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Generate updated urdf

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This commit is contained in:
Thomason Zhou 2025-03-11 00:56:48 +09:00
parent 62b6e3afe1
commit 289ed48c69
1 changed files with 4 additions and 46 deletions
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openarm_two_arms/urdf/openarm_two_arms.urdf
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@ -5,7 +5,6 @@
<!-- =================================================================================== --> <!-- =================================================================================== -->
<robot name="openarm_two_arms"> <robot name="openarm_two_arms">
<link name="world"/> <link name="world"/>
<!-- <xacro:property name="pi" value="3.1415926535897927"/> -->
<!-- <xacro:property name="zero_pos" value="vertical"/> --> <!-- <xacro:property name="zero_pos" value="vertical"/> -->
<!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)--> <!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
<link name="pedestal_link"> <link name="pedestal_link">
@ -31,14 +30,12 @@
</link> </link>
<link name="right_link1"> <link name="right_link1">
<visual> <visual>
<!--J1 v002/Part__Feature001.-->
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
<geometry> <geometry>
<box size="0.11 0.073 0.0592"/> <box size="0.11 0.073 0.0592"/>
@ -52,14 +49,12 @@
</link> </link>
<link name="right_link2"> <link name="right_link2">
<visual> <visual>
<!--J2 v002/Part__Feature002.-->
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
<geometry> <geometry>
<box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/> <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
@ -73,14 +68,12 @@
</link> </link>
<link name="right_link3"> <link name="right_link3">
<visual> <visual>
<!--J3 v003/Part__Feature003.-->
<origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/> <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
<origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/> <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
<geometry> <geometry>
<box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/> <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
@ -94,14 +87,12 @@
</link> </link>
<link name="right_link4"> <link name="right_link4">
<visual> <visual>
<!--J4 v002/Part__Feature004.-->
<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/> <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/> <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
<geometry> <geometry>
<box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/> <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
@ -115,14 +106,12 @@
</link> </link>
<link name="right_link5"> <link name="right_link5">
<visual> <visual>
<!--J5 v003/Part__Feature005.-->
<origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/> <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
<origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/> <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
<geometry> <geometry>
<box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/> <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
@ -136,14 +125,12 @@
</link> </link>
<link name="right_link6"> <link name="right_link6">
<visual> <visual>
<!--J6 right_wrist/Part__Feature006.-->
<origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/> <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link6__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
<origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/> <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
<geometry> <geometry>
<box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/> <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
@ -157,14 +144,12 @@
</link> </link>
<link name="right_link7"> <link name="right_link7">
<visual> <visual>
<!--J7 right v002/Part__Feature007.-->
<origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/> <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link7__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
<origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/> <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
<geometry> <geometry>
<box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/> <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
@ -178,14 +163,12 @@
</link> </link>
<link name="right_link8"> <link name="right_link8">
<visual> <visual>
<!--J8 v002/Part__Feature008.-->
<origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/> <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link8__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
<origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/> <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
<geometry> <geometry>
<box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/> <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
@ -199,14 +182,12 @@
</link> </link>
<link name="right_link_left_jaw"> <link name="right_link_left_jaw">
<visual> <visual>
<!--left_jaw v002/Part__Feature009.-->
<origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
<origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
@ -220,14 +201,12 @@
</link> </link>
<link name="right_link_right_jaw"> <link name="right_link_right_jaw">
<visual> <visual>
<!--right_jaw v002/Part__Feature010.-->
<origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
<origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
@ -305,14 +284,12 @@
</joint> </joint>
<link name="left_link1"> <link name="left_link1">
<visual> <visual>
<!--J1 v002/Part__Feature001.-->
<origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
<geometry> <geometry>
<box size="0.11 0.073 0.0592"/> <box size="0.11 0.073 0.0592"/>
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</link> </link>
<link name="left_link2"> <link name="left_link2">
<visual> <visual>
<!--J2 v002/Part__Feature002.-->
<origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/> <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
<origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/> <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
<geometry> <geometry>
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</link> </link>
<link name="left_link3"> <link name="left_link3">
<visual> <visual>
<!--J3 v003/Part__Feature003.-->
<origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/> <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
<origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/> <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
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</link> </link>
<link name="left_link4"> <link name="left_link4">
<visual> <visual>
<!--J4 v002/Part__Feature004.-->
<origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/> <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
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</link> </link>
<link name="left_link5"> <link name="left_link5">
<visual> <visual>
<!--J5 v003/Part__Feature005.-->
<origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/> <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
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</link> </link>
<link name="left_link6"> <link name="left_link6">
<visual> <visual>
<!--J6 right_wrist/Part__Feature006.--> <origin rpy="5.269260632722435 1.5542266826921929 3.141592653589793" xyz="0.0605412 0.0878404 0.435484"/>
<origin rpy="1.0139246744571508 -1.5873659708976002 0" xyz="-0.0485412 -0.0860404 0.437784"/>
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</visual> </visual>
<collision> <collision>
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</link> </link>
<link name="left_link7"> <link name="left_link7">
<visual> <visual>
<!--J7 right v002/Part__Feature007.--> <origin rpy="0 3.150350836484304 0" xyz="0.558839 -0.0034132900000000002 0.1341962"/>
<origin rpy="0 0.008758182894510852 0" xyz="-0.558839 -0.00358671 -0.0631962"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
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<origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/> <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
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</link> </link>
<link name="left_link8"> <link name="left_link8">
<visual> <visual>
<!--J8 v002/Part__Feature008.-->
<origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/> <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_link8__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
<origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/> <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
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@ -473,14 +436,12 @@
</link> </link>
<link name="left_link_left_jaw"> <link name="left_link_left_jaw">
<visual> <visual>
<!--left_jaw v002/Part__Feature009.-->
<origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
<origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/> <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
@ -494,14 +455,12 @@
</link> </link>
<link name="left_link_right_jaw"> <link name="left_link_right_jaw">
<visual> <visual>
<!--right_jaw v002/Part__Feature010.-->
<origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
</geometry> </geometry>
</visual> </visual>
<collision> <collision>
<!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
<origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/> <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
<geometry> <geometry>
<mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/> <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
@ -577,18 +536,17 @@
<limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/> <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
<mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/> <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
</joint> </joint>
<!-- <xacro:include filename="openarm_left.urdf"/> -->
<joint name="dummy_joint" type="fixed"> <joint name="dummy_joint" type="fixed">
<parent link="world"/> <parent link="world"/>
<child link="pedestal_link"/> <child link="pedestal_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/> <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint> </joint>
<joint name="right_fix1" type="fixed"> <joint name="right_fixed1" type="fixed">
<parent link="pedestal_link"/> <parent link="pedestal_link"/>
<child link="left_link1"/> <child link="left_link1"/>
<origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/> <origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
</joint> </joint>
<joint name="left_fix1" type="fixed"> <joint name="left_fixed1" type="fixed">
<parent link="pedestal_link"/> <parent link="pedestal_link"/>
<child link="right_link1"/> <child link="right_link1"/>
<origin rpy="6.160245846096606 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/> <origin rpy="6.160245846096606 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>