Hugging Face's logo

Spaces:
liruiw
/
GenSim
Runtime error

App Files Community
1
GenSim
File size: 1,860 Bytes 
8fc2b4e
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
 
<?xml version="1.0" ?>
<robot name="spatula-base.urdf">
  <material name="DarkGrey">
    <color rgba="0.2 0.2 0.2 1.0"/>
  </material>

  <link name="baseLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="suction/base.obj" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="DarkGrey"/>
    </visual>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.075"/>
      <geometry>
        <box size="0.05 0.005 0.11"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.075"/>
      <geometry>
        <box size="0.05 0.005 0.11"/>
      </geometry>
    </collision>
  </link>

  <link name="midLink">
    <contact>
      <lateral_friction value="1.0"/>
      <rolling_friction value="0.0001"/>
      <inertia_scaling value="3.0"/>
    </contact>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
       <mass value=".1"/>
       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0.1075"/>
      <geometry>
        <box size="0.05 0.005 0.005"/>
      </geometry>
      <material name="LightGrey"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.1075"/>
      <geometry>
        <box size="0.05 0.005 0.005"/>
      </geometry>
    </collision>
  </link>
  <joint name="baseLink-midLink" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0.025"/>
    <parent link="baseLink"/>
    <child link="midLink"/>
  </joint>


</robot>