 7 20
+f 19 1 20
+f 5 11 21
+f 12 5 21
+f 11 19 21
+f 19 12 21
+f 4 8 22
+f 8 15 22
+f 18 4 22
+f 15 18 22
+f 6 7 23
+f 7 10 23
+f 13 6 23
+f 10 13 23
+f 3 9 24
+f 10 3 24
+f 9 13 24

meshes/estop_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fb32172668c88e2222158b481f04dde5f6954c93372810bfd78f2361e62d2b8
+size 606014

meshes/forearm_roll_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:823c46acc13e3adcc5f2fb605497c385595616c67f9c1d61fd8db8401ff15cb2
+size 1634962

meshes/forearm_roll_link_collision.obj

@@ -0,0 +1,72 @@
+# chd Mesh group 
+v -0.0258426 -0.0530495 -0.0115522
+v 0.0147544 0.0457586 0.00983031
+v 0.0143762 0.0461746 -0.00862159
+v 0.177787 -0.0779807 -0.00952677
+v 0.131352 -0.0778474 0.0499819
+v -0.0282966 -0.0162801 0.0497548
+v -0.0282683 0.01067 -0.0507777
+v 0.136589 -0.0882765 -0.0481321
+v 0.170039 -0.0470933 -0.0172437
+v 0.140884 -0.0494441 0.0456366
+v -0.0291451 0.0356516 0.0378123
+v 0.0330839 -0.0725744 0.0276327
+v 0.138935 -0.0496495 -0.0469703
+v -0.0287695 -0.0359713 -0.0387073
+v 0.170039 -0.0496707 0.0265062
+v 0.139151 -0.0882765 0.047095
+v 0.00764899 0.0387282 -0.032819
+v 0.0125476 0.0194991 0.0460508
+v -0.0291654 0.0505227 -0.0116468
+v 0.079582 -0.0848364 -0.0262298
+v -0.0283826 -0.0481755 0.0227976
+v 0.0147001 0.0365965 0.0305573
+v 0.170039 -0.0882765 0.018779
+v -0.0278077 -0.0138556 -0.0505474
+# Number of vertices 24 
+
+g part_1 mesh
+f 14 7 24
+f 3 2 9
+f 4 8 13
+f 8 7 13
+f 9 4 13
+f 9 2 15
+f 4 9 15
+f 15 10 16
+f 5 6 16
+f 10 5 16
+f 6 12 16
+f 3 9 17
+f 13 7 17
+f 9 13 17
+f 6 5 18
+f 5 10 18
+f 11 6 18
+f 2 3 19
+f 11 2 19
+f 7 14 19
+f 14 11 19
+f 3 17 19
+f 17 7 19
+f 12 1 20
+f 1 14 20
+f 14 8 20
+f 8 16 20
+f 16 12 20
+f 6 11 21
+f 12 6 21
+f 1 12 21
+f 14 1 21
+f 11 14 21
+f 2 11 22
+f 15 2 22
+f 10 15 22
+f 18 10 22
+f 11 18 22
+f 8 4 23
+f 4 15 23
+f 15 16 23
+f 16 8 23
+f 7 8 24
+f 8 14 24

meshes/gripper_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22abd38377e1e760118a32ecd35e9ef9851ed0f1437ac04d5c278f91796ca68a
+size 1938889

meshes/gripper_link_collision.obj

@@ -0,0 +1,72 @@
+# chd Mesh group 
+v -0.0742851 0.0279309 -0.0409188
+v -0.152925 -0.0586537 -0.0212747
+v -0.152895 -0.0586246 0.0232151
+v -0.0314512 -0.0607312 -0.0262778
+v -0.0419275 0.0544594 0.0428281
+v -0.155039 0.0586456 0.0344434
+v -0.0440325 -0.0565319 0.0428281
+v -0.148748 0.0607452 -0.0325642
+v -0.0314633 0.0607452 -0.0262866
+v -0.142457 -0.0376878 0.0449265
+v -0.142457 -0.0439736 -0.0409489
+v -0.0314512 -0.0607312 0.0302554
+v -0.0419275 -0.0397743 -0.0409489
+v -0.0440325 0.0649313 0.0344434
+v -0.140364 -0.0649173 0.0344434
+v -0.0314633 0.0565459 0.0365418
+v -0.0440325 -0.0649173 -0.0304658
+v -0.123609 0.0502602 0.0449265
+v -0.155039 0.0272299 -0.0367609
+v -0.138272 0.0670309 -0.00114997
+v -0.0461254 0.0628317 -0.0346626
+v -0.142457 -0.0649173 -0.0304658
+v -0.142457 0.0439876 -0.0409489
+v -0.155039 -0.0565319 0.0365418
+# Number of vertices 24 
+
+g part_1 mesh
+f 6 19 24
+f 4 9 12
+f 9 4 13
+f 7 10 15
+f 12 7 15
+f 5 7 16
+f 7 12 16
+f 12 9 16
+f 14 5 16
+f 9 14 16
+f 4 12 17
+f 13 4 17
+f 11 13 17
+f 12 15 17
+f 7 5 18
+f 6 10 18
+f 10 7 18
+f 5 14 18
+f 14 6 18
+f 6 8 19
+f 11 2 19
+f 8 6 20
+f 6 14 20
+f 20 14 21
+f 13 1 21
+f 9 13 21
+f 14 9 21
+f 8 20 21
+f 3 2 22
+f 2 11 22
+f 15 3 22
+f 11 17 22
+f 17 15 22
+f 1 13 23
+f 13 11 23
+f 19 8 23
+f 11 19 23
+f 21 1 23
+f 8 21 23
+f 2 3 24
+f 10 6 24
+f 3 15 24
+f 15 10 24
+f 19 2 24

meshes/head_pan_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d9e747aa10f680a5e99bba0234009cb10018c9e573c9a4685c6be02f0297e60
+size 978083

meshes/head_tilt_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb77580b300fbb0931c04519cb56081a10240b4ec5779da4b0f488ab42fe4718
+size 746107

meshes/shoulder_lift_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b716ce3a1577e9f0ac64fdc55942d73fb949ac6e2897c9fe68a0d10330b08e6e
+size 3105888

meshes/shoulder_lift_link_collision.obj

@@ -0,0 +1,72 @@
+# chd Mesh group 
+v 0.0955651 -0.0458247 0.00441976
+v 0.0586988 0.0692331 0.0126772
+v 0.0587006 0.0692742 -0.011732
+v -0.0566499 -0.00140138 0.0128395
+v -0.01164 -0.00123588 -0.0577054
+v 0.173432 0.00958025 -0.0524957
+v 0.173432 -0.0161897 0.0505922
+v -0.0327638 0.0725926 0.0477229
+v -0.0241885 0.0725926 -0.0525077
+v 0.173432 0.0525342 0.00762584
+v -0.00637334 -0.00126055 0.0587918
+v 0.173432 -0.0448339 -0.0295899
+v 0.0101813 0.0725926 0.0563186
+v 0.173432 -0.0476835 0.0248051
+v -0.0556846 0.0725926 -0.0152678
+v -0.0477191 -0.00133187 -0.0336414
+v 0.168745 0.0288143 0.043094
+v 0.168472 0.0452377 -0.0255718
+v 0.00997843 0.0610223 -0.0577531
+v 0.108979 -0.0487127 -0.0114343
+v 0.173432 -0.0190516 -0.0496385
+v -0.0335664 -0.00126862 0.0479701
+v -0.0518622 0.0565922 0.0295146
+v 0.026403 0.0687932 -0.0493129
+# Number of vertices 24 
+
+g part_1 mesh
+f 19 9 24
+f 3 2 10
+f 7 6 10
+f 6 7 12
+f 2 3 13
+f 3 9 13
+f 9 8 13
+f 10 2 13
+f 11 7 13
+f 8 11 13
+f 11 1 14
+f 7 11 14
+f 12 7 14
+f 8 9 15
+f 15 9 16
+f 1 4 16
+f 9 5 16
+f 4 15 16
+f 7 10 17
+f 10 13 17
+f 13 7 17
+f 10 6 18
+f 6 5 19
+f 5 9 19
+f 5 12 20
+f 14 1 20
+f 12 14 20
+f 1 16 20
+f 16 5 20
+f 5 6 21
+f 12 5 21
+f 6 12 21
+f 4 1 22
+f 1 11 22
+f 11 8 22
+f 15 4 23
+f 8 15 23
+f 4 22 23
+f 22 8 23
+f 9 3 24
+f 3 10 24
+f 18 6 24
+f 10 18 24
+f 6 19 24

meshes/shoulder_pan_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6670bcd09185d7767a529b35996a96cb268a8267c5769bf9dc1213d0aa4e241
+size 3356413

meshes/torso_fixed_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d269ac0f15d460ba3d7bd6bfc6be22dca5ed90e675b684cf3ae7f9649dd62e
+size 30392

meshes/torso_lift_link.dae

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc32949a618d51276eeccd1d8cec3e105086a94a6fa7a7e12b68fef4ea5963c
+size 5911045