diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 2a9a9299aac2788dfd3e3e36e6d328810e5d4f0c..2fe0f320dc3c2d2c9b670300b92af84129fb6532 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -374,6 +374,16 @@ class BoltLoader(RobotLoader):
free_flyer = True
+class BorinotLoader(RobotLoader):
+ path = "borinot_description"
+ urdf_subpath = "urdf"
+ srdf_subpath = "srdf"
+ urdf_filename = "borinot_flying_arm_2.urdf"
+ srdf_filename = "borinot_flying_arm_2.srdf"
+ ref_posture = "home"
+ free_flyer = True
+
+
class Solo8Loader(RobotLoader):
path = "solo_description"
urdf_filename = "solo.urdf"
@@ -489,6 +499,16 @@ class HectorLoader(RobotLoader):
free_flyer = True
+class HextiltLoader(RobotLoader):
+ path = "hextilt_description"
+ urdf_subpath = "urdf"
+ srdf_subpath = "srdf"
+ urdf_filename = "hextilt_flying_arm_5.urdf"
+ srdf_filename = "hextilt_flying_arm_5.srdf"
+ ref_posture = "home"
+ free_flyer = True
+
+
class DoublePendulumLoader(RobotLoader):
path = "double_pendulum_description"
urdf_filename = "double_pendulum.urdf"
@@ -545,6 +565,7 @@ ROBOTS = {
"double_pendulum_continuous": DoublePendulumContinuousLoader,
"double_pendulum_simple": DoublePendulumSimpleLoader,
"hector": HectorLoader,
+ "hextilt": HextiltLoader,
"hyq": HyQLoader,
"icub": ICubLoader,
"icub_reduced": ICubReducedLoader,
@@ -558,6 +579,7 @@ ROBOTS = {
"simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader,
"bolt": BoltLoader,
+ "borinot": BorinotLoader,
"solo8": Solo8Loader,
"solo12": Solo12Loader,
"finger_edu": FingerEduLoader,
diff --git a/robots/borinot_description/README.md b/robots/borinot_description/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..d723b5647f80919a39433d72540c0c47a34f44cc
--- /dev/null
+++ b/robots/borinot_description/README.md
@@ -0,0 +1,10 @@
+# Borinot
+
+upstream: https://github.com/PepMS/hidro_robots/tree/main/robots/borinot_flying_arm_2
+license: NA
+
+
+### Modifications:
+
+ - Added SRDF
+ - Added colors in URDF
diff --git a/robots/borinot_description/meshes/borinot__base_link.dae b/robots/borinot_description/meshes/borinot__base_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..f2e73b98c627466c8dd9e517e60c1fddc6a7811c
--- /dev/null
+++ b/robots/borinot_description/meshes/borinot__base_link.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>Thu Nov 24 08:04:38 2022 GMT</created>
+ <modified>Thu Nov 24 08:04:38 2022 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/meshes/flying_arm_2__link1.dae b/robots/borinot_description/meshes/flying_arm_2__link1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a61efac5227a45a85a567147d28d3cc57f176c91
--- /dev/null
+++ b/robots/borinot_description/meshes/flying_arm_2__link1.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>Thu Nov 24 08:05:23 2022 GMT</created>
+ <modified>Thu Nov 24 08:05:23 2022 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
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4607 2265 4608 2263 4608 2266 4608 2264 4609 2266 4609 2263 4609 2263 4610 2265 4610 2264 4610 2266 4611 2268 4611 2265 4611 2265 4612 2268 4612 2267 4612 2268 4613 2266 4613 2269 4613 2269 4614 2266 4614 2264 4614 2264 4615 2265 4615 2269 4615 2269 4616 2265 4616 2267 4616 2268 4617 2269 4617 2267 4617</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/meshes/flying_arm_2__link2.dae b/robots/borinot_description/meshes/flying_arm_2__link2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..7555940df0fc4ccbc3cf46bee58e13749895782e
--- /dev/null
+++ b/robots/borinot_description/meshes/flying_arm_2__link2.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>Thu Nov 24 08:06:24 2022 GMT</created>
+ <modified>Thu Nov 24 08:06:24 2022 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/meshes/propeller_ccw.dae b/robots/borinot_description/meshes/propeller_ccw.dae
new file mode 100755
index 0000000000000000000000000000000000000000..1f2679e42915e0ea05ca4755bd01432393361b6b
--- /dev/null
+++ b/robots/borinot_description/meshes/propeller_ccw.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fr. Dez 19 16:06:25 2014</created>
+ <modified>Fr. Dez 19 16:06:25 2014</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
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diff --git a/robots/borinot_description/meshes/propeller_cw.dae b/robots/borinot_description/meshes/propeller_cw.dae
new file mode 100755
index 0000000000000000000000000000000000000000..04044f34383510bc8c570abc6fd546affc583d8e
--- /dev/null
+++ b/robots/borinot_description/meshes/propeller_cw.dae
@@ -0,0 +1,63 @@
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+ <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+ <p>7 0 8 0 5 0 1 1 0 1 2 1 4 2 8 2 6 2 1 3 2 3 4 3 4 4 2 4 3 4 8 5 4 5 3 5 51 6 3 6 47 6 51 7 5 7 8 7 10 8 6 8 9 8 6 9 8 9 9 9 7 10 49 10 8 10 49 11 9 11 8 11 13 12 10 12 9 12 10 13 1 13 4 13 10 14 4 14 6 14 8 15 3 15 51 15 13 16 66 16 10 16 1 17 66 17 0 17 1 18 10 18 66 18 11 19 66 19 13 19 76 20 12 20 13 20 11 21 13 21 12 21 12 22 76 22 21 22 19 23 18 23 17 23 21 24 76 24 22 24 15 25 22 25 14 25 18 26 15 26 14 26 74 27 14 27 16 27 74 28 17 28 18 28 21 29 18 29 20 29 19 30 30 30 18 30 30 31 20 31 18 31 20 32 11 32 12 32 21 33 20 33 12 33 21 34 22 34 15 34 21 35 15 35 18 35 18 36 14 36 74 36 24 37 23 37 99 37 24 38 99 38 45 38 34 39 52 39 25 39 43 40 41 40 42 40 38 41 43 41 42 41 40 42 28 42 92 42 92 43 24 43 40 43 26 44 11 44 44 44 44 45 45 45 26 45 29 46 92 46 28 46 29 47 28 47 73 47 29 48 72 48 32 48 16 49 74 49 72 49 32 50 74 50 27 50 29 51 32 51 31 51 27 52 19 52 30 52 19 53 75 53 30 53 27 54 30 54 32 54 32 55 30 55 31 55 31 56 30 56 82 56 31 57 11 57 92 57 92 58 11 58 26 58 92 59 29 59 31 59 74 60 32 60 72 60 33 61 37 61 53 61 53 62 37 62 35 62 53 63 35 63 36 63 37 64 13 64 42 64 0 65 36 65 66 65 66 66 36 66 35 66 24 67 39 67 40 67 13 68 40 68 39 68 40 69 13 69 76 69 76 70 28 70 40 70 42 71 13 71 38 71 13 72 39 72 38 72 35 73 43 73 66 73 66 74 43 74 11 74 11 75 43 75 44 75 45 76 44 76 39 76 45 77 39 77 24 77 46 78 34 78 36 78 46 79 50 79 33 79 68 80 36 80 0 80 54 81 47 81 51 81 7 82 49 82 48 82 49 83 7 83 57 83 48 84 49 84 58 84 58 85 49 85 50 85 37 86 33 86 13 86 33 87 34 87 46 87 68 88 50 88 46 88 36 89 68 89 46 89 50 90 68 90 55 90 50 91 55 91 58 91 58 92 51 92 48 92 58 93 54 93 51 93 45 94 23 94 26 94 26 95 23 95 24 95 26 96 24 96 92 96 33 97 52 97 34 97 34 98 25 98 36 98 36 99 25 99 53 99 53 100 25 100 52 100 53 101 52 101 33 101 71 102 11 102 82 102 71 103 66 103 11 103 60 104 55 104 67 104 54 105 55 105 56 105 54 106 58 106 55 106 55 107 68 107 67 107 55 108 60 108 56 108 47 109 98 109 95 109 54 110 98 110 47 110 47 111 95 111 51 111 51 112 63 112 48 112 48 113 63 113 7 113 33 114 50 114 13 114 50 115 49 115 13 115 65 116 13 116 49 116 71 117 70 117 66 117 59 118 66 118 70 118 60 119 98 119 56 119 59 120 67 120 68 120 66 121 59 121 0 121 0 122 59 122 68 122 67 123 59 123 60 123 60 124 96 124 98 124 94 125 63 125 95 125 63 126 64 126 7 126 57 127 7 127 64 127 49 128 57 128 64 128 63 129 61 129 64 129 62 130 65 130 61 130 62 131 70 131 65 131 65 132 49 132 64 132 61 133 65 133 64 133 63 134 94 134 61 134 56 135 98 135 54 135 95 136 63 136 51 136 80 137 65 137 69 137 69 138 65 138 70 138 69 139 70 139 71 139 69 140 71 140 83 140 80 141 89 141 76 141 80 142 76 142 13 142 13 143 65 143 80 143 76 144 88 144 28 144 81 145 29 145 73 145 77 146 72 146 81 146 72 147 29 147 81 147 16 148 77 148 85 148 72 149 77 149 16 149 16 150 85 150 74 150 74 151 79 151 27 151 27 152 79 152 19 152 11 153 31 153 82 153 76 154 89 154 88 154 77 155 86 155 87 155 81 156 86 156 77 156 91 157 79 157 85 157 79 158 78 158 19 158 75 159 19 159 78 159 78 160 90 160 83 160 83 161 82 161 78 161 82 162 30 162 78 162 79 163 90 163 78 163 86 164 81 164 73 164 86 165 73 165 88 165 73 166 28 166 88 166 85 167 79 167 74 167 78 168 30 168 75 168 82 169 83 169 71 169 89 170 80 170 69 170 35 171 37 171 41 171 38 172 39 172 43 172 43 173 39 173 44 173 41 174 43 174 35 174 41 175 37 175 42 175 69 176 83 176 84 176 84 177 83 177 90 177 91 178 90 178 79 178 85 179 77 179 91 179 77 180 87 180 91 180 87 181 86 181 88 181 87 182 88 182 89 182 69 183 84 183 89 183 89 184 84 184 87 184 84 185 90 185 91 185 87 186 84 186 91 186 70 187 62 187 93 187 62 188 61 188 94 188 95 189 98 189 94 189 96 190 60 190 59 190 96 191 59 191 97 191 70 192 93 192 97 192 59 193 70 193 97 193 97 194 93 194 96 194 93 195 62 195 94 195 96 196 93 196 94 196 96 197 94 197 98 197 45 198 99 198 23 198</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common/>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/srdf/borinot_flying_arm_2.srdf b/robots/borinot_description/srdf/borinot_flying_arm_2.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..7c7324e98836b4e35ab12f40fee5978d82dff029
--- /dev/null
+++ b/robots/borinot_description/srdf/borinot_flying_arm_2.srdf
@@ -0,0 +1,19 @@
+<?xml version="1.0" ?>
+<robot name="borinot_flynig_arm_2">
+
+ <group name="end_effector">
+ <joint name="flying_arm_2__j_bl_link1" />
+ <joint name="flying_arm_2__j_link1_link2" />
+ <joint name="flying_arm_2__j_link2_ee" />
+ <chain base_link="base" tip_link="flying_arm_2__ee" />
+ </group>
+
+ <end_effector name="end_effector" parent_link="flying_arm_2__ee" group="end_effector" />
+
+ <group_state name="home">
+ <joint name="flying_arm_2__j_bl_link1" value="0." />
+ <joint name="flying_arm_2__j_link1_link2" value="0." />
+ <joint name="flying_arm_2__j_link2_ee" value="0." />
+ </group_state>
+
+</robot>
diff --git a/robots/borinot_description/urdf/borinot_flying_arm_2.urdf b/robots/borinot_description/urdf/borinot_flying_arm_2.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..f1295501673fe3da6c5be36f9edf78a9fa1218e5
--- /dev/null
+++ b/robots/borinot_description/urdf/borinot_flying_arm_2.urdf
@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="borinot_flynig_arm_2">
+ <material name="light_blue">
+ <color rgba="0.5569 0.6313 0.7479 1"/>
+ </material>
+ <material name="dark_blue">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ <link name="borinot__base_link">
+ <inertial>
+ <origin
+ xyz="0.0 0.00244 0.0202"
+ rpy="0 0 0" />
+ <mass value="2.647" />
+ <inertia ixx="0.027246422051605018" ixy="-0.0" ixz="0.0" iyy="0.026854677520396303" iyz="0.0"
+ izz="0.039807168462897885" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/borinot__base_link.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/borinot__base_link.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <!-- link imported from solo12, with axes properly swaped -->
+ <link name="flying_arm_2__link1">
+ <inertial>
+ <origin xyz="0.00001377 -0.07870700 -0.01935853" rpy="0 0 0" />
+ <mass value="0.14853845" />
+ <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00003024" iyz="-0.00004671"
+ izz="0.00041193" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link1.dae" />
+ </geometry>
+ <material name="dark_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link1.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_2__j_bl_link1" type="revolute">
+ <origin xyz="0.064701 -0.022177 -0.05075" rpy="1.5708 0 -3.1416" />
+ <parent link="borinot__base_link" />
+ <child link="flying_arm_2__link1" />
+ <axis xyz="0 0 -1" />
+ <limit effort="2.5" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
+ </joint>
+
+ <!-- link with the steel m24 nut at the end -->
+ <link name="flying_arm_2__link2">
+ <inertial>
+ <origin xyz="0.0 -0.1149 -0.021" rpy="0 0 0" />
+ <mass value="0.115" />
+ <inertia ixx="1.7554e-4" ixy="0.0" ixz="0.0"
+ iyy="1.972e-5" iyz="0.0" izz="1.7938e-4" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link2.dae" />
+ </geometry>
+ <material name="dark_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link2.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_2__j_link1_link2" type="revolute">
+ <origin xyz="0 -0.160 -0.03715" rpy="0 0 0" />
+ <parent link="flying_arm_2__link1" />
+ <child link="flying_arm_2__link2" />
+ <axis xyz="0 0 -1" />
+ <limit effort="2.5" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
+ </joint>
+
+ <link name="flying_arm_2__ee">
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <mass value="0.0" />
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+ </inertial>
+ </link>
+
+ <joint name="flying_arm_2__j_link2_ee" type="fixed">
+ <!-- x pointing forward -->
+ <origin xyz="0 -0.130 0" rpy="0 0 -1.5708" />
+ <parent link="flying_arm_2__link2" />
+ <child link="flying_arm_2__ee" />
+ <axis xyz="0 0 -1" />
+ <limit lower="0" upper="0" effort="0" velocity="0" />
+ </joint>
+</robot>
diff --git a/robots/hextilt_description/README.md b/robots/hextilt_description/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7467e730497a4e1479264096c36aab81b1be3914
--- /dev/null
+++ b/robots/hextilt_description/README.md
@@ -0,0 +1,10 @@
+# Borinot
+
+upstream: https://github.com/PepMS/hidro_robots/tree/main/robots/hextilt_flying_arm_5
+license: NA
+
+
+### Modifications:
+
+ - Added SRDF
+ - Added colors in URDF
diff --git a/robots/hextilt_description/meshes/base_link.dae b/robots/hextilt_description/meshes/base_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..380e6ad00547d0bbb74bd773ba721c9fa86a2349
--- /dev/null
+++ b/robots/hextilt_description/meshes/base_link.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>mar. ene. 5 16:21:50 2021 GMT</created>
+ <modified>mar. ene. 5 16:21:50 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/meshes/hextilt.dae b/robots/hextilt_description/meshes/hextilt.dae
new file mode 100644
index 0000000000000000000000000000000000000000..d003e21547feabdf76085a16e0e073bd7e0785a3
--- /dev/null
+++ b/robots/hextilt_description/meshes/hextilt.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>vie. abr. 2 04:38:32 2021 GMT</created>
+ <modified>vie. abr. 2 04:38:32 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
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2915 6049 2914 6050 2915 6050 2906 6050 2906 6051 2915 6051 2885 6051 2906 6052 2885 6052 2888 6052 2888 6053 2885 6053 2884 6053 2888 6054 2884 6054 2889 6054 2889 6055 2884 6055 2869 6055 2889 6056 2869 6056 2890 6056 2890 6057 2869 6057 2868 6057 2890 6058 2868 6058 2916 6058 2916 6059 2868 6059 2917 6059 2916 6060 2917 6060 2892 6060 2892 6061 2917 6061 2883 6061 2892 6062 2883 6062 2893 6062 2893 6063 2883 6063 2882 6063 2893 6064 2882 6064 2903 6064 2903 6065 2882 6065 2878 6065 2903 6066 2878 6066 2904 6066 2904 6067 2878 6067 2877 6067 2904 6068 2877 6068 2918 6068 2918 6069 2877 6069 2919 6069 2918 6070 2919 6070 2898 6070 2898 6071 2919 6071 2876 6071 2898 6072 2876 6072 2899 6072 2899 6073 2876 6073 2875 6073 2899 6074 2875 6074 2901 6074 2901 6075 2875 6075 2874 6075 2901 6076 2874 6076 2902 6076 2902 6077 2874 6077 2873 6077 2902 6078 2873 6078 2912 6078 2912 6079 2873 6079 2913 6079 2895 6080 2887 6080 2870 6080 2870 6081 2887 6081 2879 6081</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/meshes/link_1.dae b/robots/hextilt_description/meshes/link_1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..01141beffd1fd2eb85e846776afaccce192f3d21
--- /dev/null
+++ b/robots/hextilt_description/meshes/link_1.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>mar. ene. 5 16:24:29 2021 GMT</created>
+ <modified>mar. ene. 5 16:24:29 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/meshes/link_2.dae b/robots/hextilt_description/meshes/link_2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..35e7bb7743a3a56043b55bbd725a0a802f223d87
--- /dev/null
+++ b/robots/hextilt_description/meshes/link_2.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>mar. ene. 5 16:25:56 2021 GMT</created>
+ <modified>mar. ene. 5 16:25:56 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/meshes/link_3.dae b/robots/hextilt_description/meshes/link_3.dae
new file mode 100644
index 0000000000000000000000000000000000000000..34708f301d3dc349dde064a42ff4c6b97790e362
--- /dev/null
+++ b/robots/hextilt_description/meshes/link_3.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>mar. ene. 5 16:27:45 2021 GMT</created>
+ <modified>mar. ene. 5 16:27:45 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/meshes/link_4.dae b/robots/hextilt_description/meshes/link_4.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a387a8c37add521fe516a4f3227ffaff96c4dc68
--- /dev/null
+++ b/robots/hextilt_description/meshes/link_4.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>mar. ene. 5 16:28:16 2021 GMT</created>
+ <modified>mar. ene. 5 16:28:16 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/meshes/link_5.dae b/robots/hextilt_description/meshes/link_5.dae
new file mode 100644
index 0000000000000000000000000000000000000000..959524887720d728aa4168cd7bcb4b3200a7185b
--- /dev/null
+++ b/robots/hextilt_description/meshes/link_5.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>mar. ene. 5 16:22:47 2021 GMT</created>
+ <modified>mar. ene. 5 16:22:47 2021 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
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1104 601 1104 575 1105 601 1105 576 1105 576 1106 601 1106 577 1106 577 1107 601 1107 602 1107 577 1108 602 1108 578 1108 578 1109 602 1109 579 1109 579 1110 602 1110 603 1110 579 1111 603 1111 580 1111 580 1112 603 1112 604 1112 580 1113 604 1113 581 1113 581 1114 604 1114 605 1114 581 1115 605 1115 582 1115 582 1116 605 1116 606 1116 582 1117 606 1117 583 1117 583 1118 606 1118 607 1118 583 1119 607 1119 584 1119 584 1120 607 1120 608 1120 584 1121 608 1121 585 1121 585 1122 608 1122 586 1122 586 1123 608 1123 609 1123 586 1124 609 1124 587 1124 587 1125 609 1125 588 1125 588 1126 50 1126 589 1126 589 1127 50 1127 34 1127 589 1128 34 1128 590 1128 590 1129 34 1129 32 1129 590 1130 32 1130 45 1130 590 1131 45 1131 591 1131 591 1132 45 1132 592 1132 592 1133 45 1133 593 1133 600 1134 29 1134 601 1134 601 1135 29 1135 27 1135 601 1136 27 1136 31 1136 601 1137 31 1137 602 1137 602 1138 31 1138 603 1138 607 1139 49 1139 608 1139 116 1140 118 1140 610 1140 68 1141 69 1141 611 1141 71 1142 73 1142 612 1142 85 1143 86 1143 613 1143 88 1144 90 1144 614 1144 615 1145 678 1145 616 1145 0 1146 2 1146 618 1146 20 1147 22 1147 652 1147 505 1148 673 1148 620 1148 194 1149 471 1149 621 1149 621 1150 471 1150 618 1150 16 1151 19 1151 673 1151 16 1152 673 1152 505 1152 223 1153 504 1153 622 1153 7 1154 629 1154 415 1154 623 1155 257 1155 415 1155 624 1156 288 1156 625 1156 625 1157 288 1157 255 1157 3 1158 223 1158 627 1158 627 1159 628 1159 12 1159 12 1160 628 1160 617 1160 12 1161 617 1161 5 1161 288 1162 626 1162 8 1162 8 1163 626 1163 11 1163 288 1164 624 1164 626 1164 626 1165 624 1165 616 1165 626 1166 616 1166 678 1166 629 1167 5 1167 617 1167 629 1168 617 1168 630 1168 19 1169 632 1169 673 1169 673 1170 632 1170 672 1170 672 1171 632 1171 633 1171 672 1172 633 1172 634 1172 634 1173 633 1173 635 1173 632 1174 18 1174 636 1174 632 1175 636 1175 633 1175 633 1176 636 1176 637 1176 633 1177 637 1177 635 1177 637 1178 636 1178 638 1178 637 1179 638 1179 639 1179 471 1180 0 1180 618 1180 640 1181 621 1181 641 1181 621 1182 618 1182 642 1182 621 1183 642 1183 641 1183 641 1184 642 1184 643 1184 618 1185 2 1185 646 1185 618 1186 646 1186 642 1186 642 1187 646 1187 644 1187 642 1188 644 1188 643 1188 643 1189 644 1189 645 1189 2 1190 11 1190 646 1190 644 1191 646 1191 647 1191 644 1192 647 1192 648 1192 648 1193 647 1193 677 1193 615 1194 616 1194 649 1194 649 1195 616 1195 624 1195 649 1196 624 1196 650 1196 650 1197 624 1197 625 1197 650 1198 625 1198 651 1198 654 1199 653 1199 680 1199 681 1200 655 1200 656 1200 681 1201 656 1201 657 1201 656 1202 655 1202 658 1202 655 1203 21 1203 659 1203 655 1204 659 1204 658 1204 658 1205 659 1205 660 1205 658 1206 660 1206 661 1206 660 1207 257 1207 623 1207 660 1208 623 1208 610 1208 610 1209 623 1209 662 1209 623 1210 415 1210 619 1210 623 1211 619 1211 662 1211 662 1212 619 1212 631 1212 664 1213 665 1213 666 1213 666 1214 665 1214 667 1214 667 1215 665 1215 668 1215 668 1216 669 1216 670 1216 670 1217 669 1217 671 1217 90 1218 92 1218 671 1218 671 1219 92 1219 94 1219 671 1220 94 1220 670 1220 670 1221 94 1221 96 1221 670 1222 96 1222 668 1222 668 1223 96 1223 667 1223 667 1224 96 1224 98 1224 614 1225 90 1225 671 1225 614 1226 671 1226 622 1226 622 1227 671 1227 669 1227 622 1228 669 1228 223 1228 223 1229 669 1229 627 1229 627 1230 669 1230 668 1230 627 1231 668 1231 628 1231 628 1232 668 1232 665 1232 628 1233 665 1233 617 1233 617 1234 665 1234 664 1234 86 1235 88 1235 613 1235 613 1236 88 1236 614 1236 613 1237 614 1237 620 1237 620 1238 614 1238 622 1238 620 1239 622 1239 505 1239 505 1240 622 1240 504 1240 83 1241 85 1241 634 1241 634 1242 85 1242 613 1242 634 1243 613 1243 672 1243 672 1244 613 1244 620 1244 672 1245 620 1245 673 1245 73 1246 75 1246 639 1246 639 1247 75 1247 77 1247 639 1248 77 1248 637 1248 637 1249 77 1249 79 1249 637 1250 79 1250 635 1250 635 1251 79 1251 80 1251 635 1252 80 1252 634 1252 634 1253 80 1253 83 1253 612 1254 73 1254 639 1254 612 1255 639 1255 638 1255 674 1256 638 1256 636 1256 674 1257 636 1257 18 1257 69 1258 71 1258 611 1258 611 1259 71 1259 612 1259 611 1260 612 1260 675 1260 675 1261 612 1261 638 1261 675 1262 638 1262 674 1262 66 1263 68 1263 676 1263 676 1264 68 1264 611 1264 676 1265 611 1265 675 1265 194 1266 675 1266 674 1266 194 1267 674 1267 17 1267 17 1268 674 1268 18 1268 675 1269 194 1269 621 1269 675 1270 621 1270 676 1270 676 1271 621 1271 640 1271 676 1272 640 1272 66 1272 57 1273 59 1273 645 1273 645 1274 59 1274 61 1274 645 1275 61 1275 643 1275 643 1276 61 1276 63 1276 643 1277 63 1277 641 1277 641 1278 63 1278 64 1278 641 1279 64 1279 640 1279 640 1280 64 1280 66 1280 648 1281 57 1281 645 1281 648 1282 645 1282 644 1282 677 1283 53 1283 648 1283 648 1284 53 1284 55 1284 648 1285 55 1285 57 1285 145 1286 53 1286 677 1286 678 1287 677 1287 647 1287 678 1288 647 1288 679 1288 679 1289 647 1289 646 1289 679 1290 646 1290 11 1290 679 1291 11 1291 626 1291 679 1292 626 1292 678 1292 677 1293 678 1293 615 1293 677 1294 615 1294 145 1294 145 1295 615 1295 143 1295 134 1296 137 1296 651 1296 651 1297 137 1297 650 1297 650 1298 137 1298 139 1298 650 1299 139 1299 649 1299 649 1300 139 1300 140 1300 649 1301 140 1301 615 1301 615 1302 140 1302 143 1302 654 1303 134 1303 651 1303 654 1304 651 1304 653 1304 653 1305 651 1305 625 1305 653 1306 625 1306 652 1306 652 1307 625 1307 255 1307 652 1308 255 1308 20 1308 680 1309 130 1309 654 1309 654 1310 130 1310 132 1310 654 1311 132 1311 134 1311 127 1312 130 1312 680 1312 681 1313 680 1313 653 1313 681 1314 653 1314 652 1314 22 1315 655 1315 652 1315 652 1316 655 1316 681 1316 680 1317 681 1317 657 1317 680 1318 657 1318 127 1318 118 1319 121 1319 661 1319 661 1320 121 1320 658 1320 658 1321 121 1321 123 1321 658 1322 123 1322 656 1322 656 1323 123 1323 125 1323 656 1324 125 1324 657 1324 657 1325 125 1325 127 1325 610 1326 118 1326 661 1326 610 1327 661 1327 660 1327 257 1328 660 1328 659 1328 257 1329 659 1329 21 1329 116 1330 610 1330 114 1330 114 1331 610 1331 662 1331 114 1332 662 1332 113 1332 113 1333 662 1333 631 1333 113 1334 631 1334 110 1334 415 1335 629 1335 619 1335 619 1336 629 1336 630 1336 619 1337 630 1337 631 1337 617 1338 664 1338 630 1338 630 1339 664 1339 663 1339 630 1340 663 1340 631 1340 631 1341 663 1341 108 1341 631 1342 108 1342 110 1342 98 1343 100 1343 667 1343 667 1344 100 1344 666 1344 666 1345 104 1345 664 1345 664 1346 104 1346 106 1346 664 1347 106 1347 663 1347 663 1348 106 1348 108 1348</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/hextilt_description/srdf/hextilt_flying_arm_5.srdf b/robots/hextilt_description/srdf/hextilt_flying_arm_5.srdf
new file mode 100644
index 0000000000000000000000000000000000000000..dd67522f78dd35a1e9a276fdf3235c5a5471c697
--- /dev/null
+++ b/robots/hextilt_description/srdf/hextilt_flying_arm_5.srdf
@@ -0,0 +1,25 @@
+<?xml version="1.0" ?>
+<robot name="hextilt_flying_arm_5">
+
+ <group name="end_effector">
+ <joint name="flying_arm_5__j_base_link_link_1" />
+ <joint name="flying_arm_5__j_link_1_link_2" />
+ <joint name="flying_arm_5__j_link_2_link_3" />
+ <joint name="flying_arm_5__j_link_3_link_4" />
+ <joint name="flying_arm_5__j_link_4_link_5" />
+ <joint name="flying_arm_5__j_link_5_gripper" />
+ <chain base_link="base" tip_link="flying_arm_5__gripper" />
+ </group>
+
+ <end_effector name="end_effector" parent_link="flying_arm_5__gripper" group="end_effector" />
+
+ <group_state name="home">
+ <joint name="flying_arm_5__j_base_link_link_1" value="0." />
+ <joint name="flying_arm_5__j_link_1_link_2" value="0." />
+ <joint name="flying_arm_5__j_link_2_link_3" value="0." />
+ <joint name="flying_arm_5__j_link_3_link_4" value="0." />
+ <joint name="flying_arm_5__j_link_4_link_5" value="0." />
+ <joint name="flying_arm_5__j_link_5_gripper" value="0." />
+ </group_state>
+
+</robot>
diff --git a/robots/hextilt_description/urdf/hextilt_flying_arm_5.urdf b/robots/hextilt_description/urdf/hextilt_flying_arm_5.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4ec050ce29387baff8dd592181273fe66f055c87
--- /dev/null
+++ b/robots/hextilt_description/urdf/hextilt_flying_arm_5.urdf
@@ -0,0 +1,227 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="hextilt_flying_arm_5">
+ <material name="light_blue">
+ <color rgba="0.5569 0.6313 0.7479 1"/>
+ </material>
+ <material name="grey">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ <link name="hextilt__base_link">
+ <inertial>
+ <origin xyz="-0.0054412 0.003948 -0.0087555" />
+ <mass value="1.0194" />
+ <inertia ixx="0.0015891"
+ ixy="-3.0072E-06"
+ ixz="-4.0534E-07"
+ iyy="0.0015947"
+ iyz="2.85E-06"
+ izz="0.0029281" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/hextilt.dae" />
+ </geometry>
+ <material name="grey"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/hextilt.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <link name="flying_arm_5__base_link">
+ <inertial>
+ <origin xyz="5.4471E-05 0.00055544 0.0045971" rpy="0 0 0" />
+ <mass value="0.27973" />
+ <inertia ixx="0.00010284" ixy="5.704E-10" ixz="7.6592E-09" iyy="7.9509E-05" iyz="5.7105E-10" izz="9.2151E-05" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/base_link.dae" />
+ </geometry>
+ <material name="grey"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/base_link.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_5__j_base_link" type="fixed">
+ <origin xyz="0.0 0 -0.0516" rpy="0 0 0" />
+ <parent link="hextilt__base_link" />
+ <child link="flying_arm_5__base_link" />
+ <axis xyz="0 0 0" />
+ </joint>
+
+ <link name="flying_arm_5__link_1">
+ <inertial>
+ <origin xyz="0.097289 5.2467E-05 -0.012147" rpy="0 0 0" />
+ <mass value="0.12284" />
+ <inertia ixx="2.3846E-05" ixy="-5.0883E-13" ixz="3.5276E-06" iyy="0.00021635" iyz="-1.2916E-12" izz="0.00023624" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_1.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_1.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_5__j_base_link_link_1" type="revolute">
+ <origin xyz="0 0 0" rpy="1.5708 1.5708 0" />
+ <parent link="flying_arm_5__base_link" />
+ <child link="flying_arm_5__link_1" />
+ <axis xyz="0 0 1" />
+ <limit effort="1" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
+ <dynamics damping="0.1" friction="0.1" />
+ </joint>
+
+ <link name="flying_arm_5__link_2">
+ <inertial>
+ <origin xyz="0.043238 2.4308E-05 -0.0087926" rpy="0 0 0" />
+ <mass value="0.11474" />
+ <inertia ixx="1.174E-05" ixy="1.3294E-09" ixz="-2.0499E-06" iyy="4.7747E-05" iyz="-1.6102E-08" izz="5.2344E-05" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_2.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_2.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_5__j_link_1_link_2" type="revolute">
+ <origin xyz="0.132 0 0" rpy="0 0 0" />
+ <parent link="flying_arm_5__link_1" />
+ <child link="flying_arm_5__link_2" />
+ <axis xyz="0 0 1" />
+ <limit effort="1" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
+ <dynamics damping="0.1" friction="0.1" />
+ </joint>
+
+ <link name="flying_arm_5__link_3">
+ <inertial>
+ <origin xyz="0.00020827 -0.0031223 -0.011966" rpy="0 0 0" />
+ <mass value="0.068772" />
+ <inertia ixx="6.8293E-06" ixy="4.2309E-08" ixz="1.548E-09" iyy="7.2432E-06" iyz="1.6138E-08" izz="7.1043E-06" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_3.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_3.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_5__j_link_2_link_3" type="revolute">
+ <origin xyz="0.075 0 0" rpy="0 0 0" />
+ <parent link="flying_arm_5__link_2" />
+ <child link="flying_arm_5__link_3" />
+ <axis xyz="0 0 1" />
+ <limit effort="0.3" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000"/>
+ <dynamics damping="0.1" friction="0.1"/>
+ </joint>
+
+ <link name="flying_arm_5__link_4">
+ <inertial>
+ <origin xyz="0.026125 2.9724E-09 0.0016875" rpy="0 0 0" />
+ <mass value="0.05914" />
+ <inertia ixx="2.2712E-05" ixy="2.3256E-12" ixz="5.2509E-09" iyy="2.472E-05" iyz="3.3225E-09" izz="1.0444E-05" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_4.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_4.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_5__j_link_3_link_4" type="revolute">
+ <origin xyz="0 0 -0.011925" rpy="1.5708 0 0" />
+ <parent link="flying_arm_5__link_3" />
+ <child link="flying_arm_5__link_4" />
+ <axis xyz="0 0 1" />
+ <limit effort="0.3" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000"/>
+ <dynamics damping="0.1" friction="0.1"/>
+ </joint>
+
+ <link name="flying_arm_5__link_5">
+ <inertial>
+ <origin xyz="1.7347E-18 -1.0246E-17 0.025817" rpy="0 0 0" />
+ <mass value="0.021791" />
+ <inertia ixx="7.9107E-06" ixy="1.6653E-13" ixz="2.9904E-21" iyy="1.5446E-05" iyz="-1.1963E-21" izz="1.0818E-05" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_5.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/hextilt_description/meshes/link_5.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_5__j_link_4_link_5" type="revolute">
+ <origin xyz="0.034 0 -0.00025" rpy="1.5708 0 1.5708" />
+ <parent link="flying_arm_5__link_4" />
+ <child link="flying_arm_5__link_5" />
+ <axis xyz="0 0 1" />
+ <limit effort="0.3" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000"/>
+ <dynamics damping="0.1" friction="0.1"/>
+ </joint>
+
+ <link name="flying_arm_5__gripper">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+ <mass value="0.0"/>
+ <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
+ </inertial>
+ </link>
+
+ <joint name="flying_arm_5__j_link_5_gripper" type="fixed">
+ <origin rpy="0 0 0" xyz="0.00 0 0.06"/>
+ <parent link="flying_arm_5__link_5"/>
+ <child link="flying_arm_5__gripper"/>
+ <axis xyz="0 0 1"/>
+ </joint>
+</robot>