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update H1 urdf for isaac gym

This commit is contained in:
BDLUO 2024-02-01 15:48:03 +08:00
parent 6869f7d38c
commit 67ac212449
55 changed files with 4569 additions and 4384 deletions
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4
robots/h1_description/launch/display.launch
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@ -3,7 +3,7 @@
name="model" />
<param
name="robot_description"
textfile="$(find h1_description)/urdf/h1.urdf" />
textfile="$(find h1_description)/urdf/h1_with_hand.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
@ -17,4 +17,4 @@
pkg="rviz"
type="rviz"
args="-d $(find h1_description)/launch/check_joint.rviz" />
</launch>
</launch>

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robots/h1_description/meshes/logo_link_gray.dae
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195
robots/h1_description/urdf/h1.urdf
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@ -40,7 +40,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/pelvis.STL" />
filename="package://h1_description/meshes/pelvis.dae" />
</geometry>
<material
name="">
@ -49,12 +49,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/pelvis.STL" />
<sphere radius="0.05"/>
</geometry>
</collision>
</link>
@ -80,7 +77,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
filename="package://h1_description/meshes/left_hip_yaw_link.dae" />
</geometry>
<material
name="">
@ -88,13 +85,10 @@ Stephen Brawner (brawner@gmail.com)
rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<!-- [CAUTION] use cylinder for hip_yaw_link -->
<collision>
<origin
xyz="-0.067 0 0"
rpy="0 1.57075 0" />
<collision>
<origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
<geometry>
<cylinder length="0.07" radius="0.06" />
<cylinder radius="0.01" length="0.02"/>
</geometry>
</collision>
</link>
@ -138,7 +132,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_roll_link.STL" />
filename="package://h1_description/meshes/left_hip_roll_link.dae" />
</geometry>
<material
name="">
@ -147,12 +141,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_roll_link.STL" />
<cylinder radius="0.02" length="0.01"/>
</geometry>
</collision>
</link>
@ -196,7 +187,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_pitch_link.STL" />
filename="package://h1_description/meshes/left_hip_pitch_link.dae" />
</geometry>
<material
name="">
@ -205,12 +196,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_pitch_link.STL" />
<cylinder radius="0.05" length="0.2"/>
</geometry>
</collision>
</link>
@ -254,7 +242,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_knee_link.STL" />
filename="package://h1_description/meshes/left_knee_link.dae" />
</geometry>
<material
name="">
@ -263,12 +251,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_knee_link.STL" />
<cylinder radius="0.05" length="0.2"/>
</geometry>
</collision>
</link>
@ -312,7 +297,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_ankle_link.STL" />
filename="package://h1_description/meshes/left_ankle_link.dae" />
</geometry>
<material
name="">
@ -321,12 +306,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_ankle_link.STL" />
<box size="0.28 0.03 0.024"/>
</geometry>
</collision>
</link>
@ -370,7 +352,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
filename="package://h1_description/meshes/right_hip_yaw_link.dae" />
</geometry>
<material
name="">
@ -378,13 +360,10 @@ Stephen Brawner (brawner@gmail.com)
rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<!-- [CAUTION] use cylinder for hip_yaw_link -->
<collision>
<origin
xyz="-0.067 0 0"
rpy="0 1.57075 0" />
<collision>
<origin xyz="0.02 0 0" rpy="0 1.5707963267948966192313216916398 0" />
<geometry>
<cylinder length="0.07" radius="0.06" />
<cylinder radius="0.01" length="0.02"/>
</geometry>
</collision>
</link>
@ -428,7 +407,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_roll_link.STL" />
filename="package://h1_description/meshes/right_hip_roll_link.dae" />
</geometry>
<material
name="">
@ -437,12 +416,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_roll_link.STL" />
<cylinder radius="0.02" length="0.01"/>
</geometry>
</collision>
</link>
@ -486,7 +462,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
filename="package://h1_description/meshes/right_hip_pitch_link.dae" />
</geometry>
<material
name="">
@ -495,12 +471,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
<cylinder radius="0.05" length="0.2"/>
</geometry>
</collision>
</link>
@ -544,7 +517,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_knee_link.STL" />
filename="package://h1_description/meshes/right_knee_link.dae" />
</geometry>
<material
name="">
@ -553,12 +526,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_knee_link.STL" />
<cylinder radius="0.05" length="0.2"/>
</geometry>
</collision>
</link>
@ -602,7 +572,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_ankle_link.STL" />
filename="package://h1_description/meshes/right_ankle_link.dae" />
</geometry>
<material
name="">
@ -611,12 +581,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_ankle_link.STL" />
<box size="0.28 0.03 0.024"/>
</geometry>
</collision>
</link>
@ -660,7 +627,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/torso_link.STL" />
filename="package://h1_description/meshes/torso_link.dae" />
</geometry>
<material
name="">
@ -669,12 +636,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 0.15" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/torso_link.STL" />
<box size="0.08 0.16 0.1"/>
</geometry>
</collision>
</link>
@ -718,7 +682,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_shoulder_pitch_link.STL" />
filename="package://h1_description/meshes/left_shoulder_pitch_link.dae" />
</geometry>
<material
name="">
@ -727,12 +691,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 -0.05 0" rpy="1.5707963267948966192313216916398 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_shoulder_pitch_link.STL" />
<cylinder radius="0.03" length="0.04"/>
</geometry>
</collision>
</link>
@ -776,7 +737,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_shoulder_roll_link.STL" />
filename="package://h1_description/meshes/left_shoulder_roll_link.dae" />
</geometry>
<material
name="">
@ -785,12 +746,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.04" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_shoulder_roll_link.STL" />
<cylinder radius="0.04" length="0.01"/>
</geometry>
</collision>
</link>
@ -834,7 +792,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_shoulder_yaw_link.STL" />
filename="package://h1_description/meshes/left_shoulder_yaw_link.dae" />
</geometry>
<material
name="">
@ -843,12 +801,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.11" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_shoulder_yaw_link.STL" />
<cylinder radius="0.04" length="0.01"/>
</geometry>
</collision>
</link>
@ -874,10 +829,10 @@ Stephen Brawner (brawner@gmail.com)
name="left_elbow_link">
<inertial>
<origin
xyz="0.15908 -0.000144 -0.015776"
xyz="0.164862 0.000118 -0.015734"
rpy="0 0 0" />
<mass
value="0.669" />
value="0.723" />
<inertia
ixx="0.00042388"
ixy="-3.6086E-05"
@ -892,7 +847,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_elbow_link.STL" />
filename="package://h1_description/meshes/left_elbow_link.dae" />
</geometry>
<material
name="">
@ -901,12 +856,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0.125 0 0" rpy="0 1.57 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_elbow_link.STL" />
<cylinder radius="0.03" length="0.09"/>
</geometry>
</collision>
</link>
@ -950,7 +902,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_shoulder_pitch_link.STL" />
filename="package://h1_description/meshes/right_shoulder_pitch_link.dae" />
</geometry>
<material
name="">
@ -959,12 +911,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0.05 0" rpy="-1.5707963267948966192313216916398 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_shoulder_pitch_link.STL" />
<cylinder radius="0.03" length="0.04"/>
</geometry>
</collision>
</link>
@ -1008,7 +957,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_shoulder_roll_link.STL" />
filename="package://h1_description/meshes/right_shoulder_roll_link.dae" />
</geometry>
<material
name="">
@ -1017,12 +966,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.04" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_shoulder_roll_link.STL" />
<cylinder radius="0.04" length="0.01"/>
</geometry>
</collision>
</link>
@ -1066,7 +1012,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_shoulder_yaw_link.STL" />
filename="package://h1_description/meshes/right_shoulder_yaw_link.dae" />
</geometry>
<material
name="">
@ -1075,12 +1021,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.11" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_shoulder_yaw_link.STL" />
<cylinder radius="0.04" length="0.01"/>
</geometry>
</collision>
</link>
@ -1106,10 +1049,10 @@ Stephen Brawner (brawner@gmail.com)
name="right_elbow_link">
<inertial>
<origin
xyz="0.15908 0.000144 -0.015776"
xyz="0.164862 -0.000118 -0.015734"
rpy="0 0 0" />
<mass
value="0.669" />
value="0.723" />
<inertia
ixx="0.00042388"
ixy="3.6086E-05"
@ -1124,7 +1067,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_elbow_link.STL" />
filename="package://h1_description/meshes/right_elbow_link.dae" />
</geometry>
<material
name="">
@ -1133,12 +1076,9 @@ Stephen Brawner (brawner@gmail.com)
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0.125 0 0" rpy="0 1.57 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_elbow_link.STL" />
<cylinder radius="0.03" length="0.09"/>
</geometry>
</collision>
</link>
@ -1180,7 +1120,7 @@ Stephen Brawner (brawner@gmail.com)
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/logo_link.STL" />
filename="package://h1_description/meshes/logo_link.dae" />
</geometry>
<material
name="">
@ -1188,6 +1128,7 @@ Stephen Brawner (brawner@gmail.com)
rgba="1 1 1 1" />
</material>
</visual>
</link>
<joint
name="logo_joint"

1205
robots/h1_description/urdf/h1_isaacgym.urdf
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342
robots/h1_description/urdf/h1_with_hand.urdf
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@ -22,21 +22,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/pelvis.STL" />
filename="package://h1_description/meshes/pelvis.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
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<sphere radius="0.05"/>
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</collision>
</link>
@ -62,20 +59,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_yaw_link.STL" />
filename="package://h1_description/meshes/left_hip_yaw_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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rpy="0 1.57075 0" />
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</link>
@ -119,21 +114,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_roll_link.STL" />
filename="package://h1_description/meshes/left_hip_roll_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
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<mesh
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</link>
@ -177,21 +169,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_hip_pitch_link.STL" />
filename="package://h1_description/meshes/left_hip_pitch_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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</visual>
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
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</collision>
</link>
@ -235,21 +224,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_knee_link.STL" />
filename="package://h1_description/meshes/left_knee_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_knee_link.STL" />
<cylinder radius="0.05" length="0.2"/>
</geometry>
</collision>
</link>
@ -293,21 +279,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/left_ankle_link.STL" />
filename="package://h1_description/meshes/left_ankle_link.dae" />
</geometry>
<material
name="">
<color
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rgba="0.1 0.1 0.1 1" />
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
<geometry>
<mesh
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<box size="0.28 0.03 0.024"/>
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</collision>
</link>
@ -351,20 +334,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_yaw_link.STL" />
filename="package://h1_description/meshes/right_hip_yaw_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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</visual>
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<origin
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rpy="0 1.57075 0" />
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@ -408,21 +389,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_roll_link.STL" />
filename="package://h1_description/meshes/right_hip_roll_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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</visual>
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 -0.06 0" rpy="1.5707963267948966192313216916398 0 0" />
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<mesh
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</link>
@ -466,21 +444,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_hip_pitch_link.STL" />
filename="package://h1_description/meshes/right_hip_pitch_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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</visual>
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
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<cylinder radius="0.05" length="0.2"/>
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</collision>
</link>
@ -524,21 +499,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_knee_link.STL" />
filename="package://h1_description/meshes/right_knee_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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</visual>
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 -0.2" rpy="0 0 0" />
<geometry>
<mesh
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<cylinder radius="0.05" length="0.2"/>
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</collision>
</link>
@ -582,21 +554,18 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/right_ankle_link.STL" />
filename="package://h1_description/meshes/right_ankle_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0.05 0.0 -0.05" rpy="0 0 0" />
<geometry>
<mesh
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<box size="0.28 0.03 0.024"/>
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</collision>
</link>
@ -640,21 +609,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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</visual>
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<origin xyz="0 0 0.15" rpy="0 0 0" />
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<mesh
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<box size="0.08 0.16 0.1"/>
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</link>
@ -698,21 +664,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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rpy="0 0 0" />
<origin xyz="0 -0.05 0" rpy="1.5707963267948966192313216916398 0 0" />
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<mesh
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</link>
@ -756,21 +719,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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xyz="0 0 0"
rpy="0 0 0" />
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<mesh
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</link>
@ -814,21 +774,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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<material
name="">
<color
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rgba="0.1 0.1 0.1 1" />
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rpy="0 0 0" />
<origin xyz="0 0 -0.11" rpy="0 0 0" />
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<mesh
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@ -872,21 +829,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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filename="package://h1_description/meshes/left_elbow_link.dae" />
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<material
name="">
<color
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rgba="0.1 0.1 0.1 1" />
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rpy="0 0 0" />
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@ -930,12 +884,12 @@
rpy="0 0 0" />
<geometry>
<mesh
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filename="package://h1_description/meshes/left_hand_link.dae" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
rgba="0.1 0.1 0.1 1" />
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@ -996,10 +950,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/L_hand_base_link.STL" />
<mesh filename="package://h1_description/meshes/L_hand_base_link.dae" />
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<material name="">
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<color rgba="0.1 0.1 0.1 1" />
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@ -1032,10 +986,10 @@
xyz="0 0 0"
rpy="0 0 0" />
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<mesh filename="package://h1_description/meshes/Link11_L.STL" />
<mesh filename="package://h1_description/meshes/Link11_L.dae" />
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<material name="">
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@ -1087,10 +1041,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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@ -1142,10 +1096,10 @@
xyz="0 0 0"
rpy="0 0 0" />
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@ -1201,10 +1155,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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<color rgba="0.1 0.1 0.1 1" />
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@ -1260,10 +1214,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link15_L.STL" />
<mesh filename="package://h1_description/meshes/Link15_L.dae" />
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<material name="">
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@ -1315,10 +1269,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link16_L.STL" />
<mesh filename="package://h1_description/meshes/Link16_L.dae" />
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@ -1374,10 +1328,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link17_L.STL" />
<mesh filename="package://h1_description/meshes/Link17_L.dae" />
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<collision>
@ -1429,10 +1383,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link18_L.STL" />
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<material name="">
<color rgba="0.82745 0.83922 0.82745 1" />
<color rgba="0.1 0.1 0.1 1" />
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<collision>
@ -1488,10 +1442,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link19_L.STL" />
<mesh filename="package://h1_description/meshes/Link19_L.dae" />
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<material name="">
<color rgba="0.79216 0.81961 0.93333 1" />
<color rgba="0.1 0.1 0.1 1" />
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@ -1543,10 +1497,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link20_L.STL" />
<mesh filename="package://h1_description/meshes/Link20_L.dae" />
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@ -1602,10 +1556,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
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@ -1657,10 +1611,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link22_L.STL" />
<mesh filename="package://h1_description/meshes/Link22_L.dae" />
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<collision>
@ -1717,21 +1671,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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<material
name="">
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rgba="0.1 0.1 0.1 1" />
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rpy="0 0 0" />
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@ -1775,21 +1726,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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rpy="0 0 0" />
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@ -1833,21 +1781,18 @@
rpy="0 0 0" />
<geometry>
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rgba="0.1 0.1 0.1 1" />
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rpy="0 0 0" />
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@ -1891,21 +1836,18 @@
rpy="0 0 0" />
<geometry>
<mesh
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@ -1949,12 +1891,12 @@
rpy="0 0 0" />
<geometry>
<mesh
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name="">
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@ -2016,10 +1958,10 @@
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rpy="0 0 0" />
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@ -2052,10 +1994,10 @@
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@ -2162,10 +2104,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link13_R.STL" />
<mesh filename="package://h1_description/meshes/Link13_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2221,10 +2163,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link14_R.STL" />
<mesh filename="package://h1_description/meshes/Link14_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2280,10 +2222,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link15_R.STL" />
<mesh filename="package://h1_description/meshes/Link15_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2335,10 +2277,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link16_R.STL" />
<mesh filename="package://h1_description/meshes/Link16_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2394,10 +2336,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link17_R.STL" />
<mesh filename="package://h1_description/meshes/Link17_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2449,10 +2391,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link18_R.STL" />
<mesh filename="package://h1_description/meshes/Link18_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2508,10 +2450,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link19_R.STL" />
<mesh filename="package://h1_description/meshes/Link19_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2563,10 +2505,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link20_R.STL" />
<mesh filename="package://h1_description/meshes/Link20_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2622,10 +2564,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link21_R.STL" />
<mesh filename="package://h1_description/meshes/Link21_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2677,10 +2619,10 @@
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh filename="package://h1_description/meshes/Link22_R.STL" />
<mesh filename="package://h1_description/meshes/Link22_R.dae" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
<color rgba="0.1 0.1 0.1 1" />
</material>
</visual>
<collision>
@ -2723,7 +2665,7 @@
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/logo_link.STL" />
filename="package://h1_description/meshes/logo_link.dae" />
</geometry>
<material
name="">
@ -2731,15 +2673,7 @@
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://h1_description/meshes/logo_link.STL" />
</geometry>
</collision>
</link>
<joint
name="logo_joint"

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robots/h1_description/urdf/h1_with_hand_isaacgym.urdf
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