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Armar6 #44

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d734d35
[iCub3] added iCub3 description
LucaKro Sep 4, 2024
b3ab75c
[armar6] added armar6 description
LucaKro Sep 13, 2024
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4 changes: 4 additions & 0 deletions iai_armar6_description/CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(iai_armar6_description)
find_package(catkin REQUIRED)
catkin_package()
361 changes: 361 additions & 0 deletions iai_armar6_description/LICENSE.md
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15 changes: 15 additions & 0 deletions iai_armar6_description/README.md
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This repo is a mix of

https://git.h2t.iar.kit.edu/sw/armarx-integration/robots/armar6/models

and

https://github.com/translearn/armar-urdf

The first repo has wrong joint limits and superfluous links, probably as a result of a URDF auto-generation script.
The second repo has a much simpler URDF with way fewer links, but the neck is wielded onto the torso and the grippers are one solid mesh.

In this repo, I took the second simpler URDF, extended it with pan and tilt joints using the information from the first URDF, and copied the hands from the first URDF but removed all the superfluous links and came up with plausible joint limits.

The first repo has a GPS license, the second is Creative Commons. Using the stricter of the two for this repo.
9,124 changes: 9,124 additions & 0 deletions iai_armar6_description/mesh/iv/2h09010_arml_cla.iv
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36,127 changes: 36,127 additions & 0 deletions iai_armar6_description/mesh/iv/2h09020_arml_t12.iv
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27,807 changes: 27,807 additions & 0 deletions iai_armar6_description/mesh/iv/2h09030_arml_t23.iv
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34,155 changes: 34,155 additions & 0 deletions iai_armar6_description/mesh/iv/2h09040_arml_t34.iv
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37,669 changes: 37,669 additions & 0 deletions iai_armar6_description/mesh/iv/2h09050_arml_t45.iv
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36,384 changes: 36,384 additions & 0 deletions iai_armar6_description/mesh/iv/2h09060_arml_t56.iv
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35,096 changes: 35,096 additions & 0 deletions iai_armar6_description/mesh/iv/2h09061_arml_t56.iv
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27,478 changes: 27,478 additions & 0 deletions iai_armar6_description/mesh/iv/2h09070_arml_t67.iv
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17,496 changes: 17,496 additions & 0 deletions iai_armar6_description/mesh/iv/2h09080_arml_t78.iv
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47,832 changes: 47,832 additions & 0 deletions iai_armar6_description/mesh/iv/2h09090_arml_t8.iv
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12,010 changes: 12,010 additions & 0 deletions iai_armar6_description/mesh/iv/6a12300_kopf4.iv
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52 changes: 52 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/handlink_green_conv.wrl
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50 changes: 50 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/handlink_red_conv.wrl
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52 changes: 52 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/metacarpals_conv.wrl
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48 changes: 48 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/palm1_l_conv.wrl
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52 changes: 52 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/palm1_r_conv.wrl
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48 changes: 48 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/palm2_l_conv.wrl
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48 changes: 48 additions & 0 deletions iai_armar6_description/mesh/iv/Armar3Hand/convexModel/armar/hands/palm2_r_conv.wrl
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