From 8cecde8917577977e2f07da3c7497a1317d5948e Mon Sep 17 00:00:00 2001
From: Ram Vempati <63425932+APetabyteOfRAM@users.noreply.github.com>
Date: Sat, 18 Sep 2021 10:42:37 -0400
Subject: [PATCH] Add files via upload
---
olympian_description/CMakeLists.txt | 197 +++++
olympian_description/LICENSE | 21 +
olympian_description/launch/controller.launch | 9 +
olympian_description/launch/controller.yaml | 99 +++
olympian_description/launch/display.launch | 10 +
olympian_description/launch/gazebo.launch | 11 +
olympian_description/launch/urdf.rviz | 422 +++++++++++
.../meshes/Ankle_Link_v1_1.stl | Bin 0 -> 23884 bytes
.../meshes/Ankle_Link_v1_2.stl | Bin 0 -> 23884 bytes
olympian_description/meshes/Box_Head_v1_1.stl | Bin 0 -> 684 bytes
olympian_description/meshes/Chest_v6_1.stl | Bin 0 -> 454284 bytes
olympian_description/meshes/Foot_v2_1.stl | Bin 0 -> 24684 bytes
olympian_description/meshes/Foot_v2_2.stl | Bin 0 -> 24684 bytes
.../meshes/Leg_Pitch_v2_1.stl | Bin 0 -> 7184 bytes
.../meshes/Leg_Pitch_v2_2.stl | Bin 0 -> 7184 bytes
olympian_description/meshes/Leg_Roll_v2_1.stl | Bin 0 -> 16684 bytes
olympian_description/meshes/Leg_Roll_v2_2.stl | Bin 0 -> 16684 bytes
.../meshes/Lower_Arm_v3_1.stl | Bin 0 -> 220884 bytes
.../meshes/Lower_Arm_v3_2.stl | Bin 0 -> 220884 bytes
.../meshes/Lower_Leg_v2_1.stl | Bin 0 -> 170684 bytes
.../meshes/Lower_Leg_v2_2.stl | Bin 0 -> 170684 bytes
olympian_description/meshes/Pelvis_v4_1.stl | Bin 0 -> 21984 bytes
.../meshes/Upper_Arm_Link_type_b_v2_1.stl | Bin 0 -> 8484 bytes
.../meshes/Upper_Arm_Link_type_b_v2_2.stl | Bin 0 -> 8484 bytes
.../meshes/Upper_Arm_Roll_Link_v2_1.stl | Bin 0 -> 31484 bytes
.../meshes/Upper_Arm_Roll_Link_v2_2.stl | Bin 0 -> 31484 bytes
.../meshes/Upper_Arm_v8_1.stl | Bin 0 -> 213384 bytes
.../meshes/Upper_Arm_v8_3.stl | Bin 0 -> 213384 bytes
.../meshes/Upper_Leg_v1_1.stl | Bin 0 -> 161284 bytes
.../meshes/Upper_Leg_v1_2.stl | Bin 0 -> 161284 bytes
olympian_description/meshes/base_link.stl | Bin 0 -> 15484 bytes
olympian_description/package.xml | 62 ++
olympian_description/urdf/materials.xacro | 8 +
olympian_description/urdf/olympian.gazebo | 178 +++++
olympian_description/urdf/olympian.trans | 257 +++++++
olympian_description/urdf/olympian.urdf | 672 ++++++++++++++++++
olympian_description/urdf/olympian.xacro | 672 ++++++++++++++++++
37 files changed, 2618 insertions(+)
create mode 100644 olympian_description/CMakeLists.txt
create mode 100644 olympian_description/LICENSE
create mode 100644 olympian_description/launch/controller.launch
create mode 100644 olympian_description/launch/controller.yaml
create mode 100644 olympian_description/launch/display.launch
create mode 100644 olympian_description/launch/gazebo.launch
create mode 100644 olympian_description/launch/urdf.rviz
create mode 100644 olympian_description/meshes/Ankle_Link_v1_1.stl
create mode 100644 olympian_description/meshes/Ankle_Link_v1_2.stl
create mode 100644 olympian_description/meshes/Box_Head_v1_1.stl
create mode 100644 olympian_description/meshes/Chest_v6_1.stl
create mode 100644 olympian_description/meshes/Foot_v2_1.stl
create mode 100644 olympian_description/meshes/Foot_v2_2.stl
create mode 100644 olympian_description/meshes/Leg_Pitch_v2_1.stl
create mode 100644 olympian_description/meshes/Leg_Pitch_v2_2.stl
create mode 100644 olympian_description/meshes/Leg_Roll_v2_1.stl
create mode 100644 olympian_description/meshes/Leg_Roll_v2_2.stl
create mode 100644 olympian_description/meshes/Lower_Arm_v3_1.stl
create mode 100644 olympian_description/meshes/Lower_Arm_v3_2.stl
create mode 100644 olympian_description/meshes/Lower_Leg_v2_1.stl
create mode 100644 olympian_description/meshes/Lower_Leg_v2_2.stl
create mode 100644 olympian_description/meshes/Pelvis_v4_1.stl
create mode 100644 olympian_description/meshes/Upper_Arm_Link_type_b_v2_1.stl
create mode 100644 olympian_description/meshes/Upper_Arm_Link_type_b_v2_2.stl
create mode 100644 olympian_description/meshes/Upper_Arm_Roll_Link_v2_1.stl
create mode 100644 olympian_description/meshes/Upper_Arm_Roll_Link_v2_2.stl
create mode 100644 olympian_description/meshes/Upper_Arm_v8_1.stl
create mode 100644 olympian_description/meshes/Upper_Arm_v8_3.stl
create mode 100644 olympian_description/meshes/Upper_Leg_v1_1.stl
create mode 100644 olympian_description/meshes/Upper_Leg_v1_2.stl
create mode 100644 olympian_description/meshes/base_link.stl
create mode 100644 olympian_description/package.xml
create mode 100644 olympian_description/urdf/materials.xacro
create mode 100644 olympian_description/urdf/olympian.gazebo
create mode 100644 olympian_description/urdf/olympian.trans
create mode 100644 olympian_description/urdf/olympian.urdf
create mode 100644 olympian_description/urdf/olympian.xacro
diff --git a/olympian_description/CMakeLists.txt b/olympian_description/CMakeLists.txt
new file mode 100644
index 0000000..2913fbd
--- /dev/null
+++ b/olympian_description/CMakeLists.txt
@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(olympian_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+## * add a build_depend tag for "message_generation"
+## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+## but can be declared for certainty nonetheless:
+## * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+## * add "message_generation" and every package in MSG_DEP_SET to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * add "message_runtime" and every package in MSG_DEP_SET to
+## catkin_package(CATKIN_DEPENDS ...)
+## * uncomment the add_*_files sections below as needed
+## and list every .msg/.srv/.action file to be processed
+## * uncomment the generate_messages entry below
+## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+# FILES
+# Message1.msg
+# Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+# FILES
+# Service1.srv
+# Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+# FILES
+# Action1.action
+# Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+# DEPENDENCIES
+# std_msgs # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+## * add "dynamic_reconfigure" to
+## find_package(catkin REQUIRED COMPONENTS ...)
+## * uncomment the "generate_dynamic_reconfigure_options" section below
+## and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+# cfg/DynReconf1.cfg
+# cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+# INCLUDE_DIRS include
+# LIBRARIES fusion2urdf
+# CATKIN_DEPENDS rospy
+# DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+ ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+# src/${PROJECT_NAME}/fusion2urdf.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/fusion2urdf_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+# ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+# scripts/my_python_script
+# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# FILES_MATCHING PATTERN "*.h"
+# PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+# # myfile1
+# # myfile2
+# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_fusion2urdf.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
diff --git a/olympian_description/LICENSE b/olympian_description/LICENSE
new file mode 100644
index 0000000..314c3af
--- /dev/null
+++ b/olympian_description/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2018 Toshinori Kitamura
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
diff --git a/olympian_description/launch/controller.launch b/olympian_description/launch/controller.launch
new file mode 100644
index 0000000..3b53e4c
--- /dev/null
+++ b/olympian_description/launch/controller.launch
@@ -0,0 +1,9 @@
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/olympian_description/launch/controller.yaml b/olympian_description/launch/controller.yaml
new file mode 100644
index 0000000..f1485e6
--- /dev/null
+++ b/olympian_description/launch/controller.yaml
@@ -0,0 +1,99 @@
+olympian_controller:
+ # Publish all joint states -----------------------------------
+ joint_state_controller:
+ type: joint_state_controller/JointStateController
+ publish_rate: 50
+
+ # Position Controllers --------------------------------------
+ Rev1_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev1
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev2_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev2
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev3_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev3
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev4_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev4
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev5_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev5
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev6_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev6
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev7_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev7
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev8_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev8
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev9_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev9
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev10_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev10
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev11_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev11
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev12_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev12
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev13_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev13
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev14_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev14
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev15_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev15
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev16_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev16
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev19_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev19
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev20_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev20
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev21_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev21
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev22_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev22
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev23_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev23
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev24_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev24
+ pid: {p: 100.0, i: 0.01, d: 10.0}
+ Rev25_position_controller:
+ type: effort_controllers/JointPositionController
+ joint: Rev25
+ pid: {p: 100.0, i: 0.01, d: 10.0}
diff --git a/olympian_description/launch/display.launch b/olympian_description/launch/display.launch
new file mode 100644
index 0000000..ff780e4
--- /dev/null
+++ b/olympian_description/launch/display.launch
@@ -0,0 +1,10 @@
+
+
+
+
+
+
+
+
+
+
diff --git a/olympian_description/launch/gazebo.launch b/olympian_description/launch/gazebo.launch
new file mode 100644
index 0000000..ece2f95
--- /dev/null
+++ b/olympian_description/launch/gazebo.launch
@@ -0,0 +1,11 @@
+
+
+
+
+
+
+
+
+
+
+
diff --git a/olympian_description/launch/urdf.rviz b/olympian_description/launch/urdf.rviz
new file mode 100644
index 0000000..b80bcfa
--- /dev/null
+++ b/olympian_description/launch/urdf.rviz
@@ -0,0 +1,422 @@
+Panels:
+ - Class: rviz/Displays
+ Help Height: 78
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /Global Options1
+ - /Status1
+ - /RobotModel1
+ - /TF1
+ Splitter Ratio: 0.5
+ Tree Height: 591
+ - Class: rviz/Selection
+ Name: Selection
+ - Class: rviz/Tool Properties
+ Expanded:
+ - /2D Pose Estimate1
+ - /2D Nav Goal1
+ - /Publish Point1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: rviz/Time
+ Experimental: false
+ Name: Time
+ SyncMode: 0
+ SyncSource: ""
+Preferences:
+ PromptSaveOnExit: true
+Toolbars:
+ toolButtonStyle: 2
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz/Grid
+ Color: 160; 160; 164
+ Enabled: true
+ Line Style:
+ Line Width: 0.029999999329447746
+ Value: Lines
+ Name: Grid
+ Normal Cell Count: 0
+ Offset:
+ X: 0
+ Y: 0
+ Z: 0
+ Plane: XY
+ Plane Cell Count: 10
+ Reference Frame:
+ Value: true
+ - Alpha: 1
+ Class: rviz/RobotModel
+ Collision Enabled: false
+ Enabled: true
+ Links:
+ 2dofknuckle_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_10:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_7:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_8:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 2dofknuckle_link_9:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ All Links Enabled: true
+ Expand Joint Details: false
+ Expand Link Details: false
+ Expand Tree: false
+ Link Tree Style: Links in Alphabetic Order
+ base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ bucket_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ face_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ facebracket_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ hcsr04_cans_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ hcsr04_chips_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ hcsr04_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ leg_link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ lipo_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_10:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_7:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_8:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mg90_link_9:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mpu9250_cap_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mpu9250_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ mpu9250_mpu_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pizerow_cam_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pizerow_con_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pizerow_cpu_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pizerow_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ raspicam_cam_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ raspicam_chips_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ raspicam_con_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ raspicam_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_10:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_2:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_3:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_4:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_5:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_6:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_7:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_8:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ servobottom_link_9:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ shell_link_1:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: RobotModel
+ Robot Description: robot_description
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 0.5
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree:
+ {}
+ Update Interval: 0
+ Value: false
+ Enabled: true
+ Global Options:
+ Background Color: 48; 48; 48
+ Default Light: true
+ Fixed Frame: base_link
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz/Interact
+ Hide Inactive Objects: true
+ - Class: rviz/MoveCamera
+ - Class: rviz/Select
+ - Class: rviz/FocusCamera
+ - Class: rviz/Measure
+ - Class: rviz/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz/SetGoal
+ Topic: /move_base_simple/goal
+ - Class: rviz/PublishPoint
+ Single click: true
+ Topic: /clicked_point
+ Value: true
+ Views:
+ Current:
+ Class: rviz/Orbit
+ Distance: 0.34426525235176086
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: -0.0016349668148905039
+ Y: -0.014781012199819088
+ Z: 0.017814036458730698
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.46039697527885437
+ Target Frame:
+ Value: Orbit (rviz)
+ Yaw: 0.593582272529602
+ Saved: ~
+Window Geometry:
+ Displays:
+ collapsed: false
+ Height: 882
+ Hide Left Dock: false
+ Hide Right Dock: false
+ QMainWindow State: 000000ff00000000fd000000040000000000000142000002d9fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005d00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000037000002d9000000ca00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002d9fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000037000002d9000000a100fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000026b00fffffffb0000000800540069006d0065010000000000000450000000000000000000000267000002d900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+ Selection:
+ collapsed: false
+ Time:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 1216
+ X: 700
+ Y: 385
diff --git a/olympian_description/meshes/Ankle_Link_v1_1.stl b/olympian_description/meshes/Ankle_Link_v1_1.stl
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