diff --git a/.imgs/momo.png b/.imgs/momo.png
new file mode 100644
index 0000000..2529333
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diff --git a/README.md b/README.md
index 164914f..1b0ac74 100644
--- a/README.md
+++ b/README.md
@@ -158,6 +158,25 @@ Description: Orbita is a type of spherical parallel manipulator with 3 DOFs.
* Two loop closures are used here in order to ensure the mechanism is fully constrained
* Collisions are disabled in this example
+### MoMo: An Open-Source Modular Mobile Robot Research Platform
+
+
+
+
+
+Description: [MoMo](https://tuhh-itl.github.io/MoMo/) is a modular mobile robot research platform developed at the [Institut für Technische Logistik](https://www3.tuhh.de/itl/) - [TUHH](https://www.tuhh.de/tuhh/startseite).
+
+* Give it a try:
+ * `onshape-to-robot-bullet momo_urdf`
+ * `onshape-to-robot-mujoco momo_mujoco`
+* [Onshape design](https://cad.onshape.com/documents/0f7ba08d49760d832652e76c/w/f802382a554ac4e5d967eb06/e/176c79e9883e5c00c7190ba1)
+* `config.json`
+ * [urdf](momo_urdf/config.json)
+ * [mujoco](momo_mujoco/config.json)
+* **Notes:**
+ * Each wheel has 12 rollers, each of them is a degree of freedom
+ * Collisions are approximated using OpenScad manual approximation
+
### Field
diff --git a/momo_mujoco/assets/aluminium_angle_bracket.part b/momo_mujoco/assets/aluminium_angle_bracket.part
new file mode 100644
index 0000000..3ec1b9c
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_angle_bracket.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "b8f5765e12e5bab73080d661",
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+ "documentVersion": "2bb72148c5b832f5abe68d5e",
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+ "fullConfiguration": "default",
+ "id": "MyY6E7pZwZtTY4pui",
+ "isStandardContent": false,
+ "name": "Aluminium_angle_bracket <27>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/aluminium_angle_bracket.stl b/momo_mujoco/assets/aluminium_angle_bracket.stl
new file mode 100644
index 0000000..e0b9b3a
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diff --git a/momo_mujoco/assets/aluminium_angle_bracket__2.part b/momo_mujoco/assets/aluminium_angle_bracket__2.part
new file mode 100644
index 0000000..8474b22
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_angle_bracket__2.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
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+ "fullConfiguration": "default",
+ "id": "Mz7KKr2b3ezQG7B/L",
+ "isStandardContent": false,
+ "name": "Aluminium_angle_bracket <3>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/aluminium_angle_bracket__2.stl b/momo_mujoco/assets/aluminium_angle_bracket__2.stl
new file mode 100644
index 0000000..e0b9b3a
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diff --git a/momo_mujoco/assets/aluminium_profile_160.part b/momo_mujoco/assets/aluminium_profile_160.part
new file mode 100644
index 0000000..efab7bc
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_160.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "16bb41f1c2aeebd26dc1c15d",
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+ "fullConfiguration": "default",
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+ "isStandardContent": false,
+ "name": "Aluminium_profile_160 <7>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
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diff --git a/momo_mujoco/assets/aluminium_profile_160.stl b/momo_mujoco/assets/aluminium_profile_160.stl
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diff --git a/momo_mujoco/assets/aluminium_profile_354.part b/momo_mujoco/assets/aluminium_profile_354.part
new file mode 100644
index 0000000..36c42e2
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_354.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "516b493e57c07f64db5ce15e",
+ "documentMicroversion": "c3113fb6a6ededfe6b7fffc3",
+ "documentVersion": "0c3e6ea95c15814e17a10d3a",
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+ "name": "Aluminium_profile_354 <20>",
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+}
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diff --git a/momo_mujoco/assets/aluminium_profile_354.stl b/momo_mujoco/assets/aluminium_profile_354.stl
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diff --git a/momo_mujoco/assets/aluminium_profile_380.part b/momo_mujoco/assets/aluminium_profile_380.part
new file mode 100644
index 0000000..fd283dd
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_380.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "fef0d2bf12f7781f643721e0",
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+ "documentVersion": "fb7bda3adbe7b40f63cbcb44",
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+ "name": "Aluminium_profile_380 <5>",
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+ "suppressed": false,
+ "type": "Part"
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diff --git a/momo_mujoco/assets/aluminium_profile_380__2.part b/momo_mujoco/assets/aluminium_profile_380__2.part
new file mode 100644
index 0000000..fd9be4d
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_380__2.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
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diff --git a/momo_mujoco/assets/aluminium_profile_42_8.part b/momo_mujoco/assets/aluminium_profile_42_8.part
new file mode 100644
index 0000000..46e73ea
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_42_8.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "3ced6c416df093e214f2bd28",
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+ "name": "Aluminium_profile_42_8 <10>",
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new file mode 100644
index 0000000..33c1a0a
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_436.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
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diff --git a/momo_mujoco/assets/aluminium_profile_60.part b/momo_mujoco/assets/aluminium_profile_60.part
new file mode 100644
index 0000000..7bce061
--- /dev/null
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@@ -0,0 +1,14 @@
+{
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diff --git a/momo_mujoco/assets/aluminium_profile_620.part b/momo_mujoco/assets/aluminium_profile_620.part
new file mode 100644
index 0000000..9aa7765
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_620.part
@@ -0,0 +1,14 @@
+{
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diff --git a/momo_mujoco/assets/aluminium_profile_620__2.part b/momo_mujoco/assets/aluminium_profile_620__2.part
new file mode 100644
index 0000000..9d71ec7
--- /dev/null
+++ b/momo_mujoco/assets/aluminium_profile_620__2.part
@@ -0,0 +1,14 @@
+{
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new file mode 100644
index 0000000..4aa73cf
--- /dev/null
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@@ -0,0 +1,14 @@
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new file mode 100644
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--- /dev/null
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@@ -0,0 +1,14 @@
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diff --git a/momo_mujoco/assets/aluminium_profile_90.part b/momo_mujoco/assets/aluminium_profile_90.part
new file mode 100644
index 0000000..742ff32
--- /dev/null
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@@ -0,0 +1,14 @@
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diff --git a/momo_mujoco/assets/angle_5_20.part b/momo_mujoco/assets/angle_5_20.part
new file mode 100644
index 0000000..ffed349
--- /dev/null
+++ b/momo_mujoco/assets/angle_5_20.part
@@ -0,0 +1,14 @@
+{
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diff --git a/momo_mujoco/assets/back_cover.part b/momo_mujoco/assets/back_cover.part
new file mode 100644
index 0000000..fb2cdc0
--- /dev/null
+++ b/momo_mujoco/assets/back_cover.part
@@ -0,0 +1,14 @@
+{
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diff --git a/momo_mujoco/assets/back_cover.stl b/momo_mujoco/assets/back_cover.stl
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diff --git a/momo_mujoco/assets/back_plate_left.part b/momo_mujoco/assets/back_plate_left.part
new file mode 100644
index 0000000..aa7fbfc
--- /dev/null
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@@ -0,0 +1,14 @@
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new file mode 100644
index 0000000..b0b58fd
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diff --git a/momo_mujoco/assets/back_wheel_cover.part b/momo_mujoco/assets/back_wheel_cover.part
new file mode 100644
index 0000000..4372e57
--- /dev/null
+++ b/momo_mujoco/assets/back_wheel_cover.part
@@ -0,0 +1,14 @@
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+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/back_wheel_cover.stl b/momo_mujoco/assets/back_wheel_cover.stl
new file mode 100644
index 0000000..a4f4a10
Binary files /dev/null and b/momo_mujoco/assets/back_wheel_cover.stl differ
diff --git a/momo_mujoco/assets/base_link.part b/momo_mujoco/assets/base_link.part
new file mode 100644
index 0000000..2bfd8e2
--- /dev/null
+++ b/momo_mujoco/assets/base_link.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "38ae677da090b710c46b7dc8",
+ "documentMicroversion": "02c208c6fd133608f1d5e793",
+ "documentVersion": "81fbee99726dbd1903f8e9cb",
+ "elementId": "62972eb24c81f8257ef51a85",
+ "fullConfiguration": "default",
+ "id": "Mb9FJ/MqejGoNJhlS",
+ "isStandardContent": false,
+ "name": "base_link <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/base_link.scad b/momo_mujoco/assets/base_link.scad
new file mode 100644
index 0000000..2ba6741
--- /dev/null
+++ b/momo_mujoco/assets/base_link.scad
@@ -0,0 +1,4 @@
+% scale(1000) import("base_link.stl");
+
+translate([0,0,112.5])
+cube([745, 440, 225], center=true);
diff --git a/momo_mujoco/assets/base_link.stl b/momo_mujoco/assets/base_link.stl
new file mode 100644
index 0000000..1bf7c73
Binary files /dev/null and b/momo_mujoco/assets/base_link.stl differ
diff --git a/momo_mujoco/assets/base_plate_localization_module.part b/momo_mujoco/assets/base_plate_localization_module.part
new file mode 100644
index 0000000..6409369
--- /dev/null
+++ b/momo_mujoco/assets/base_plate_localization_module.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "155d3a029c1ccac792e17783",
+ "fullConfiguration": "default",
+ "id": "MiBVaYSQGjKyqboeh",
+ "isStandardContent": false,
+ "name": "base_plate_localization_module <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/base_plate_localization_module.scad b/momo_mujoco/assets/base_plate_localization_module.scad
new file mode 100644
index 0000000..4ef5c27
--- /dev/null
+++ b/momo_mujoco/assets/base_plate_localization_module.scad
@@ -0,0 +1,4 @@
+% scale(1000) import("base_plate_localization_module.stl");
+
+translate([0,0, 138])
+cube([435, 645, 276], center=true);
diff --git a/momo_mujoco/assets/base_plate_localization_module.stl b/momo_mujoco/assets/base_plate_localization_module.stl
new file mode 100644
index 0000000..08eece6
Binary files /dev/null and b/momo_mujoco/assets/base_plate_localization_module.stl differ
diff --git a/momo_mujoco/assets/center_cover.part b/momo_mujoco/assets/center_cover.part
new file mode 100644
index 0000000..b8d1947
--- /dev/null
+++ b/momo_mujoco/assets/center_cover.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "6714f678e8260a18aa13db39",
+ "documentMicroversion": "6ab0b134bea9f9fe97a43321",
+ "documentVersion": "4dc1d862ef3155a7a076745b",
+ "elementId": "79b9d863bb302c67f2ffc569",
+ "fullConfiguration": "default",
+ "id": "My6aM8DbarFZs50Uy",
+ "isStandardContent": false,
+ "name": "center_cover <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/center_cover.stl b/momo_mujoco/assets/center_cover.stl
new file mode 100644
index 0000000..14d1b31
Binary files /dev/null and b/momo_mujoco/assets/center_cover.stl differ
diff --git a/momo_mujoco/assets/connector.part b/momo_mujoco/assets/connector.part
new file mode 100644
index 0000000..9d7bc56
--- /dev/null
+++ b/momo_mujoco/assets/connector.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "aeb3631bed98a107e3c82e79",
+ "documentMicroversion": "b5f0fb6b404d97a36a6e7d52",
+ "documentVersion": "2ab1711a06f864f9965eb912",
+ "elementId": "fd6c9b5abd85174432901141",
+ "fullConfiguration": "default",
+ "id": "Mt2Hy63ysLxQVSPFg",
+ "isStandardContent": false,
+ "name": "connector <19>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/connector.stl b/momo_mujoco/assets/connector.stl
new file mode 100644
index 0000000..b947d8f
Binary files /dev/null and b/momo_mujoco/assets/connector.stl differ
diff --git a/momo_mujoco/assets/cover_top_plate.part b/momo_mujoco/assets/cover_top_plate.part
new file mode 100644
index 0000000..22d459e
--- /dev/null
+++ b/momo_mujoco/assets/cover_top_plate.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "8105600b11449b884bd23281",
+ "fullConfiguration": "default",
+ "id": "MpdkY1bs26nEsX39q",
+ "isStandardContent": false,
+ "name": "cover_top_plate <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/cover_top_plate.stl b/momo_mujoco/assets/cover_top_plate.stl
new file mode 100644
index 0000000..819a6a1
Binary files /dev/null and b/momo_mujoco/assets/cover_top_plate.stl differ
diff --git a/momo_mujoco/assets/cover_with_connections.part b/momo_mujoco/assets/cover_with_connections.part
new file mode 100644
index 0000000..e761450
--- /dev/null
+++ b/momo_mujoco/assets/cover_with_connections.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "d329e609b0df66acb3f65f39",
+ "documentMicroversion": "bcf1cb8b0fafe928924a49d5",
+ "documentVersion": "d1abe33b8a345bfaa67aaf1c",
+ "elementId": "befb716774186a8bcf894a91",
+ "fullConfiguration": "default",
+ "id": "Mc1Wn/ySjMlWIe/Ut",
+ "isStandardContent": false,
+ "name": "cover_with_connections <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/cover_with_connections.stl b/momo_mujoco/assets/cover_with_connections.stl
new file mode 100644
index 0000000..329920e
Binary files /dev/null and b/momo_mujoco/assets/cover_with_connections.stl differ
diff --git a/momo_mujoco/assets/cube_connector.part b/momo_mujoco/assets/cube_connector.part
new file mode 100644
index 0000000..ee58b55
--- /dev/null
+++ b/momo_mujoco/assets/cube_connector.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "f0be61ada7a2c7698516733d",
+ "documentMicroversion": "57f22ca0116cb3b8eb6ea047",
+ "documentVersion": "50a33b609f5d77f29005e1e8",
+ "elementId": "5b9209335b6f615901783241",
+ "fullConfiguration": "default",
+ "id": "My+gEc8CJ2cJqKioc",
+ "isStandardContent": false,
+ "name": "cube_connector <5>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/cube_connector.stl b/momo_mujoco/assets/cube_connector.stl
new file mode 100644
index 0000000..5182936
Binary files /dev/null and b/momo_mujoco/assets/cube_connector.stl differ
diff --git a/momo_mujoco/assets/cube_connector__2.part b/momo_mujoco/assets/cube_connector__2.part
new file mode 100644
index 0000000..36210e6
--- /dev/null
+++ b/momo_mujoco/assets/cube_connector__2.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "699084dffd0da69cf5827b81",
+ "fullConfiguration": "default",
+ "id": "Mml6tKLRxyCa0mjQn",
+ "isStandardContent": false,
+ "name": "cube_connector <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/cube_connector__2.stl b/momo_mujoco/assets/cube_connector__2.stl
new file mode 100644
index 0000000..5182936
Binary files /dev/null and b/momo_mujoco/assets/cube_connector__2.stl differ
diff --git a/momo_mujoco/assets/dummy_connectors.part b/momo_mujoco/assets/dummy_connectors.part
new file mode 100644
index 0000000..253958b
--- /dev/null
+++ b/momo_mujoco/assets/dummy_connectors.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "4ee9114aed89baf3cffda5c2",
+ "documentMicroversion": "dcd2523006265967965d3b0b",
+ "documentVersion": "177820dc3589097089c45385",
+ "elementId": "9caa0fb379cd1e59616e2b01",
+ "fullConfiguration": "default",
+ "id": "M74UTwRvX2v5KdxcZ",
+ "isStandardContent": false,
+ "name": "dummy-connectors <43>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/dummy_connectors.stl b/momo_mujoco/assets/dummy_connectors.stl
new file mode 100644
index 0000000..c8dab3b
Binary files /dev/null and b/momo_mujoco/assets/dummy_connectors.stl differ
diff --git a/momo_mujoco/assets/dummy_ethercat6.part b/momo_mujoco/assets/dummy_ethercat6.part
new file mode 100644
index 0000000..6b654c9
--- /dev/null
+++ b/momo_mujoco/assets/dummy_ethercat6.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "e9bfc91292964932a3b8cf59",
+ "documentMicroversion": "8d97e229dc805744099f2975",
+ "documentVersion": "e92192222dc14c7f06b2827d",
+ "elementId": "3c697002355abd242d67b3cf",
+ "fullConfiguration": "default",
+ "id": "MopYmLscweeZR6s+O",
+ "isStandardContent": false,
+ "name": "dummy-etherCAT6 <38>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/dummy_ethercat6.stl b/momo_mujoco/assets/dummy_ethercat6.stl
new file mode 100644
index 0000000..ab8ba93
Binary files /dev/null and b/momo_mujoco/assets/dummy_ethercat6.stl differ
diff --git a/momo_mujoco/assets/dummy_screen_back.part b/momo_mujoco/assets/dummy_screen_back.part
new file mode 100644
index 0000000..2e9bfc7
--- /dev/null
+++ b/momo_mujoco/assets/dummy_screen_back.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "cc86be684afa70dbb832f150",
+ "documentMicroversion": "cbb3e5ada51abcfadcf1d57e",
+ "documentVersion": "a11ae294b55b6c0829f2ca06",
+ "elementId": "946ed3efec475df23cd50ba7",
+ "fullConfiguration": "default",
+ "id": "MZHjDOHZZTKH+5ECq",
+ "isStandardContent": false,
+ "name": "dummy_screen_back <1>",
+ "partId": "JFH",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/dummy_screen_back.stl b/momo_mujoco/assets/dummy_screen_back.stl
new file mode 100644
index 0000000..5afecd4
Binary files /dev/null and b/momo_mujoco/assets/dummy_screen_back.stl differ
diff --git a/momo_mujoco/assets/dummy_screen_front.part b/momo_mujoco/assets/dummy_screen_front.part
new file mode 100644
index 0000000..34d4a9d
--- /dev/null
+++ b/momo_mujoco/assets/dummy_screen_front.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "cc86be684afa70dbb832f150",
+ "documentMicroversion": "cbb3e5ada51abcfadcf1d57e",
+ "documentVersion": "a11ae294b55b6c0829f2ca06",
+ "elementId": "946ed3efec475df23cd50ba7",
+ "fullConfiguration": "default",
+ "id": "MJwdUhNECRYwNmnTy",
+ "isStandardContent": false,
+ "name": "dummy_screen_front <44>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/dummy_screen_front.stl b/momo_mujoco/assets/dummy_screen_front.stl
new file mode 100644
index 0000000..2d22bad
Binary files /dev/null and b/momo_mujoco/assets/dummy_screen_front.stl differ
diff --git a/momo_mujoco/assets/dummy_usb_port.part b/momo_mujoco/assets/dummy_usb_port.part
new file mode 100644
index 0000000..1d1dfc4
--- /dev/null
+++ b/momo_mujoco/assets/dummy_usb_port.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "977876b9b7c2dcc9ef9352e5",
+ "documentMicroversion": "8854d8d4357f9be19ff6235a",
+ "documentVersion": "5ec2455d0113e8bf181ed696",
+ "elementId": "40d1b6cc08eb9bdd6b7b8173",
+ "fullConfiguration": "default",
+ "id": "MmDQMAAnn++VDjMQz",
+ "isStandardContent": false,
+ "name": "dummy-usb-port <40>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/dummy_usb_port.stl b/momo_mujoco/assets/dummy_usb_port.stl
new file mode 100644
index 0000000..743fe89
Binary files /dev/null and b/momo_mujoco/assets/dummy_usb_port.stl differ
diff --git a/momo_mujoco/assets/dummy_voltage_meter.part b/momo_mujoco/assets/dummy_voltage_meter.part
new file mode 100644
index 0000000..f65ff75
--- /dev/null
+++ b/momo_mujoco/assets/dummy_voltage_meter.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "677a8f973dc17d55f6f58fd1",
+ "documentMicroversion": "0a8fc25f6fb5f6697dffeeaa",
+ "documentVersion": "7966adac9d6b70ff2fe17b09",
+ "elementId": "358e41abe9988f47c32652c3",
+ "fullConfiguration": "default",
+ "id": "MYbvx7b7Fos7YIe9I",
+ "isStandardContent": false,
+ "name": "dummy-voltage-meter <42>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/dummy_voltage_meter.stl b/momo_mujoco/assets/dummy_voltage_meter.stl
new file mode 100644
index 0000000..1e7a95e
Binary files /dev/null and b/momo_mujoco/assets/dummy_voltage_meter.stl differ
diff --git a/momo_mujoco/assets/front_left_panel.part b/momo_mujoco/assets/front_left_panel.part
new file mode 100644
index 0000000..dbc1ad4
--- /dev/null
+++ b/momo_mujoco/assets/front_left_panel.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "863991aea7009777ec69f8e0",
+ "documentMicroversion": "b1aa0267c0cccbdc36388b13",
+ "documentVersion": "e2b5bdb20736e7d235ebc6d6",
+ "elementId": "9546c46820dd27c90c97a961",
+ "fullConfiguration": "default",
+ "id": "MEiP9S8KMGSWn+8dO",
+ "isStandardContent": false,
+ "name": "front_left_panel <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/front_left_panel.stl b/momo_mujoco/assets/front_left_panel.stl
new file mode 100644
index 0000000..71aae87
Binary files /dev/null and b/momo_mujoco/assets/front_left_panel.stl differ
diff --git a/momo_mujoco/assets/front_plate_left.part b/momo_mujoco/assets/front_plate_left.part
new file mode 100644
index 0000000..d11eb57
--- /dev/null
+++ b/momo_mujoco/assets/front_plate_left.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "8345018c20be8b267321690a",
+ "fullConfiguration": "default",
+ "id": "MPdX+V8dEQKEX5A2w",
+ "isStandardContent": false,
+ "name": "front_plate_left <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/front_plate_left.stl b/momo_mujoco/assets/front_plate_left.stl
new file mode 100644
index 0000000..8434b9b
Binary files /dev/null and b/momo_mujoco/assets/front_plate_left.stl differ
diff --git a/momo_mujoco/assets/front_plate_right.part b/momo_mujoco/assets/front_plate_right.part
new file mode 100644
index 0000000..2c1b3d5
--- /dev/null
+++ b/momo_mujoco/assets/front_plate_right.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "4062f8d61a247180ea821b53",
+ "fullConfiguration": "default",
+ "id": "MtlkNl5Aeiw/ZECfU",
+ "isStandardContent": false,
+ "name": "front_plate_right <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/front_plate_right.stl b/momo_mujoco/assets/front_plate_right.stl
new file mode 100644
index 0000000..f6a7535
Binary files /dev/null and b/momo_mujoco/assets/front_plate_right.stl differ
diff --git a/momo_mujoco/assets/front_right_panel.part b/momo_mujoco/assets/front_right_panel.part
new file mode 100644
index 0000000..ab61693
--- /dev/null
+++ b/momo_mujoco/assets/front_right_panel.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "f76178fc8c2e9211bebcd823",
+ "documentMicroversion": "15d69992612601edf7b5bb5b",
+ "documentVersion": "895d726f59067e18e926114a",
+ "elementId": "a3fa843ac7789b0584ef0f2d",
+ "fullConfiguration": "default",
+ "id": "M8zmehHcV7ze3lYb5",
+ "isStandardContent": false,
+ "name": "front_right_panel <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/front_right_panel.stl b/momo_mujoco/assets/front_right_panel.stl
new file mode 100644
index 0000000..39144ff
Binary files /dev/null and b/momo_mujoco/assets/front_right_panel.stl differ
diff --git a/momo_mujoco/assets/front_wheel_cover.part b/momo_mujoco/assets/front_wheel_cover.part
new file mode 100644
index 0000000..dec2aee
--- /dev/null
+++ b/momo_mujoco/assets/front_wheel_cover.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "caf04bafddd9b963aaa9f382",
+ "documentMicroversion": "548dfa933deea8f912116823",
+ "documentVersion": "dd5416c66d596abe4908778d",
+ "elementId": "b7bfcec36bbdf79d03afd5c1",
+ "fullConfiguration": "default",
+ "id": "Mz++0UJz6IXa1Kt/+",
+ "isStandardContent": false,
+ "name": "front_wheel_cover <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/front_wheel_cover.stl b/momo_mujoco/assets/front_wheel_cover.stl
new file mode 100644
index 0000000..91aeb39
Binary files /dev/null and b/momo_mujoco/assets/front_wheel_cover.stl differ
diff --git a/momo_mujoco/assets/harting_modular_connector_upper_part_v2_step_1_md_09140014703_100576875ugm000_c_step_1_solid1.part b/momo_mujoco/assets/harting_modular_connector_upper_part_v2_step_1_md_09140014703_100576875ugm000_c_step_1_solid1.part
new file mode 100644
index 0000000..ef35418
--- /dev/null
+++ b/momo_mujoco/assets/harting_modular_connector_upper_part_v2_step_1_md_09140014703_100576875ugm000_c_step_1_solid1.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "984ba82a8daf833ebd348460",
+ "documentMicroversion": "e0e8a49a11b15790141a2ea4",
+ "documentVersion": "cc5c08e29b6b84046e6de795",
+ "elementId": "a490f6d91f3dcb62c3442390",
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@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "67b9de4ad3aabbe56e9170b7",
+ "fullConfiguration": "default",
+ "id": "M9Z8iUE2Y7DhVMaE4",
+ "isStandardContent": false,
+ "name": "realsense_d435i <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/realsense_d435i.stl b/momo_mujoco/assets/realsense_d435i.stl
new file mode 100644
index 0000000..7ca595f
Binary files /dev/null and b/momo_mujoco/assets/realsense_d435i.stl differ
diff --git a/momo_mujoco/assets/realsense_mounting_bracket.part b/momo_mujoco/assets/realsense_mounting_bracket.part
new file mode 100644
index 0000000..614aed9
--- /dev/null
+++ b/momo_mujoco/assets/realsense_mounting_bracket.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "5f8cd043285800661664bacb",
+ "fullConfiguration": "default",
+ "id": "MuDfN2oHoVivN9hQh",
+ "isStandardContent": false,
+ "name": "realsense_mounting_bracket <6>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/realsense_mounting_bracket.stl b/momo_mujoco/assets/realsense_mounting_bracket.stl
new file mode 100644
index 0000000..6c87f13
Binary files /dev/null and b/momo_mujoco/assets/realsense_mounting_bracket.stl differ
diff --git a/momo_mujoco/assets/realsense_t265.part b/momo_mujoco/assets/realsense_t265.part
new file mode 100644
index 0000000..4cd72e8
--- /dev/null
+++ b/momo_mujoco/assets/realsense_t265.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "9874fec32a1811b2eeff8c3c",
+ "fullConfiguration": "default",
+ "id": "MuWbmGqZSvoPwlVOz",
+ "isStandardContent": false,
+ "name": "realsense_t265 <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/realsense_t265.stl b/momo_mujoco/assets/realsense_t265.stl
new file mode 100644
index 0000000..c2f9f06
Binary files /dev/null and b/momo_mujoco/assets/realsense_t265.stl differ
diff --git a/momo_mujoco/assets/roller.part b/momo_mujoco/assets/roller.part
new file mode 100644
index 0000000..33ca418
--- /dev/null
+++ b/momo_mujoco/assets/roller.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "6b104b6cdda343f6edc63901",
+ "documentMicroversion": "19a593efb69811db1ed0046e",
+ "documentVersion": "f2ce908d12f0e47af053dafc",
+ "elementId": "182a583e51a36ae6e8172655",
+ "fullConfiguration": "default",
+ "id": "MgueT+tbcf4yuASc5",
+ "isStandardContent": false,
+ "name": "roller <43>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/roller.scad b/momo_mujoco/assets/roller.scad
new file mode 100644
index 0000000..d818506
--- /dev/null
+++ b/momo_mujoco/assets/roller.scad
@@ -0,0 +1,25 @@
+% scale(1000) import("roller.stl");
+
+// Append pure shapes (cube, cylinder and sphere), e.g:
+// cube([10, 10, 10], center=true);
+// cylinder(r=10, h=10, center=true);
+translate([0,0,0])
+sphere(15.5);
+
+translate([0,0,8.5])
+sphere(15.5);
+
+translate([0,0,-8.5])
+sphere(15.5);
+
+translate([0,0,16.5])
+sphere(15);
+
+translate([0,0,-16.5])
+sphere(15);
+
+translate([0,0,23.5])
+sphere(14);
+
+translate([0,0,-23.5])
+sphere(14);
\ No newline at end of file
diff --git a/momo_mujoco/assets/roller.stl b/momo_mujoco/assets/roller.stl
new file mode 100644
index 0000000..3912498
Binary files /dev/null and b/momo_mujoco/assets/roller.stl differ
diff --git a/momo_mujoco/assets/screen_holder.part b/momo_mujoco/assets/screen_holder.part
new file mode 100644
index 0000000..deac66b
--- /dev/null
+++ b/momo_mujoco/assets/screen_holder.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "4bd86bde432cb9d9d2d4bb97",
+ "documentMicroversion": "fb38d0662b4ef2cd42f83836",
+ "documentVersion": "5ff654fdfe56f268696120d8",
+ "elementId": "42ef4858708c21bed7027cb6",
+ "fullConfiguration": "default",
+ "id": "MuJLxLmS4IEyJHTZf",
+ "isStandardContent": false,
+ "name": "screen_holder <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/screen_holder.stl b/momo_mujoco/assets/screen_holder.stl
new file mode 100644
index 0000000..f031424
Binary files /dev/null and b/momo_mujoco/assets/screen_holder.stl differ
diff --git a/momo_mujoco/assets/side_plate_1.part b/momo_mujoco/assets/side_plate_1.part
new file mode 100644
index 0000000..e46c8cb
--- /dev/null
+++ b/momo_mujoco/assets/side_plate_1.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "4ed8fe0da8e143ffa585ab2b",
+ "fullConfiguration": "default",
+ "id": "MTtKXRV8m7W8H2cBD",
+ "isStandardContent": false,
+ "name": "side_plate_1 <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/side_plate_1.stl b/momo_mujoco/assets/side_plate_1.stl
new file mode 100644
index 0000000..890de14
Binary files /dev/null and b/momo_mujoco/assets/side_plate_1.stl differ
diff --git a/momo_mujoco/assets/side_plate_2.part b/momo_mujoco/assets/side_plate_2.part
new file mode 100644
index 0000000..f0e7ef0
--- /dev/null
+++ b/momo_mujoco/assets/side_plate_2.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "fe9f9ace38301a5e2d7f899e",
+ "fullConfiguration": "default",
+ "id": "MfcQLl8SCycFzp+4Z",
+ "isStandardContent": false,
+ "name": "side_plate_2 <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/side_plate_2.stl b/momo_mujoco/assets/side_plate_2.stl
new file mode 100644
index 0000000..0e93b82
Binary files /dev/null and b/momo_mujoco/assets/side_plate_2.stl differ
diff --git a/momo_mujoco/assets/side_plate_3.part b/momo_mujoco/assets/side_plate_3.part
new file mode 100644
index 0000000..a0a7444
--- /dev/null
+++ b/momo_mujoco/assets/side_plate_3.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "b5ad7715c3ce13b5c88f270c",
+ "fullConfiguration": "default",
+ "id": "MTllRzxBjjcE7If6s",
+ "isStandardContent": false,
+ "name": "side_plate_3 <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/side_plate_3.stl b/momo_mujoco/assets/side_plate_3.stl
new file mode 100644
index 0000000..c5df100
Binary files /dev/null and b/momo_mujoco/assets/side_plate_3.stl differ
diff --git a/momo_mujoco/assets/spacer.part b/momo_mujoco/assets/spacer.part
new file mode 100644
index 0000000..ff40d4d
--- /dev/null
+++ b/momo_mujoco/assets/spacer.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "16bbb252afe1d39f866fa94c",
+ "documentMicroversion": "5c7651a3dac612bada4ad3c5",
+ "documentVersion": "e7f53b09382d4739e67ce316",
+ "elementId": "f258eb165bc782d94a26993c",
+ "fullConfiguration": "default",
+ "id": "MjXunLMJ8ZTG7Oue4",
+ "isStandardContent": false,
+ "name": "Spacer <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/spacer.stl b/momo_mujoco/assets/spacer.stl
new file mode 100644
index 0000000..6510f82
Binary files /dev/null and b/momo_mujoco/assets/spacer.stl differ
diff --git a/momo_mujoco/assets/top_plate_localization_module.part b/momo_mujoco/assets/top_plate_localization_module.part
new file mode 100644
index 0000000..de8eff1
--- /dev/null
+++ b/momo_mujoco/assets/top_plate_localization_module.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "062adffe3c208bdd2ead9d70",
+ "fullConfiguration": "default",
+ "id": "MQ57YJW1RtFDPzvUa",
+ "isStandardContent": false,
+ "name": "top_plate_localization_module <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/top_plate_localization_module.stl b/momo_mujoco/assets/top_plate_localization_module.stl
new file mode 100644
index 0000000..6fe50de
Binary files /dev/null and b/momo_mujoco/assets/top_plate_localization_module.stl differ
diff --git a/momo_mujoco/assets/velodyne_mount.part b/momo_mujoco/assets/velodyne_mount.part
new file mode 100644
index 0000000..4cea169
--- /dev/null
+++ b/momo_mujoco/assets/velodyne_mount.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "6b7b19abdc0556e1215e8ebf",
+ "fullConfiguration": "default",
+ "id": "M99XUYkyMa/GW5SPP",
+ "isStandardContent": false,
+ "name": "velodyne_mount <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/velodyne_mount.stl b/momo_mujoco/assets/velodyne_mount.stl
new file mode 100644
index 0000000..8b9a2e2
Binary files /dev/null and b/momo_mujoco/assets/velodyne_mount.stl differ
diff --git a/momo_mujoco/assets/velodyne_vlp16.part b/momo_mujoco/assets/velodyne_vlp16.part
new file mode 100644
index 0000000..7c42d71
--- /dev/null
+++ b/momo_mujoco/assets/velodyne_vlp16.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "09389ac704fd38bc03a7f12f",
+ "documentMicroversion": "efb9e3b6af2bf864a2298056",
+ "documentVersion": "8e12247e0a5c04bf3d9cbbd3",
+ "elementId": "61a71f7b678196ef713bc858",
+ "fullConfiguration": "default",
+ "id": "MXQQfr7E1t3LeaytE",
+ "isStandardContent": false,
+ "name": "velodyne-vlp16 <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_mujoco/assets/velodyne_vlp16.stl b/momo_mujoco/assets/velodyne_vlp16.stl
new file mode 100644
index 0000000..c56ace9
Binary files /dev/null and b/momo_mujoco/assets/velodyne_vlp16.stl differ
diff --git a/momo_mujoco/config.json b/momo_mujoco/config.json
new file mode 100644
index 0000000..1404e88
--- /dev/null
+++ b/momo_mujoco/config.json
@@ -0,0 +1,18 @@
+{
+ "url": "https://cad.onshape.com/documents/0f7ba08d49760d832652e76c/w/f802382a554ac4e5d967eb06/e/176c79e9883e5c00c7190ba1",
+ "output_format": "mujoco",
+ "use_scads": true,
+
+ "joint_properties": {
+ "*": {
+ "actuated": false,
+ "range": false
+ },
+ "*_wheel": {
+ "actuated": true,
+ "type": "velocity",
+ "limits": [-16, 16],
+ "kv": 5.0
+ }
+ }
+}
diff --git a/momo_mujoco/robot.xml b/momo_mujoco/robot.xml
new file mode 100644
index 0000000..c1db385
--- /dev/null
+++ b/momo_mujoco/robot.xml
@@ -0,0 +1,1572 @@
+
+
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new file mode 100644
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index 0000000..fb2cdc0
--- /dev/null
+++ b/momo_urdf/assets/back_cover.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "3b9f8f7802d5a8c97319a30b",
+ "documentMicroversion": "20eb15c7a803907afe9603ea",
+ "documentVersion": "fa516bf1036a3cd29fd45074",
+ "elementId": "2cc0d1602fab5bdd2da284ea",
+ "fullConfiguration": "default",
+ "id": "Mdq/52JxVRoMzhPDZ",
+ "isStandardContent": false,
+ "name": "back_cover <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/back_cover.stl b/momo_urdf/assets/back_cover.stl
new file mode 100644
index 0000000..604bb62
Binary files /dev/null and b/momo_urdf/assets/back_cover.stl differ
diff --git a/momo_urdf/assets/back_plate_left.part b/momo_urdf/assets/back_plate_left.part
new file mode 100644
index 0000000..aa7fbfc
--- /dev/null
+++ b/momo_urdf/assets/back_plate_left.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "977eb8d724ac5066057a89ba",
+ "fullConfiguration": "default",
+ "id": "MrnwHElbCufqTFr6t",
+ "isStandardContent": false,
+ "name": "back_plate_left <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/back_plate_left.stl b/momo_urdf/assets/back_plate_left.stl
new file mode 100644
index 0000000..8e9a40a
Binary files /dev/null and b/momo_urdf/assets/back_plate_left.stl differ
diff --git a/momo_urdf/assets/back_plate_right.part b/momo_urdf/assets/back_plate_right.part
new file mode 100644
index 0000000..b0b58fd
--- /dev/null
+++ b/momo_urdf/assets/back_plate_right.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "cb82da041bf7953db0d0d568",
+ "fullConfiguration": "default",
+ "id": "MDBcuemN9YNBmvyzb",
+ "isStandardContent": false,
+ "name": "back_plate_right <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/back_plate_right.stl b/momo_urdf/assets/back_plate_right.stl
new file mode 100644
index 0000000..3dc319c
Binary files /dev/null and b/momo_urdf/assets/back_plate_right.stl differ
diff --git a/momo_urdf/assets/back_wheel_cover.part b/momo_urdf/assets/back_wheel_cover.part
new file mode 100644
index 0000000..4372e57
--- /dev/null
+++ b/momo_urdf/assets/back_wheel_cover.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "50eb86bffed8c3b3a6735f0d",
+ "documentMicroversion": "fec78048d4755cd962303b92",
+ "documentVersion": "446056850a16e324719d34b1",
+ "elementId": "533fc9096d845cd9ee1449ce",
+ "fullConfiguration": "default",
+ "id": "MaBFbL8liDWxi1cfV",
+ "isStandardContent": false,
+ "name": "back_wheel_cover <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/back_wheel_cover.stl b/momo_urdf/assets/back_wheel_cover.stl
new file mode 100644
index 0000000..a4f4a10
Binary files /dev/null and b/momo_urdf/assets/back_wheel_cover.stl differ
diff --git a/momo_urdf/assets/base_link.part b/momo_urdf/assets/base_link.part
new file mode 100644
index 0000000..2bfd8e2
--- /dev/null
+++ b/momo_urdf/assets/base_link.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "38ae677da090b710c46b7dc8",
+ "documentMicroversion": "02c208c6fd133608f1d5e793",
+ "documentVersion": "81fbee99726dbd1903f8e9cb",
+ "elementId": "62972eb24c81f8257ef51a85",
+ "fullConfiguration": "default",
+ "id": "Mb9FJ/MqejGoNJhlS",
+ "isStandardContent": false,
+ "name": "base_link <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/base_link.scad b/momo_urdf/assets/base_link.scad
new file mode 100644
index 0000000..2ba6741
--- /dev/null
+++ b/momo_urdf/assets/base_link.scad
@@ -0,0 +1,4 @@
+% scale(1000) import("base_link.stl");
+
+translate([0,0,112.5])
+cube([745, 440, 225], center=true);
diff --git a/momo_urdf/assets/base_link.stl b/momo_urdf/assets/base_link.stl
new file mode 100644
index 0000000..1bf7c73
Binary files /dev/null and b/momo_urdf/assets/base_link.stl differ
diff --git a/momo_urdf/assets/base_plate_localization_module.part b/momo_urdf/assets/base_plate_localization_module.part
new file mode 100644
index 0000000..6409369
--- /dev/null
+++ b/momo_urdf/assets/base_plate_localization_module.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "155d3a029c1ccac792e17783",
+ "fullConfiguration": "default",
+ "id": "MiBVaYSQGjKyqboeh",
+ "isStandardContent": false,
+ "name": "base_plate_localization_module <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/base_plate_localization_module.scad b/momo_urdf/assets/base_plate_localization_module.scad
new file mode 100644
index 0000000..4ef5c27
--- /dev/null
+++ b/momo_urdf/assets/base_plate_localization_module.scad
@@ -0,0 +1,4 @@
+% scale(1000) import("base_plate_localization_module.stl");
+
+translate([0,0, 138])
+cube([435, 645, 276], center=true);
diff --git a/momo_urdf/assets/base_plate_localization_module.stl b/momo_urdf/assets/base_plate_localization_module.stl
new file mode 100644
index 0000000..08eece6
Binary files /dev/null and b/momo_urdf/assets/base_plate_localization_module.stl differ
diff --git a/momo_urdf/assets/center_cover.part b/momo_urdf/assets/center_cover.part
new file mode 100644
index 0000000..b8d1947
--- /dev/null
+++ b/momo_urdf/assets/center_cover.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "6714f678e8260a18aa13db39",
+ "documentMicroversion": "6ab0b134bea9f9fe97a43321",
+ "documentVersion": "4dc1d862ef3155a7a076745b",
+ "elementId": "79b9d863bb302c67f2ffc569",
+ "fullConfiguration": "default",
+ "id": "My6aM8DbarFZs50Uy",
+ "isStandardContent": false,
+ "name": "center_cover <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/center_cover.stl b/momo_urdf/assets/center_cover.stl
new file mode 100644
index 0000000..14d1b31
Binary files /dev/null and b/momo_urdf/assets/center_cover.stl differ
diff --git a/momo_urdf/assets/connector.part b/momo_urdf/assets/connector.part
new file mode 100644
index 0000000..9d7bc56
--- /dev/null
+++ b/momo_urdf/assets/connector.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "aeb3631bed98a107e3c82e79",
+ "documentMicroversion": "b5f0fb6b404d97a36a6e7d52",
+ "documentVersion": "2ab1711a06f864f9965eb912",
+ "elementId": "fd6c9b5abd85174432901141",
+ "fullConfiguration": "default",
+ "id": "Mt2Hy63ysLxQVSPFg",
+ "isStandardContent": false,
+ "name": "connector <19>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/connector.stl b/momo_urdf/assets/connector.stl
new file mode 100644
index 0000000..b947d8f
Binary files /dev/null and b/momo_urdf/assets/connector.stl differ
diff --git a/momo_urdf/assets/cover_top_plate.part b/momo_urdf/assets/cover_top_plate.part
new file mode 100644
index 0000000..22d459e
--- /dev/null
+++ b/momo_urdf/assets/cover_top_plate.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "8105600b11449b884bd23281",
+ "fullConfiguration": "default",
+ "id": "MpdkY1bs26nEsX39q",
+ "isStandardContent": false,
+ "name": "cover_top_plate <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/cover_top_plate.stl b/momo_urdf/assets/cover_top_plate.stl
new file mode 100644
index 0000000..819a6a1
Binary files /dev/null and b/momo_urdf/assets/cover_top_plate.stl differ
diff --git a/momo_urdf/assets/cover_with_connections.part b/momo_urdf/assets/cover_with_connections.part
new file mode 100644
index 0000000..e761450
--- /dev/null
+++ b/momo_urdf/assets/cover_with_connections.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "d329e609b0df66acb3f65f39",
+ "documentMicroversion": "bcf1cb8b0fafe928924a49d5",
+ "documentVersion": "d1abe33b8a345bfaa67aaf1c",
+ "elementId": "befb716774186a8bcf894a91",
+ "fullConfiguration": "default",
+ "id": "Mc1Wn/ySjMlWIe/Ut",
+ "isStandardContent": false,
+ "name": "cover_with_connections <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/cover_with_connections.stl b/momo_urdf/assets/cover_with_connections.stl
new file mode 100644
index 0000000..329920e
Binary files /dev/null and b/momo_urdf/assets/cover_with_connections.stl differ
diff --git a/momo_urdf/assets/cube_connector.part b/momo_urdf/assets/cube_connector.part
new file mode 100644
index 0000000..ee58b55
--- /dev/null
+++ b/momo_urdf/assets/cube_connector.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "f0be61ada7a2c7698516733d",
+ "documentMicroversion": "57f22ca0116cb3b8eb6ea047",
+ "documentVersion": "50a33b609f5d77f29005e1e8",
+ "elementId": "5b9209335b6f615901783241",
+ "fullConfiguration": "default",
+ "id": "My+gEc8CJ2cJqKioc",
+ "isStandardContent": false,
+ "name": "cube_connector <5>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/cube_connector.stl b/momo_urdf/assets/cube_connector.stl
new file mode 100644
index 0000000..5182936
Binary files /dev/null and b/momo_urdf/assets/cube_connector.stl differ
diff --git a/momo_urdf/assets/cube_connector__2.part b/momo_urdf/assets/cube_connector__2.part
new file mode 100644
index 0000000..36210e6
--- /dev/null
+++ b/momo_urdf/assets/cube_connector__2.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "699084dffd0da69cf5827b81",
+ "fullConfiguration": "default",
+ "id": "Mml6tKLRxyCa0mjQn",
+ "isStandardContent": false,
+ "name": "cube_connector <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/cube_connector__2.stl b/momo_urdf/assets/cube_connector__2.stl
new file mode 100644
index 0000000..5182936
Binary files /dev/null and b/momo_urdf/assets/cube_connector__2.stl differ
diff --git a/momo_urdf/assets/dummy_connectors.part b/momo_urdf/assets/dummy_connectors.part
new file mode 100644
index 0000000..253958b
--- /dev/null
+++ b/momo_urdf/assets/dummy_connectors.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "4ee9114aed89baf3cffda5c2",
+ "documentMicroversion": "dcd2523006265967965d3b0b",
+ "documentVersion": "177820dc3589097089c45385",
+ "elementId": "9caa0fb379cd1e59616e2b01",
+ "fullConfiguration": "default",
+ "id": "M74UTwRvX2v5KdxcZ",
+ "isStandardContent": false,
+ "name": "dummy-connectors <43>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/dummy_connectors.stl b/momo_urdf/assets/dummy_connectors.stl
new file mode 100644
index 0000000..c8dab3b
Binary files /dev/null and b/momo_urdf/assets/dummy_connectors.stl differ
diff --git a/momo_urdf/assets/dummy_ethercat6.part b/momo_urdf/assets/dummy_ethercat6.part
new file mode 100644
index 0000000..6b654c9
--- /dev/null
+++ b/momo_urdf/assets/dummy_ethercat6.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "e9bfc91292964932a3b8cf59",
+ "documentMicroversion": "8d97e229dc805744099f2975",
+ "documentVersion": "e92192222dc14c7f06b2827d",
+ "elementId": "3c697002355abd242d67b3cf",
+ "fullConfiguration": "default",
+ "id": "MopYmLscweeZR6s+O",
+ "isStandardContent": false,
+ "name": "dummy-etherCAT6 <38>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/dummy_ethercat6.stl b/momo_urdf/assets/dummy_ethercat6.stl
new file mode 100644
index 0000000..ab8ba93
Binary files /dev/null and b/momo_urdf/assets/dummy_ethercat6.stl differ
diff --git a/momo_urdf/assets/dummy_screen_back.part b/momo_urdf/assets/dummy_screen_back.part
new file mode 100644
index 0000000..2e9bfc7
--- /dev/null
+++ b/momo_urdf/assets/dummy_screen_back.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "cc86be684afa70dbb832f150",
+ "documentMicroversion": "cbb3e5ada51abcfadcf1d57e",
+ "documentVersion": "a11ae294b55b6c0829f2ca06",
+ "elementId": "946ed3efec475df23cd50ba7",
+ "fullConfiguration": "default",
+ "id": "MZHjDOHZZTKH+5ECq",
+ "isStandardContent": false,
+ "name": "dummy_screen_back <1>",
+ "partId": "JFH",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/dummy_screen_back.stl b/momo_urdf/assets/dummy_screen_back.stl
new file mode 100644
index 0000000..5afecd4
Binary files /dev/null and b/momo_urdf/assets/dummy_screen_back.stl differ
diff --git a/momo_urdf/assets/dummy_screen_front.part b/momo_urdf/assets/dummy_screen_front.part
new file mode 100644
index 0000000..34d4a9d
--- /dev/null
+++ b/momo_urdf/assets/dummy_screen_front.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "cc86be684afa70dbb832f150",
+ "documentMicroversion": "cbb3e5ada51abcfadcf1d57e",
+ "documentVersion": "a11ae294b55b6c0829f2ca06",
+ "elementId": "946ed3efec475df23cd50ba7",
+ "fullConfiguration": "default",
+ "id": "MJwdUhNECRYwNmnTy",
+ "isStandardContent": false,
+ "name": "dummy_screen_front <44>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/dummy_screen_front.stl b/momo_urdf/assets/dummy_screen_front.stl
new file mode 100644
index 0000000..2d22bad
Binary files /dev/null and b/momo_urdf/assets/dummy_screen_front.stl differ
diff --git a/momo_urdf/assets/dummy_usb_port.part b/momo_urdf/assets/dummy_usb_port.part
new file mode 100644
index 0000000..1d1dfc4
--- /dev/null
+++ b/momo_urdf/assets/dummy_usb_port.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "977876b9b7c2dcc9ef9352e5",
+ "documentMicroversion": "8854d8d4357f9be19ff6235a",
+ "documentVersion": "5ec2455d0113e8bf181ed696",
+ "elementId": "40d1b6cc08eb9bdd6b7b8173",
+ "fullConfiguration": "default",
+ "id": "MmDQMAAnn++VDjMQz",
+ "isStandardContent": false,
+ "name": "dummy-usb-port <40>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/dummy_usb_port.stl b/momo_urdf/assets/dummy_usb_port.stl
new file mode 100644
index 0000000..743fe89
Binary files /dev/null and b/momo_urdf/assets/dummy_usb_port.stl differ
diff --git a/momo_urdf/assets/dummy_voltage_meter.part b/momo_urdf/assets/dummy_voltage_meter.part
new file mode 100644
index 0000000..f65ff75
--- /dev/null
+++ b/momo_urdf/assets/dummy_voltage_meter.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "677a8f973dc17d55f6f58fd1",
+ "documentMicroversion": "0a8fc25f6fb5f6697dffeeaa",
+ "documentVersion": "7966adac9d6b70ff2fe17b09",
+ "elementId": "358e41abe9988f47c32652c3",
+ "fullConfiguration": "default",
+ "id": "MYbvx7b7Fos7YIe9I",
+ "isStandardContent": false,
+ "name": "dummy-voltage-meter <42>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/dummy_voltage_meter.stl b/momo_urdf/assets/dummy_voltage_meter.stl
new file mode 100644
index 0000000..1e7a95e
Binary files /dev/null and b/momo_urdf/assets/dummy_voltage_meter.stl differ
diff --git a/momo_urdf/assets/front_left_panel.part b/momo_urdf/assets/front_left_panel.part
new file mode 100644
index 0000000..dbc1ad4
--- /dev/null
+++ b/momo_urdf/assets/front_left_panel.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "863991aea7009777ec69f8e0",
+ "documentMicroversion": "b1aa0267c0cccbdc36388b13",
+ "documentVersion": "e2b5bdb20736e7d235ebc6d6",
+ "elementId": "9546c46820dd27c90c97a961",
+ "fullConfiguration": "default",
+ "id": "MEiP9S8KMGSWn+8dO",
+ "isStandardContent": false,
+ "name": "front_left_panel <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/front_left_panel.stl b/momo_urdf/assets/front_left_panel.stl
new file mode 100644
index 0000000..71aae87
Binary files /dev/null and b/momo_urdf/assets/front_left_panel.stl differ
diff --git a/momo_urdf/assets/front_plate_left.part b/momo_urdf/assets/front_plate_left.part
new file mode 100644
index 0000000..d11eb57
--- /dev/null
+++ b/momo_urdf/assets/front_plate_left.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "8345018c20be8b267321690a",
+ "fullConfiguration": "default",
+ "id": "MPdX+V8dEQKEX5A2w",
+ "isStandardContent": false,
+ "name": "front_plate_left <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/front_plate_left.stl b/momo_urdf/assets/front_plate_left.stl
new file mode 100644
index 0000000..8434b9b
Binary files /dev/null and b/momo_urdf/assets/front_plate_left.stl differ
diff --git a/momo_urdf/assets/front_plate_right.part b/momo_urdf/assets/front_plate_right.part
new file mode 100644
index 0000000..2c1b3d5
--- /dev/null
+++ b/momo_urdf/assets/front_plate_right.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "4062f8d61a247180ea821b53",
+ "fullConfiguration": "default",
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diff --git a/momo_urdf/assets/merged/back_right_wheel_visual.stl b/momo_urdf/assets/merged/back_right_wheel_visual.stl
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diff --git a/momo_urdf/assets/merged/roller_9_visual.stl b/momo_urdf/assets/merged/roller_9_visual.stl
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index 0000000..a78fd6e
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diff --git a/momo_urdf/assets/merged/roller_visual.stl b/momo_urdf/assets/merged/roller_visual.stl
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diff --git a/momo_urdf/assets/motor_holder.part b/momo_urdf/assets/motor_holder.part
new file mode 100644
index 0000000..557b961
--- /dev/null
+++ b/momo_urdf/assets/motor_holder.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "b350b06ad9b1ad44171134c8",
+ "documentMicroversion": "cdda3618b3b9a0152ad9b1ff",
+ "documentVersion": "19f0b494e8447cd6f223e98a",
+ "elementId": "48db604709e6bd00586134e4",
+ "fullConfiguration": "default",
+ "id": "MxuCXMwdUWuhaK+vh",
+ "isStandardContent": false,
+ "name": "motor_holder <35>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/motor_holder.stl b/momo_urdf/assets/motor_holder.stl
new file mode 100644
index 0000000..43bd2a5
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diff --git a/momo_urdf/assets/mount_harting_connector.part b/momo_urdf/assets/mount_harting_connector.part
new file mode 100644
index 0000000..8be7672
--- /dev/null
+++ b/momo_urdf/assets/mount_harting_connector.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "01e957eea226793619458ada",
+ "fullConfiguration": "default",
+ "id": "MwgQGUg7IanQQq1gU",
+ "isStandardContent": false,
+ "name": "Mount_Harting_Connector <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/mount_harting_connector.stl b/momo_urdf/assets/mount_harting_connector.stl
new file mode 100644
index 0000000..8e198d1
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diff --git a/momo_urdf/assets/mounting_bracket.part b/momo_urdf/assets/mounting_bracket.part
new file mode 100644
index 0000000..3113a5f
--- /dev/null
+++ b/momo_urdf/assets/mounting_bracket.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "45c20015cd68f9773d2a1cc5",
+ "fullConfiguration": "default",
+ "id": "Mu5ad3/YaFwSywqun",
+ "isStandardContent": false,
+ "name": "mounting_bracket <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/mounting_bracket.stl b/momo_urdf/assets/mounting_bracket.stl
new file mode 100644
index 0000000..8863c29
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diff --git a/momo_urdf/assets/realsense_d435i.part b/momo_urdf/assets/realsense_d435i.part
new file mode 100644
index 0000000..d928aa3
--- /dev/null
+++ b/momo_urdf/assets/realsense_d435i.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "67b9de4ad3aabbe56e9170b7",
+ "fullConfiguration": "default",
+ "id": "M9Z8iUE2Y7DhVMaE4",
+ "isStandardContent": false,
+ "name": "realsense_d435i <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/realsense_d435i.stl b/momo_urdf/assets/realsense_d435i.stl
new file mode 100644
index 0000000..7ca595f
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diff --git a/momo_urdf/assets/realsense_mounting_bracket.part b/momo_urdf/assets/realsense_mounting_bracket.part
new file mode 100644
index 0000000..614aed9
--- /dev/null
+++ b/momo_urdf/assets/realsense_mounting_bracket.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "5f8cd043285800661664bacb",
+ "fullConfiguration": "default",
+ "id": "MuDfN2oHoVivN9hQh",
+ "isStandardContent": false,
+ "name": "realsense_mounting_bracket <6>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/realsense_mounting_bracket.stl b/momo_urdf/assets/realsense_mounting_bracket.stl
new file mode 100644
index 0000000..6c87f13
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diff --git a/momo_urdf/assets/realsense_t265.part b/momo_urdf/assets/realsense_t265.part
new file mode 100644
index 0000000..4cd72e8
--- /dev/null
+++ b/momo_urdf/assets/realsense_t265.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "9874fec32a1811b2eeff8c3c",
+ "fullConfiguration": "default",
+ "id": "MuWbmGqZSvoPwlVOz",
+ "isStandardContent": false,
+ "name": "realsense_t265 <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/realsense_t265.stl b/momo_urdf/assets/realsense_t265.stl
new file mode 100644
index 0000000..c2f9f06
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diff --git a/momo_urdf/assets/roller.part b/momo_urdf/assets/roller.part
new file mode 100644
index 0000000..33ca418
--- /dev/null
+++ b/momo_urdf/assets/roller.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "6b104b6cdda343f6edc63901",
+ "documentMicroversion": "19a593efb69811db1ed0046e",
+ "documentVersion": "f2ce908d12f0e47af053dafc",
+ "elementId": "182a583e51a36ae6e8172655",
+ "fullConfiguration": "default",
+ "id": "MgueT+tbcf4yuASc5",
+ "isStandardContent": false,
+ "name": "roller <43>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/roller.scad b/momo_urdf/assets/roller.scad
new file mode 100644
index 0000000..d818506
--- /dev/null
+++ b/momo_urdf/assets/roller.scad
@@ -0,0 +1,25 @@
+% scale(1000) import("roller.stl");
+
+// Append pure shapes (cube, cylinder and sphere), e.g:
+// cube([10, 10, 10], center=true);
+// cylinder(r=10, h=10, center=true);
+translate([0,0,0])
+sphere(15.5);
+
+translate([0,0,8.5])
+sphere(15.5);
+
+translate([0,0,-8.5])
+sphere(15.5);
+
+translate([0,0,16.5])
+sphere(15);
+
+translate([0,0,-16.5])
+sphere(15);
+
+translate([0,0,23.5])
+sphere(14);
+
+translate([0,0,-23.5])
+sphere(14);
\ No newline at end of file
diff --git a/momo_urdf/assets/roller.stl b/momo_urdf/assets/roller.stl
new file mode 100644
index 0000000..3912498
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diff --git a/momo_urdf/assets/screen_holder.part b/momo_urdf/assets/screen_holder.part
new file mode 100644
index 0000000..deac66b
--- /dev/null
+++ b/momo_urdf/assets/screen_holder.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "4bd86bde432cb9d9d2d4bb97",
+ "documentMicroversion": "fb38d0662b4ef2cd42f83836",
+ "documentVersion": "5ff654fdfe56f268696120d8",
+ "elementId": "42ef4858708c21bed7027cb6",
+ "fullConfiguration": "default",
+ "id": "MuJLxLmS4IEyJHTZf",
+ "isStandardContent": false,
+ "name": "screen_holder <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/screen_holder.stl b/momo_urdf/assets/screen_holder.stl
new file mode 100644
index 0000000..f031424
Binary files /dev/null and b/momo_urdf/assets/screen_holder.stl differ
diff --git a/momo_urdf/assets/side_plate_1.part b/momo_urdf/assets/side_plate_1.part
new file mode 100644
index 0000000..e46c8cb
--- /dev/null
+++ b/momo_urdf/assets/side_plate_1.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "4ed8fe0da8e143ffa585ab2b",
+ "fullConfiguration": "default",
+ "id": "MTtKXRV8m7W8H2cBD",
+ "isStandardContent": false,
+ "name": "side_plate_1 <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/side_plate_1.stl b/momo_urdf/assets/side_plate_1.stl
new file mode 100644
index 0000000..890de14
Binary files /dev/null and b/momo_urdf/assets/side_plate_1.stl differ
diff --git a/momo_urdf/assets/side_plate_2.part b/momo_urdf/assets/side_plate_2.part
new file mode 100644
index 0000000..f0e7ef0
--- /dev/null
+++ b/momo_urdf/assets/side_plate_2.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "fe9f9ace38301a5e2d7f899e",
+ "fullConfiguration": "default",
+ "id": "MfcQLl8SCycFzp+4Z",
+ "isStandardContent": false,
+ "name": "side_plate_2 <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/side_plate_2.stl b/momo_urdf/assets/side_plate_2.stl
new file mode 100644
index 0000000..0e93b82
Binary files /dev/null and b/momo_urdf/assets/side_plate_2.stl differ
diff --git a/momo_urdf/assets/side_plate_3.part b/momo_urdf/assets/side_plate_3.part
new file mode 100644
index 0000000..a0a7444
--- /dev/null
+++ b/momo_urdf/assets/side_plate_3.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "b5ad7715c3ce13b5c88f270c",
+ "fullConfiguration": "default",
+ "id": "MTllRzxBjjcE7If6s",
+ "isStandardContent": false,
+ "name": "side_plate_3 <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/side_plate_3.stl b/momo_urdf/assets/side_plate_3.stl
new file mode 100644
index 0000000..c5df100
Binary files /dev/null and b/momo_urdf/assets/side_plate_3.stl differ
diff --git a/momo_urdf/assets/spacer.part b/momo_urdf/assets/spacer.part
new file mode 100644
index 0000000..ff40d4d
--- /dev/null
+++ b/momo_urdf/assets/spacer.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "16bbb252afe1d39f866fa94c",
+ "documentMicroversion": "5c7651a3dac612bada4ad3c5",
+ "documentVersion": "e7f53b09382d4739e67ce316",
+ "elementId": "f258eb165bc782d94a26993c",
+ "fullConfiguration": "default",
+ "id": "MjXunLMJ8ZTG7Oue4",
+ "isStandardContent": false,
+ "name": "Spacer <2>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/spacer.stl b/momo_urdf/assets/spacer.stl
new file mode 100644
index 0000000..6510f82
Binary files /dev/null and b/momo_urdf/assets/spacer.stl differ
diff --git a/momo_urdf/assets/top_plate_localization_module.part b/momo_urdf/assets/top_plate_localization_module.part
new file mode 100644
index 0000000..de8eff1
--- /dev/null
+++ b/momo_urdf/assets/top_plate_localization_module.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "062adffe3c208bdd2ead9d70",
+ "fullConfiguration": "default",
+ "id": "MQ57YJW1RtFDPzvUa",
+ "isStandardContent": false,
+ "name": "top_plate_localization_module <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/top_plate_localization_module.stl b/momo_urdf/assets/top_plate_localization_module.stl
new file mode 100644
index 0000000..6fe50de
Binary files /dev/null and b/momo_urdf/assets/top_plate_localization_module.stl differ
diff --git a/momo_urdf/assets/velodyne_mount.part b/momo_urdf/assets/velodyne_mount.part
new file mode 100644
index 0000000..4cea169
--- /dev/null
+++ b/momo_urdf/assets/velodyne_mount.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "8a1433f64247b4654a9ffadd",
+ "documentMicroversion": "57b21fca22fd0d9ac49c1759",
+ "documentVersion": "312cae68760d89a1f51b5a29",
+ "elementId": "6b7b19abdc0556e1215e8ebf",
+ "fullConfiguration": "default",
+ "id": "M99XUYkyMa/GW5SPP",
+ "isStandardContent": false,
+ "name": "velodyne_mount <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/velodyne_mount.stl b/momo_urdf/assets/velodyne_mount.stl
new file mode 100644
index 0000000..8b9a2e2
Binary files /dev/null and b/momo_urdf/assets/velodyne_mount.stl differ
diff --git a/momo_urdf/assets/velodyne_vlp16.part b/momo_urdf/assets/velodyne_vlp16.part
new file mode 100644
index 0000000..7c42d71
--- /dev/null
+++ b/momo_urdf/assets/velodyne_vlp16.part
@@ -0,0 +1,14 @@
+{
+ "configuration": "default",
+ "documentId": "09389ac704fd38bc03a7f12f",
+ "documentMicroversion": "efb9e3b6af2bf864a2298056",
+ "documentVersion": "8e12247e0a5c04bf3d9cbbd3",
+ "elementId": "61a71f7b678196ef713bc858",
+ "fullConfiguration": "default",
+ "id": "MXQQfr7E1t3LeaytE",
+ "isStandardContent": false,
+ "name": "velodyne-vlp16 <1>",
+ "partId": "JFD",
+ "suppressed": false,
+ "type": "Part"
+}
\ No newline at end of file
diff --git a/momo_urdf/assets/velodyne_vlp16.stl b/momo_urdf/assets/velodyne_vlp16.stl
new file mode 100644
index 0000000..c56ace9
Binary files /dev/null and b/momo_urdf/assets/velodyne_vlp16.stl differ
diff --git a/momo_urdf/config.json b/momo_urdf/config.json
new file mode 100644
index 0000000..a4f13f8
--- /dev/null
+++ b/momo_urdf/config.json
@@ -0,0 +1,21 @@
+{
+ "url": "https://cad.onshape.com/documents/0f7ba08d49760d832652e76c/w/f802382a554ac4e5d967eb06/e/176c79e9883e5c00c7190ba1",
+ "output_format": "urdf",
+ "use_scads": true,
+ "simplify_stls": true,
+ "merge_stls": true,
+ "max_stl_size": 1,
+
+ "joint_properties": {
+ "*wheel*": {
+ "type": "continuous"
+ }
+ },
+
+ "ignore": {
+ "Aluminium_profile*": "all",
+ "*Connector*": "all"
+ }
+
+
+}
diff --git a/momo_urdf/robot.urdf b/momo_urdf/robot.urdf
new file mode 100644
index 0000000..24376a9
--- /dev/null
+++ b/momo_urdf/robot.urdf
@@ -0,0 +1,3508 @@
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"elementId": "4740f2f1b045155dd1588918", + "fullConfiguration": "default", + "id": "MaRuo9Bp4dc+Ik53Q", + "isStandardContent": false, + "name": "Aluminium_profile_42_8 <10>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_42_8.stl b/momo_mujoco/assets/aluminium_profile_42_8.stl new file mode 100644 index 0000000..278f46c Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_42_8.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_436.part b/momo_mujoco/assets/aluminium_profile_436.part new file mode 100644 index 0000000..33c1a0a --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_436.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "d4d8bdb7566e21e997487c0b", + "fullConfiguration": "default", + "id": "MicF6SDbAwoDkKbIs", + "isStandardContent": false, + "name": "Aluminium_profile_436 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_436.stl b/momo_mujoco/assets/aluminium_profile_436.stl new file mode 100644 index 0000000..42fd605 Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_436.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_60.part b/momo_mujoco/assets/aluminium_profile_60.part new file mode 100644 index 0000000..7bce061 --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_60.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "3a0304fcef529e4cb42f10f3", + "fullConfiguration": "default", + "id": "MdUOLaahPnXBBFVyx", + "isStandardContent": false, + "name": "Aluminium_profile_60 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_60.stl b/momo_mujoco/assets/aluminium_profile_60.stl new file mode 100644 index 0000000..e74c352 Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_60.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_620.part b/momo_mujoco/assets/aluminium_profile_620.part new file mode 100644 index 0000000..9aa7765 --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_620.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "14ae4a10f681bbbe1775d7e7", + "documentMicroversion": "6e44b6dde47cb81441a20c35", + "documentVersion": "ddd92bf60939c80de2674615", + "elementId": "9c07c724f1c694131471d227", + "fullConfiguration": "default", + "id": "Ms01r2NG4ZR3B8ZIo", + "isStandardContent": false, + "name": "Aluminium_profile_620 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_620.stl b/momo_mujoco/assets/aluminium_profile_620.stl new file mode 100644 index 0000000..2c931ac Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_620.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_620__2.part b/momo_mujoco/assets/aluminium_profile_620__2.part new file mode 100644 index 0000000..9d71ec7 --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_620__2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "0a8deeb3efd393704b765a7b", + "fullConfiguration": "default", + "id": "MQx1xaW3NjwaIfZDv", + "isStandardContent": false, + "name": "Aluminium_profile_620 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_620__2.stl b/momo_mujoco/assets/aluminium_profile_620__2.stl new file mode 100644 index 0000000..2c931ac Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_620__2.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_664.part b/momo_mujoco/assets/aluminium_profile_664.part new file mode 100644 index 0000000..4aa73cf --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_664.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "7f0a08201107f88ef6cf3def", + "documentMicroversion": "983469c32cbf0dc66fac2972", + "documentVersion": "a487bb6bf8bb31b64e26b9e6", + "elementId": "1163e1eb1524ef0ad3f386d9", + "fullConfiguration": "default", + "id": "McXpGi+TMrIkrMehD", + "isStandardContent": false, + "name": "Aluminium_profile_664 <23>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_664.stl b/momo_mujoco/assets/aluminium_profile_664.stl new file mode 100644 index 0000000..5349508 Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_664.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_690.part b/momo_mujoco/assets/aluminium_profile_690.part new file mode 100644 index 0000000..aa9f7c2 --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_690.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "89fbd1d180335e0864e8d50f", + "documentMicroversion": "4c984657022713c155139017", + "documentVersion": "398261d13f8b26849b3fd997", + "elementId": "f8894b5cf85fcac8c1967ea4", + "fullConfiguration": "default", + "id": "MnoR6Td7P4rQhxBxl", + "isStandardContent": false, + "name": "Aluminium_profile_690 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_690.stl b/momo_mujoco/assets/aluminium_profile_690.stl new file mode 100644 index 0000000..1f3256a Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_690.stl differ diff --git a/momo_mujoco/assets/aluminium_profile_90.part b/momo_mujoco/assets/aluminium_profile_90.part new file mode 100644 index 0000000..742ff32 --- /dev/null +++ b/momo_mujoco/assets/aluminium_profile_90.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "f75b8e5acb7f5eba686fbf83", + "documentMicroversion": "f85ed278029c93e3346f569f", + "documentVersion": "e3d2467c40f32b73d7d8a63f", + "elementId": "9e87ee24f306485c7d6031b8", + "fullConfiguration": "default", + "id": "MiSeRu/ZmVwVDkiBH", + "isStandardContent": false, + "name": "Aluminium_profile_90 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/aluminium_profile_90.stl b/momo_mujoco/assets/aluminium_profile_90.stl new file mode 100644 index 0000000..698f487 Binary files /dev/null and b/momo_mujoco/assets/aluminium_profile_90.stl differ diff --git a/momo_mujoco/assets/angle_5_20.part b/momo_mujoco/assets/angle_5_20.part new file mode 100644 index 0000000..ffed349 --- /dev/null +++ b/momo_mujoco/assets/angle_5_20.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "dd209a35d03dbf37011269f5", + "fullConfiguration": "default", + "id": "MhwLfbqFGv55CYrvd", + "isStandardContent": false, + "name": "angle_5_20 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/angle_5_20.stl b/momo_mujoco/assets/angle_5_20.stl new file mode 100644 index 0000000..44556a9 Binary files /dev/null and b/momo_mujoco/assets/angle_5_20.stl differ diff --git a/momo_mujoco/assets/back_cover.part b/momo_mujoco/assets/back_cover.part new file mode 100644 index 0000000..fb2cdc0 --- /dev/null +++ b/momo_mujoco/assets/back_cover.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "3b9f8f7802d5a8c97319a30b", + "documentMicroversion": "20eb15c7a803907afe9603ea", + "documentVersion": "fa516bf1036a3cd29fd45074", + "elementId": "2cc0d1602fab5bdd2da284ea", + "fullConfiguration": "default", + "id": "Mdq/52JxVRoMzhPDZ", + "isStandardContent": false, + "name": "back_cover <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/back_cover.stl b/momo_mujoco/assets/back_cover.stl new file mode 100644 index 0000000..604bb62 Binary files /dev/null and b/momo_mujoco/assets/back_cover.stl differ diff --git a/momo_mujoco/assets/back_plate_left.part b/momo_mujoco/assets/back_plate_left.part new file mode 100644 index 0000000..aa7fbfc --- /dev/null +++ b/momo_mujoco/assets/back_plate_left.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "977eb8d724ac5066057a89ba", + "fullConfiguration": "default", + "id": "MrnwHElbCufqTFr6t", + "isStandardContent": false, + "name": "back_plate_left <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/back_plate_left.stl b/momo_mujoco/assets/back_plate_left.stl new file mode 100644 index 0000000..8e9a40a Binary files /dev/null and b/momo_mujoco/assets/back_plate_left.stl differ diff --git a/momo_mujoco/assets/back_plate_right.part b/momo_mujoco/assets/back_plate_right.part new file mode 100644 index 0000000..b0b58fd --- /dev/null +++ b/momo_mujoco/assets/back_plate_right.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "cb82da041bf7953db0d0d568", + "fullConfiguration": "default", + "id": "MDBcuemN9YNBmvyzb", + "isStandardContent": false, + "name": "back_plate_right <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/back_plate_right.stl b/momo_mujoco/assets/back_plate_right.stl new file mode 100644 index 0000000..3dc319c Binary files /dev/null and b/momo_mujoco/assets/back_plate_right.stl differ diff --git a/momo_mujoco/assets/back_wheel_cover.part b/momo_mujoco/assets/back_wheel_cover.part new file mode 100644 index 0000000..4372e57 --- /dev/null +++ b/momo_mujoco/assets/back_wheel_cover.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "50eb86bffed8c3b3a6735f0d", + "documentMicroversion": "fec78048d4755cd962303b92", + "documentVersion": "446056850a16e324719d34b1", + "elementId": "533fc9096d845cd9ee1449ce", + "fullConfiguration": "default", + "id": "MaBFbL8liDWxi1cfV", + "isStandardContent": false, + "name": "back_wheel_cover <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/back_wheel_cover.stl b/momo_mujoco/assets/back_wheel_cover.stl new file mode 100644 index 0000000..a4f4a10 Binary files /dev/null and b/momo_mujoco/assets/back_wheel_cover.stl differ diff --git a/momo_mujoco/assets/base_link.part b/momo_mujoco/assets/base_link.part new file mode 100644 index 0000000..2bfd8e2 --- /dev/null +++ b/momo_mujoco/assets/base_link.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "38ae677da090b710c46b7dc8", + "documentMicroversion": "02c208c6fd133608f1d5e793", + "documentVersion": "81fbee99726dbd1903f8e9cb", + "elementId": "62972eb24c81f8257ef51a85", + "fullConfiguration": "default", + "id": "Mb9FJ/MqejGoNJhlS", + "isStandardContent": false, + "name": "base_link <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/base_link.scad b/momo_mujoco/assets/base_link.scad new file mode 100644 index 0000000..2ba6741 --- /dev/null +++ b/momo_mujoco/assets/base_link.scad @@ -0,0 +1,4 @@ +% scale(1000) import("base_link.stl"); + +translate([0,0,112.5]) +cube([745, 440, 225], center=true); diff --git a/momo_mujoco/assets/base_link.stl b/momo_mujoco/assets/base_link.stl new file mode 100644 index 0000000..1bf7c73 Binary files /dev/null and b/momo_mujoco/assets/base_link.stl differ diff --git a/momo_mujoco/assets/base_plate_localization_module.part b/momo_mujoco/assets/base_plate_localization_module.part new file mode 100644 index 0000000..6409369 --- /dev/null +++ b/momo_mujoco/assets/base_plate_localization_module.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "155d3a029c1ccac792e17783", + "fullConfiguration": "default", + "id": "MiBVaYSQGjKyqboeh", + "isStandardContent": false, + "name": "base_plate_localization_module <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/base_plate_localization_module.scad b/momo_mujoco/assets/base_plate_localization_module.scad new file mode 100644 index 0000000..4ef5c27 --- /dev/null +++ b/momo_mujoco/assets/base_plate_localization_module.scad @@ -0,0 +1,4 @@ +% scale(1000) import("base_plate_localization_module.stl"); + +translate([0,0, 138]) +cube([435, 645, 276], center=true); diff --git a/momo_mujoco/assets/base_plate_localization_module.stl b/momo_mujoco/assets/base_plate_localization_module.stl new file mode 100644 index 0000000..08eece6 Binary files /dev/null and b/momo_mujoco/assets/base_plate_localization_module.stl differ diff --git a/momo_mujoco/assets/center_cover.part b/momo_mujoco/assets/center_cover.part new file mode 100644 index 0000000..b8d1947 --- /dev/null +++ b/momo_mujoco/assets/center_cover.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "6714f678e8260a18aa13db39", + "documentMicroversion": "6ab0b134bea9f9fe97a43321", + "documentVersion": "4dc1d862ef3155a7a076745b", + "elementId": "79b9d863bb302c67f2ffc569", + "fullConfiguration": "default", + "id": "My6aM8DbarFZs50Uy", + "isStandardContent": false, + "name": "center_cover <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/center_cover.stl b/momo_mujoco/assets/center_cover.stl new file mode 100644 index 0000000..14d1b31 Binary files /dev/null and b/momo_mujoco/assets/center_cover.stl differ diff --git a/momo_mujoco/assets/connector.part b/momo_mujoco/assets/connector.part new file mode 100644 index 0000000..9d7bc56 --- /dev/null +++ b/momo_mujoco/assets/connector.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aeb3631bed98a107e3c82e79", + "documentMicroversion": "b5f0fb6b404d97a36a6e7d52", + "documentVersion": "2ab1711a06f864f9965eb912", + "elementId": "fd6c9b5abd85174432901141", + "fullConfiguration": "default", + "id": "Mt2Hy63ysLxQVSPFg", + "isStandardContent": false, + "name": "connector <19>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/connector.stl b/momo_mujoco/assets/connector.stl new file mode 100644 index 0000000..b947d8f Binary files /dev/null and b/momo_mujoco/assets/connector.stl differ diff --git a/momo_mujoco/assets/cover_top_plate.part b/momo_mujoco/assets/cover_top_plate.part new file mode 100644 index 0000000..22d459e --- /dev/null +++ b/momo_mujoco/assets/cover_top_plate.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "8105600b11449b884bd23281", + "fullConfiguration": "default", + "id": "MpdkY1bs26nEsX39q", + "isStandardContent": false, + "name": "cover_top_plate <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/cover_top_plate.stl b/momo_mujoco/assets/cover_top_plate.stl new file mode 100644 index 0000000..819a6a1 Binary files /dev/null and b/momo_mujoco/assets/cover_top_plate.stl differ diff --git a/momo_mujoco/assets/cover_with_connections.part b/momo_mujoco/assets/cover_with_connections.part new file mode 100644 index 0000000..e761450 --- /dev/null +++ b/momo_mujoco/assets/cover_with_connections.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "d329e609b0df66acb3f65f39", + "documentMicroversion": "bcf1cb8b0fafe928924a49d5", + "documentVersion": "d1abe33b8a345bfaa67aaf1c", + "elementId": "befb716774186a8bcf894a91", + "fullConfiguration": "default", + "id": "Mc1Wn/ySjMlWIe/Ut", + "isStandardContent": false, + "name": "cover_with_connections <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/cover_with_connections.stl b/momo_mujoco/assets/cover_with_connections.stl new file mode 100644 index 0000000..329920e Binary files /dev/null and b/momo_mujoco/assets/cover_with_connections.stl differ diff --git a/momo_mujoco/assets/cube_connector.part b/momo_mujoco/assets/cube_connector.part new file mode 100644 index 0000000..ee58b55 --- /dev/null +++ b/momo_mujoco/assets/cube_connector.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "f0be61ada7a2c7698516733d", + "documentMicroversion": "57f22ca0116cb3b8eb6ea047", + "documentVersion": "50a33b609f5d77f29005e1e8", + "elementId": "5b9209335b6f615901783241", + "fullConfiguration": "default", + "id": "My+gEc8CJ2cJqKioc", + "isStandardContent": false, + "name": "cube_connector <5>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/cube_connector.stl b/momo_mujoco/assets/cube_connector.stl new file mode 100644 index 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"elementId": "20b2217e4ad69083b924c138", + "fullConfiguration": "default", + "id": "IwRdaCsF2gaF9LIx5", + "isStandardContent": false, + "name": "LAS1-AGQ-TSB.stp-1/ASM081119001_ASM.stp-1/20081115002.stp-1-solid2 <1>", + "partId": "JFP", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_20081115002_stp_1_solid2.stl b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_20081115002_stp_1_solid2.stl new file mode 100644 index 0000000..3ef511b Binary files /dev/null and b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_20081115002_stp_1_solid2.stl differ diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081111002_stp_1_solid1.part b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081111002_stp_1_solid1.part new file mode 100644 index 0000000..9c978da --- /dev/null +++ b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081111002_stp_1_solid1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aadd40f7a3c014a67dd0ad21", + "documentMicroversion": "a0c432d1fb6ee668794f541b", + "documentVersion": "433badba92e2dc80456d3795", + "elementId": "20b2217e4ad69083b924c138", + "fullConfiguration": "default", + "id": "IH0+dxQxhMA8KJk0w", + "isStandardContent": false, + "name": "LAS1-AGQ-TSB.stp-1/ASM081119001_ASM.stp-1/ASM081117001_ASM.stp-1/20081111002.stp-1-solid1 <1>", + "partId": "JFH", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081111002_stp_1_solid1.stl b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081111002_stp_1_solid1.stl new file mode 100644 index 0000000..e911cb5 Binary files /dev/null and b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081111002_stp_1_solid1.stl differ diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081112002_stp_1_solid1.part b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081112002_stp_1_solid1.part new file mode 100644 index 0000000..4b1db60 --- /dev/null +++ b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081112002_stp_1_solid1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aadd40f7a3c014a67dd0ad21", + "documentMicroversion": "a0c432d1fb6ee668794f541b", + "documentVersion": "433badba92e2dc80456d3795", + "elementId": "20b2217e4ad69083b924c138", + "fullConfiguration": "default", + "id": "I6AbBYG1pkYC2BxEe", + "isStandardContent": false, + "name": "LAS1-AGQ-TSB.stp-1/ASM081119001_ASM.stp-1/ASM081117001_ASM.stp-1/20081112002.stp-1-solid1 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081112002_stp_1_solid1.stl b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081112002_stp_1_solid1.stl new file mode 100644 index 0000000..2052153 Binary files /dev/null and b/momo_mujoco/assets/las1_agq_tsb_stp_1_asm081119001_asm_stp_1_asm081117001_asm_stp_1_20081112002_stp_1_solid1.stl differ diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_prt0001_stp_1_solid1.part b/momo_mujoco/assets/las1_agq_tsb_stp_1_prt0001_stp_1_solid1.part new file mode 100644 index 0000000..e95c14a --- /dev/null +++ b/momo_mujoco/assets/las1_agq_tsb_stp_1_prt0001_stp_1_solid1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aadd40f7a3c014a67dd0ad21", + "documentMicroversion": "a0c432d1fb6ee668794f541b", + "documentVersion": "433badba92e2dc80456d3795", + "elementId": "20b2217e4ad69083b924c138", + "fullConfiguration": "default", + "id": "IiayRXQcyLlcp6WyY", + "isStandardContent": false, + "name": "LAS1-AGQ-TSB.stp-1/PRT0001.stp-1-solid1 <1>", + "partId": "JFb", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_prt0001_stp_1_solid1.stl b/momo_mujoco/assets/las1_agq_tsb_stp_1_prt0001_stp_1_solid1.stl new file mode 100644 index 0000000..4525d9f Binary files /dev/null and b/momo_mujoco/assets/las1_agq_tsb_stp_1_prt0001_stp_1_solid1.stl differ diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170912002_stp_1_solid1.part b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170912002_stp_1_solid1.part new file mode 100644 index 0000000..3d20a1a --- /dev/null +++ b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170912002_stp_1_solid1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aadd40f7a3c014a67dd0ad21", + "documentMicroversion": "a0c432d1fb6ee668794f541b", + "documentVersion": "433badba92e2dc80456d3795", + "elementId": "20b2217e4ad69083b924c138", + "fullConfiguration": "default", + "id": "I7c/CpYOS/jjZCVBS", + "isStandardContent": false, + "name": "LAS1-AGQ-TSB.stp-1/ZPD20170912002.stp-1-solid1 <1>", + "partId": "JFX", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170912002_stp_1_solid1.stl b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170912002_stp_1_solid1.stl new file mode 100644 index 0000000..6441119 Binary files /dev/null and b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170912002_stp_1_solid1.stl differ diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170913001_stp_1_solid1.part b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170913001_stp_1_solid1.part new file mode 100644 index 0000000..9cabaeb --- /dev/null +++ b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170913001_stp_1_solid1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aadd40f7a3c014a67dd0ad21", + "documentMicroversion": "a0c432d1fb6ee668794f541b", + "documentVersion": "433badba92e2dc80456d3795", + "elementId": "20b2217e4ad69083b924c138", + "fullConfiguration": "default", + "id": "IzUX77Btv8yQU8Jcr", + "isStandardContent": false, + "name": "LAS1-AGQ-TSB.stp-1/ZPD20170913001.stp-1-solid1 <1>", + "partId": "JFf", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170913001_stp_1_solid1.stl b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170913001_stp_1_solid1.stl new file mode 100644 index 0000000..e4157c7 Binary files /dev/null and b/momo_mujoco/assets/las1_agq_tsb_stp_1_zpd20170913001_stp_1_solid1.stl differ diff --git a/momo_mujoco/assets/logitech_c920.part b/momo_mujoco/assets/logitech_c920.part new file mode 100644 index 0000000..1e9e500 --- /dev/null +++ b/momo_mujoco/assets/logitech_c920.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "c926eb0363f7b2daca1fa5b1", + "fullConfiguration": "default", + "id": "Mbd0sfMWnUDeEXAWD", + "isStandardContent": false, + "name": "logitech_c920 <3>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/logitech_c920.stl b/momo_mujoco/assets/logitech_c920.stl new file mode 100644 index 0000000..56546fd Binary files /dev/null and b/momo_mujoco/assets/logitech_c920.stl differ diff --git a/momo_mujoco/assets/mecanum_wheel.part b/momo_mujoco/assets/mecanum_wheel.part new file mode 100644 index 0000000..607de22 --- /dev/null +++ b/momo_mujoco/assets/mecanum_wheel.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "6b104b6cdda343f6edc63901", + "documentMicroversion": "19a593efb69811db1ed0046e", + "documentVersion": "f2ce908d12f0e47af053dafc", + "elementId": "bb38ac9f8954de50758f447b", + "fullConfiguration": "default", + "id": "MN231KdQ/23bIaDaf", + "isStandardContent": false, + "name": "mecanum_wheel <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/mecanum_wheel.stl b/momo_mujoco/assets/mecanum_wheel.stl new file mode 100644 index 0000000..1f90587 Binary files /dev/null and b/momo_mujoco/assets/mecanum_wheel.stl differ diff --git a/momo_mujoco/assets/mecanum_wheel_2.part b/momo_mujoco/assets/mecanum_wheel_2.part new file mode 100644 index 0000000..6b794ac --- /dev/null +++ b/momo_mujoco/assets/mecanum_wheel_2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "fd8a5cc91dd930bffae9318d", + "documentMicroversion": "e214a45018c7099e593969d1", + "documentVersion": "cb1d01065aa08033b0ad5742", + "elementId": "d4d5b2a275d5aa84cc96b62c", + "fullConfiguration": "default", + "id": "M07X1aqQXqNwiJ+pL", + "isStandardContent": false, + "name": "mecanum_wheel_2 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/mecanum_wheel_2.stl b/momo_mujoco/assets/mecanum_wheel_2.stl new file mode 100644 index 0000000..3b3fdfa Binary files /dev/null and b/momo_mujoco/assets/mecanum_wheel_2.stl differ diff --git a/momo_mujoco/assets/motor_holder.part b/momo_mujoco/assets/motor_holder.part new file mode 100644 index 0000000..557b961 --- /dev/null +++ b/momo_mujoco/assets/motor_holder.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "b350b06ad9b1ad44171134c8", + "documentMicroversion": "cdda3618b3b9a0152ad9b1ff", + "documentVersion": "19f0b494e8447cd6f223e98a", + "elementId": "48db604709e6bd00586134e4", + "fullConfiguration": "default", + "id": "MxuCXMwdUWuhaK+vh", + "isStandardContent": false, + "name": "motor_holder <35>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/motor_holder.stl b/momo_mujoco/assets/motor_holder.stl new file mode 100644 index 0000000..43bd2a5 Binary files /dev/null and b/momo_mujoco/assets/motor_holder.stl differ diff --git a/momo_mujoco/assets/mount_harting_connector.part b/momo_mujoco/assets/mount_harting_connector.part new file mode 100644 index 0000000..8be7672 --- /dev/null +++ b/momo_mujoco/assets/mount_harting_connector.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "01e957eea226793619458ada", + "fullConfiguration": "default", + "id": "MwgQGUg7IanQQq1gU", + "isStandardContent": false, + "name": "Mount_Harting_Connector <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/mount_harting_connector.stl b/momo_mujoco/assets/mount_harting_connector.stl new file mode 100644 index 0000000..8e198d1 Binary files /dev/null and b/momo_mujoco/assets/mount_harting_connector.stl differ diff --git a/momo_mujoco/assets/mounting_bracket.part b/momo_mujoco/assets/mounting_bracket.part new file mode 100644 index 0000000..3113a5f --- /dev/null +++ b/momo_mujoco/assets/mounting_bracket.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "45c20015cd68f9773d2a1cc5", + "fullConfiguration": "default", + "id": "Mu5ad3/YaFwSywqun", + "isStandardContent": false, + "name": "mounting_bracket <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/mounting_bracket.stl b/momo_mujoco/assets/mounting_bracket.stl new file mode 100644 index 0000000..8863c29 Binary files /dev/null and b/momo_mujoco/assets/mounting_bracket.stl differ diff --git a/momo_mujoco/assets/realsense_d435i.part b/momo_mujoco/assets/realsense_d435i.part new file mode 100644 index 0000000..d928aa3 --- /dev/null +++ b/momo_mujoco/assets/realsense_d435i.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "67b9de4ad3aabbe56e9170b7", + "fullConfiguration": "default", + "id": "M9Z8iUE2Y7DhVMaE4", + "isStandardContent": false, + "name": "realsense_d435i <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/realsense_d435i.stl b/momo_mujoco/assets/realsense_d435i.stl new file mode 100644 index 0000000..7ca595f Binary files /dev/null and b/momo_mujoco/assets/realsense_d435i.stl differ diff --git a/momo_mujoco/assets/realsense_mounting_bracket.part b/momo_mujoco/assets/realsense_mounting_bracket.part new file mode 100644 index 0000000..614aed9 --- /dev/null +++ b/momo_mujoco/assets/realsense_mounting_bracket.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "5f8cd043285800661664bacb", + "fullConfiguration": "default", + "id": "MuDfN2oHoVivN9hQh", + "isStandardContent": false, + "name": "realsense_mounting_bracket <6>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/realsense_mounting_bracket.stl b/momo_mujoco/assets/realsense_mounting_bracket.stl new file mode 100644 index 0000000..6c87f13 Binary files /dev/null and b/momo_mujoco/assets/realsense_mounting_bracket.stl differ diff --git a/momo_mujoco/assets/realsense_t265.part b/momo_mujoco/assets/realsense_t265.part new file mode 100644 index 0000000..4cd72e8 --- /dev/null +++ b/momo_mujoco/assets/realsense_t265.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "9874fec32a1811b2eeff8c3c", + "fullConfiguration": "default", + "id": "MuWbmGqZSvoPwlVOz", + "isStandardContent": false, + "name": "realsense_t265 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/realsense_t265.stl b/momo_mujoco/assets/realsense_t265.stl new file mode 100644 index 0000000..c2f9f06 Binary files /dev/null and b/momo_mujoco/assets/realsense_t265.stl differ diff --git a/momo_mujoco/assets/roller.part b/momo_mujoco/assets/roller.part new file mode 100644 index 0000000..33ca418 --- /dev/null +++ b/momo_mujoco/assets/roller.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "6b104b6cdda343f6edc63901", + "documentMicroversion": "19a593efb69811db1ed0046e", + "documentVersion": "f2ce908d12f0e47af053dafc", + "elementId": "182a583e51a36ae6e8172655", + "fullConfiguration": "default", + "id": "MgueT+tbcf4yuASc5", + "isStandardContent": false, + "name": "roller <43>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/roller.scad b/momo_mujoco/assets/roller.scad new file mode 100644 index 0000000..d818506 --- /dev/null +++ b/momo_mujoco/assets/roller.scad @@ -0,0 +1,25 @@ +% scale(1000) import("roller.stl"); + +// Append pure shapes (cube, cylinder and sphere), e.g: +// cube([10, 10, 10], center=true); +// cylinder(r=10, h=10, center=true); +translate([0,0,0]) +sphere(15.5); + +translate([0,0,8.5]) +sphere(15.5); + +translate([0,0,-8.5]) +sphere(15.5); + +translate([0,0,16.5]) +sphere(15); + +translate([0,0,-16.5]) +sphere(15); + +translate([0,0,23.5]) +sphere(14); + +translate([0,0,-23.5]) +sphere(14); \ No newline at end of file diff --git a/momo_mujoco/assets/roller.stl b/momo_mujoco/assets/roller.stl new file mode 100644 index 0000000..3912498 Binary files /dev/null and b/momo_mujoco/assets/roller.stl differ diff --git a/momo_mujoco/assets/screen_holder.part b/momo_mujoco/assets/screen_holder.part new file mode 100644 index 0000000..deac66b --- /dev/null +++ b/momo_mujoco/assets/screen_holder.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "4bd86bde432cb9d9d2d4bb97", + "documentMicroversion": "fb38d0662b4ef2cd42f83836", + "documentVersion": "5ff654fdfe56f268696120d8", + "elementId": "42ef4858708c21bed7027cb6", + "fullConfiguration": "default", + "id": "MuJLxLmS4IEyJHTZf", + "isStandardContent": false, + "name": "screen_holder <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/screen_holder.stl b/momo_mujoco/assets/screen_holder.stl new file mode 100644 index 0000000..f031424 Binary files /dev/null and b/momo_mujoco/assets/screen_holder.stl differ diff --git a/momo_mujoco/assets/side_plate_1.part b/momo_mujoco/assets/side_plate_1.part new file mode 100644 index 0000000..e46c8cb --- /dev/null +++ b/momo_mujoco/assets/side_plate_1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "4ed8fe0da8e143ffa585ab2b", + "fullConfiguration": "default", + "id": "MTtKXRV8m7W8H2cBD", + "isStandardContent": false, + "name": "side_plate_1 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/side_plate_1.stl b/momo_mujoco/assets/side_plate_1.stl new file mode 100644 index 0000000..890de14 Binary files /dev/null and b/momo_mujoco/assets/side_plate_1.stl differ diff --git a/momo_mujoco/assets/side_plate_2.part b/momo_mujoco/assets/side_plate_2.part new file mode 100644 index 0000000..f0e7ef0 --- /dev/null +++ b/momo_mujoco/assets/side_plate_2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "fe9f9ace38301a5e2d7f899e", + "fullConfiguration": "default", + "id": "MfcQLl8SCycFzp+4Z", + "isStandardContent": false, + "name": "side_plate_2 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/side_plate_2.stl b/momo_mujoco/assets/side_plate_2.stl new file mode 100644 index 0000000..0e93b82 Binary files /dev/null and b/momo_mujoco/assets/side_plate_2.stl differ diff --git a/momo_mujoco/assets/side_plate_3.part b/momo_mujoco/assets/side_plate_3.part new file mode 100644 index 0000000..a0a7444 --- /dev/null +++ b/momo_mujoco/assets/side_plate_3.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "b5ad7715c3ce13b5c88f270c", + "fullConfiguration": "default", + "id": "MTllRzxBjjcE7If6s", + "isStandardContent": false, + "name": "side_plate_3 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/side_plate_3.stl b/momo_mujoco/assets/side_plate_3.stl new file mode 100644 index 0000000..c5df100 Binary files /dev/null and b/momo_mujoco/assets/side_plate_3.stl differ diff --git a/momo_mujoco/assets/spacer.part b/momo_mujoco/assets/spacer.part new file mode 100644 index 0000000..ff40d4d --- /dev/null +++ b/momo_mujoco/assets/spacer.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "16bbb252afe1d39f866fa94c", + "documentMicroversion": "5c7651a3dac612bada4ad3c5", + "documentVersion": "e7f53b09382d4739e67ce316", + "elementId": "f258eb165bc782d94a26993c", + "fullConfiguration": "default", + "id": "MjXunLMJ8ZTG7Oue4", + "isStandardContent": false, + "name": "Spacer <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/spacer.stl b/momo_mujoco/assets/spacer.stl new file mode 100644 index 0000000..6510f82 Binary files /dev/null and b/momo_mujoco/assets/spacer.stl differ diff --git a/momo_mujoco/assets/top_plate_localization_module.part b/momo_mujoco/assets/top_plate_localization_module.part new file mode 100644 index 0000000..de8eff1 --- /dev/null +++ b/momo_mujoco/assets/top_plate_localization_module.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "062adffe3c208bdd2ead9d70", + "fullConfiguration": "default", + "id": "MQ57YJW1RtFDPzvUa", + "isStandardContent": false, + "name": "top_plate_localization_module <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/top_plate_localization_module.stl b/momo_mujoco/assets/top_plate_localization_module.stl new file mode 100644 index 0000000..6fe50de Binary files /dev/null and b/momo_mujoco/assets/top_plate_localization_module.stl differ diff --git a/momo_mujoco/assets/velodyne_mount.part b/momo_mujoco/assets/velodyne_mount.part new file mode 100644 index 0000000..4cea169 --- /dev/null +++ b/momo_mujoco/assets/velodyne_mount.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "6b7b19abdc0556e1215e8ebf", + "fullConfiguration": "default", + "id": "M99XUYkyMa/GW5SPP", + "isStandardContent": false, + "name": "velodyne_mount <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/velodyne_mount.stl b/momo_mujoco/assets/velodyne_mount.stl new file mode 100644 index 0000000..8b9a2e2 Binary files /dev/null and b/momo_mujoco/assets/velodyne_mount.stl differ diff --git a/momo_mujoco/assets/velodyne_vlp16.part b/momo_mujoco/assets/velodyne_vlp16.part new file mode 100644 index 0000000..7c42d71 --- /dev/null +++ b/momo_mujoco/assets/velodyne_vlp16.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "09389ac704fd38bc03a7f12f", + "documentMicroversion": "efb9e3b6af2bf864a2298056", + "documentVersion": "8e12247e0a5c04bf3d9cbbd3", + "elementId": "61a71f7b678196ef713bc858", + "fullConfiguration": "default", + "id": "MXQQfr7E1t3LeaytE", + "isStandardContent": false, + "name": "velodyne-vlp16 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_mujoco/assets/velodyne_vlp16.stl b/momo_mujoco/assets/velodyne_vlp16.stl new file mode 100644 index 0000000..c56ace9 Binary files /dev/null and b/momo_mujoco/assets/velodyne_vlp16.stl differ diff --git a/momo_mujoco/config.json b/momo_mujoco/config.json new file mode 100644 index 0000000..1404e88 --- /dev/null +++ b/momo_mujoco/config.json @@ -0,0 +1,18 @@ +{ + "url": "https://cad.onshape.com/documents/0f7ba08d49760d832652e76c/w/f802382a554ac4e5d967eb06/e/176c79e9883e5c00c7190ba1", + "output_format": "mujoco", + "use_scads": true, + + "joint_properties": { + "*": { + "actuated": false, + "range": false + }, + "*_wheel": { + "actuated": true, + "type": "velocity", + "limits": [-16, 16], + "kv": 5.0 + } + } +} diff --git a/momo_mujoco/robot.xml b/momo_mujoco/robot.xml new file mode 100644 index 0000000..c1db385 --- /dev/null +++ b/momo_mujoco/robot.xml @@ -0,0 +1,1572 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/momo_mujoco/scene.xml b/momo_mujoco/scene.xml new file mode 100644 index 0000000..ff42063 --- /dev/null +++ b/momo_mujoco/scene.xml @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_angle_bracket.part b/momo_urdf/assets/aluminium_angle_bracket.part new file mode 100644 index 0000000..3ec1b9c --- /dev/null +++ b/momo_urdf/assets/aluminium_angle_bracket.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "b8f5765e12e5bab73080d661", + "documentMicroversion": "1a79dddc3501ebd089749085", + "documentVersion": "2bb72148c5b832f5abe68d5e", + "elementId": "6c89a5ab94bd43fae7fa1970", + "fullConfiguration": "default", + "id": "MyY6E7pZwZtTY4pui", + "isStandardContent": false, + "name": "Aluminium_angle_bracket <27>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_angle_bracket.stl b/momo_urdf/assets/aluminium_angle_bracket.stl new file mode 100644 index 0000000..e0b9b3a Binary files /dev/null and b/momo_urdf/assets/aluminium_angle_bracket.stl differ diff --git a/momo_urdf/assets/aluminium_angle_bracket__2.part b/momo_urdf/assets/aluminium_angle_bracket__2.part new file mode 100644 index 0000000..8474b22 --- /dev/null +++ b/momo_urdf/assets/aluminium_angle_bracket__2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "539dc26d3a5986bb63c7f346", + "fullConfiguration": "default", + "id": "Mz7KKr2b3ezQG7B/L", + "isStandardContent": false, + "name": "Aluminium_angle_bracket <3>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_angle_bracket__2.stl b/momo_urdf/assets/aluminium_angle_bracket__2.stl new file mode 100644 index 0000000..e0b9b3a Binary files /dev/null and b/momo_urdf/assets/aluminium_angle_bracket__2.stl differ diff --git a/momo_urdf/assets/aluminium_profile_160.part b/momo_urdf/assets/aluminium_profile_160.part new file mode 100644 index 0000000..efab7bc --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_160.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "16bb41f1c2aeebd26dc1c15d", + "documentMicroversion": "44ce9c3a8584e59976cfd0a9", + "documentVersion": "390b30d7ec0bbe3b9b036f10", + "elementId": "8380fe32224e9199b32f863f", + "fullConfiguration": "default", + "id": "Ms1kvS925/2IEj1sb", + "isStandardContent": false, + "name": "Aluminium_profile_160 <7>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_160.stl b/momo_urdf/assets/aluminium_profile_160.stl new file mode 100644 index 0000000..c28f952 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_160.stl differ diff --git a/momo_urdf/assets/aluminium_profile_354.part b/momo_urdf/assets/aluminium_profile_354.part new file mode 100644 index 0000000..36c42e2 --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_354.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "516b493e57c07f64db5ce15e", + "documentMicroversion": "c3113fb6a6ededfe6b7fffc3", + "documentVersion": "0c3e6ea95c15814e17a10d3a", + "elementId": "60738f673f5685b38af8b82b", + "fullConfiguration": "default", + "id": "MyDI5JGprjkMKP02z", + "isStandardContent": false, + "name": "Aluminium_profile_354 <20>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_354.stl b/momo_urdf/assets/aluminium_profile_354.stl new file mode 100644 index 0000000..ca887b4 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_354.stl differ diff --git a/momo_urdf/assets/aluminium_profile_380.part b/momo_urdf/assets/aluminium_profile_380.part new file mode 100644 index 0000000..fd283dd --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_380.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "fef0d2bf12f7781f643721e0", + "documentMicroversion": "75b96a05ba208378dea8ad98", + "documentVersion": "fb7bda3adbe7b40f63cbcb44", + "elementId": "2b28421c700b43d19bad171e", + "fullConfiguration": "default", + "id": "McGqUw3ieyJmZGYhl", + "isStandardContent": false, + "name": "Aluminium_profile_380 <5>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_380.stl b/momo_urdf/assets/aluminium_profile_380.stl new file mode 100644 index 0000000..57bc481 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_380.stl differ diff --git a/momo_urdf/assets/aluminium_profile_380__2.part b/momo_urdf/assets/aluminium_profile_380__2.part new file mode 100644 index 0000000..fd9be4d --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_380__2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "977449db43e1b2b71be384d9", + "fullConfiguration": "default", + "id": "MfdLOc2UxtDj92RxB", + "isStandardContent": false, + "name": "Aluminium_profile_380 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_380__2.stl b/momo_urdf/assets/aluminium_profile_380__2.stl new file mode 100644 index 0000000..57bc481 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_380__2.stl differ diff --git a/momo_urdf/assets/aluminium_profile_42_8.part b/momo_urdf/assets/aluminium_profile_42_8.part new file mode 100644 index 0000000..46e73ea --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_42_8.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "3ced6c416df093e214f2bd28", + "documentMicroversion": "8e52da99d30f74c34a92e6fc", + "documentVersion": "9b4e21c3b435c6b8de9efa7b", + "elementId": "4740f2f1b045155dd1588918", + "fullConfiguration": "default", + "id": "MaRuo9Bp4dc+Ik53Q", + "isStandardContent": false, + "name": "Aluminium_profile_42_8 <10>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_42_8.stl b/momo_urdf/assets/aluminium_profile_42_8.stl new file mode 100644 index 0000000..278f46c Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_42_8.stl differ diff --git a/momo_urdf/assets/aluminium_profile_436.part b/momo_urdf/assets/aluminium_profile_436.part new file mode 100644 index 0000000..33c1a0a --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_436.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "d4d8bdb7566e21e997487c0b", + "fullConfiguration": "default", + "id": "MicF6SDbAwoDkKbIs", + "isStandardContent": false, + "name": "Aluminium_profile_436 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_436.stl b/momo_urdf/assets/aluminium_profile_436.stl new file mode 100644 index 0000000..42fd605 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_436.stl differ diff --git a/momo_urdf/assets/aluminium_profile_60.part b/momo_urdf/assets/aluminium_profile_60.part new file mode 100644 index 0000000..7bce061 --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_60.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "3a0304fcef529e4cb42f10f3", + "fullConfiguration": "default", + "id": "MdUOLaahPnXBBFVyx", + "isStandardContent": false, + "name": "Aluminium_profile_60 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_60.stl b/momo_urdf/assets/aluminium_profile_60.stl new file mode 100644 index 0000000..e74c352 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_60.stl differ diff --git a/momo_urdf/assets/aluminium_profile_620.part b/momo_urdf/assets/aluminium_profile_620.part new file mode 100644 index 0000000..9aa7765 --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_620.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "14ae4a10f681bbbe1775d7e7", + "documentMicroversion": "6e44b6dde47cb81441a20c35", + "documentVersion": "ddd92bf60939c80de2674615", + "elementId": "9c07c724f1c694131471d227", + "fullConfiguration": "default", + "id": "Ms01r2NG4ZR3B8ZIo", + "isStandardContent": false, + "name": "Aluminium_profile_620 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_620.stl b/momo_urdf/assets/aluminium_profile_620.stl new file mode 100644 index 0000000..2c931ac Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_620.stl differ diff --git a/momo_urdf/assets/aluminium_profile_620__2.part b/momo_urdf/assets/aluminium_profile_620__2.part new file mode 100644 index 0000000..9d71ec7 --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_620__2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "0a8deeb3efd393704b765a7b", + "fullConfiguration": "default", + "id": "MQx1xaW3NjwaIfZDv", + "isStandardContent": false, + "name": "Aluminium_profile_620 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_620__2.stl b/momo_urdf/assets/aluminium_profile_620__2.stl new file mode 100644 index 0000000..2c931ac Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_620__2.stl differ diff --git a/momo_urdf/assets/aluminium_profile_664.part b/momo_urdf/assets/aluminium_profile_664.part new file mode 100644 index 0000000..4aa73cf --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_664.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "7f0a08201107f88ef6cf3def", + "documentMicroversion": "983469c32cbf0dc66fac2972", + "documentVersion": "a487bb6bf8bb31b64e26b9e6", + "elementId": "1163e1eb1524ef0ad3f386d9", + "fullConfiguration": "default", + "id": "McXpGi+TMrIkrMehD", + "isStandardContent": false, + "name": "Aluminium_profile_664 <23>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_664.stl b/momo_urdf/assets/aluminium_profile_664.stl new file mode 100644 index 0000000..5349508 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_664.stl differ diff --git a/momo_urdf/assets/aluminium_profile_690.part b/momo_urdf/assets/aluminium_profile_690.part new file mode 100644 index 0000000..aa9f7c2 --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_690.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "89fbd1d180335e0864e8d50f", + "documentMicroversion": "4c984657022713c155139017", + "documentVersion": "398261d13f8b26849b3fd997", + "elementId": "f8894b5cf85fcac8c1967ea4", + "fullConfiguration": "default", + "id": "MnoR6Td7P4rQhxBxl", + "isStandardContent": false, + "name": "Aluminium_profile_690 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_690.stl b/momo_urdf/assets/aluminium_profile_690.stl new file mode 100644 index 0000000..1f3256a Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_690.stl differ diff --git a/momo_urdf/assets/aluminium_profile_90.part b/momo_urdf/assets/aluminium_profile_90.part new file mode 100644 index 0000000..742ff32 --- /dev/null +++ b/momo_urdf/assets/aluminium_profile_90.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "f75b8e5acb7f5eba686fbf83", + "documentMicroversion": "f85ed278029c93e3346f569f", + "documentVersion": "e3d2467c40f32b73d7d8a63f", + "elementId": "9e87ee24f306485c7d6031b8", + "fullConfiguration": "default", + "id": "MiSeRu/ZmVwVDkiBH", + "isStandardContent": false, + "name": "Aluminium_profile_90 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/aluminium_profile_90.stl b/momo_urdf/assets/aluminium_profile_90.stl new file mode 100644 index 0000000..698f487 Binary files /dev/null and b/momo_urdf/assets/aluminium_profile_90.stl differ diff --git a/momo_urdf/assets/angle_5_20.part b/momo_urdf/assets/angle_5_20.part new file mode 100644 index 0000000..ffed349 --- /dev/null +++ b/momo_urdf/assets/angle_5_20.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "dd209a35d03dbf37011269f5", + "fullConfiguration": "default", + "id": "MhwLfbqFGv55CYrvd", + "isStandardContent": false, + "name": "angle_5_20 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/angle_5_20.stl b/momo_urdf/assets/angle_5_20.stl new file mode 100644 index 0000000..44556a9 Binary files /dev/null and b/momo_urdf/assets/angle_5_20.stl differ diff --git a/momo_urdf/assets/back_cover.part b/momo_urdf/assets/back_cover.part new file mode 100644 index 0000000..fb2cdc0 --- /dev/null +++ b/momo_urdf/assets/back_cover.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "3b9f8f7802d5a8c97319a30b", + "documentMicroversion": "20eb15c7a803907afe9603ea", + "documentVersion": "fa516bf1036a3cd29fd45074", + "elementId": "2cc0d1602fab5bdd2da284ea", + "fullConfiguration": "default", + "id": "Mdq/52JxVRoMzhPDZ", + "isStandardContent": false, + "name": "back_cover <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/back_cover.stl b/momo_urdf/assets/back_cover.stl new file mode 100644 index 0000000..604bb62 Binary files /dev/null and b/momo_urdf/assets/back_cover.stl differ diff --git a/momo_urdf/assets/back_plate_left.part b/momo_urdf/assets/back_plate_left.part new file mode 100644 index 0000000..aa7fbfc --- /dev/null +++ b/momo_urdf/assets/back_plate_left.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "977eb8d724ac5066057a89ba", + "fullConfiguration": "default", + "id": "MrnwHElbCufqTFr6t", + "isStandardContent": false, + "name": "back_plate_left <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/back_plate_left.stl b/momo_urdf/assets/back_plate_left.stl new file mode 100644 index 0000000..8e9a40a Binary files /dev/null and b/momo_urdf/assets/back_plate_left.stl differ diff --git a/momo_urdf/assets/back_plate_right.part b/momo_urdf/assets/back_plate_right.part new file mode 100644 index 0000000..b0b58fd --- /dev/null +++ b/momo_urdf/assets/back_plate_right.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "cb82da041bf7953db0d0d568", + "fullConfiguration": "default", + "id": "MDBcuemN9YNBmvyzb", + "isStandardContent": false, + "name": "back_plate_right <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/back_plate_right.stl b/momo_urdf/assets/back_plate_right.stl new file mode 100644 index 0000000..3dc319c Binary files /dev/null and b/momo_urdf/assets/back_plate_right.stl differ diff --git a/momo_urdf/assets/back_wheel_cover.part b/momo_urdf/assets/back_wheel_cover.part new file mode 100644 index 0000000..4372e57 --- /dev/null +++ b/momo_urdf/assets/back_wheel_cover.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "50eb86bffed8c3b3a6735f0d", + "documentMicroversion": "fec78048d4755cd962303b92", + "documentVersion": "446056850a16e324719d34b1", + "elementId": "533fc9096d845cd9ee1449ce", + "fullConfiguration": "default", + "id": "MaBFbL8liDWxi1cfV", + "isStandardContent": false, + "name": "back_wheel_cover <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/back_wheel_cover.stl b/momo_urdf/assets/back_wheel_cover.stl new file mode 100644 index 0000000..a4f4a10 Binary files /dev/null and b/momo_urdf/assets/back_wheel_cover.stl differ diff --git a/momo_urdf/assets/base_link.part b/momo_urdf/assets/base_link.part new file mode 100644 index 0000000..2bfd8e2 --- /dev/null +++ b/momo_urdf/assets/base_link.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "38ae677da090b710c46b7dc8", + "documentMicroversion": "02c208c6fd133608f1d5e793", + "documentVersion": "81fbee99726dbd1903f8e9cb", + "elementId": "62972eb24c81f8257ef51a85", + "fullConfiguration": "default", + "id": "Mb9FJ/MqejGoNJhlS", + "isStandardContent": false, + "name": "base_link <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/base_link.scad b/momo_urdf/assets/base_link.scad new file mode 100644 index 0000000..2ba6741 --- /dev/null +++ b/momo_urdf/assets/base_link.scad @@ -0,0 +1,4 @@ +% scale(1000) import("base_link.stl"); + +translate([0,0,112.5]) +cube([745, 440, 225], center=true); diff --git a/momo_urdf/assets/base_link.stl b/momo_urdf/assets/base_link.stl new file mode 100644 index 0000000..1bf7c73 Binary files /dev/null and b/momo_urdf/assets/base_link.stl differ diff --git a/momo_urdf/assets/base_plate_localization_module.part b/momo_urdf/assets/base_plate_localization_module.part new file mode 100644 index 0000000..6409369 --- /dev/null +++ b/momo_urdf/assets/base_plate_localization_module.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "155d3a029c1ccac792e17783", + "fullConfiguration": "default", + "id": "MiBVaYSQGjKyqboeh", + "isStandardContent": false, + "name": "base_plate_localization_module <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/base_plate_localization_module.scad b/momo_urdf/assets/base_plate_localization_module.scad new file mode 100644 index 0000000..4ef5c27 --- /dev/null +++ b/momo_urdf/assets/base_plate_localization_module.scad @@ -0,0 +1,4 @@ +% scale(1000) import("base_plate_localization_module.stl"); + +translate([0,0, 138]) +cube([435, 645, 276], center=true); diff --git a/momo_urdf/assets/base_plate_localization_module.stl b/momo_urdf/assets/base_plate_localization_module.stl new file mode 100644 index 0000000..08eece6 Binary files /dev/null and b/momo_urdf/assets/base_plate_localization_module.stl differ diff --git a/momo_urdf/assets/center_cover.part b/momo_urdf/assets/center_cover.part new file mode 100644 index 0000000..b8d1947 --- /dev/null +++ b/momo_urdf/assets/center_cover.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "6714f678e8260a18aa13db39", + "documentMicroversion": "6ab0b134bea9f9fe97a43321", + "documentVersion": "4dc1d862ef3155a7a076745b", + "elementId": "79b9d863bb302c67f2ffc569", + "fullConfiguration": "default", + "id": "My6aM8DbarFZs50Uy", + "isStandardContent": false, + "name": "center_cover <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/center_cover.stl b/momo_urdf/assets/center_cover.stl new file mode 100644 index 0000000..14d1b31 Binary files /dev/null and b/momo_urdf/assets/center_cover.stl differ diff --git a/momo_urdf/assets/connector.part b/momo_urdf/assets/connector.part new file mode 100644 index 0000000..9d7bc56 --- /dev/null +++ b/momo_urdf/assets/connector.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "aeb3631bed98a107e3c82e79", + "documentMicroversion": "b5f0fb6b404d97a36a6e7d52", + "documentVersion": "2ab1711a06f864f9965eb912", + "elementId": "fd6c9b5abd85174432901141", + "fullConfiguration": "default", + "id": "Mt2Hy63ysLxQVSPFg", + "isStandardContent": false, + "name": "connector <19>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/connector.stl b/momo_urdf/assets/connector.stl new file mode 100644 index 0000000..b947d8f Binary files /dev/null and b/momo_urdf/assets/connector.stl differ diff --git a/momo_urdf/assets/cover_top_plate.part b/momo_urdf/assets/cover_top_plate.part new file mode 100644 index 0000000..22d459e --- /dev/null +++ b/momo_urdf/assets/cover_top_plate.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "8105600b11449b884bd23281", + "fullConfiguration": "default", + "id": "MpdkY1bs26nEsX39q", + "isStandardContent": false, + "name": "cover_top_plate <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/cover_top_plate.stl b/momo_urdf/assets/cover_top_plate.stl new file mode 100644 index 0000000..819a6a1 Binary files /dev/null and b/momo_urdf/assets/cover_top_plate.stl differ diff --git a/momo_urdf/assets/cover_with_connections.part b/momo_urdf/assets/cover_with_connections.part new file mode 100644 index 0000000..e761450 --- /dev/null +++ b/momo_urdf/assets/cover_with_connections.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "d329e609b0df66acb3f65f39", + "documentMicroversion": "bcf1cb8b0fafe928924a49d5", + "documentVersion": "d1abe33b8a345bfaa67aaf1c", + "elementId": "befb716774186a8bcf894a91", + "fullConfiguration": "default", + "id": "Mc1Wn/ySjMlWIe/Ut", + "isStandardContent": false, + "name": "cover_with_connections <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/cover_with_connections.stl b/momo_urdf/assets/cover_with_connections.stl new file mode 100644 index 0000000..329920e Binary files /dev/null and b/momo_urdf/assets/cover_with_connections.stl differ diff --git a/momo_urdf/assets/cube_connector.part b/momo_urdf/assets/cube_connector.part new file mode 100644 index 0000000..ee58b55 --- /dev/null +++ b/momo_urdf/assets/cube_connector.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "f0be61ada7a2c7698516733d", + "documentMicroversion": "57f22ca0116cb3b8eb6ea047", + "documentVersion": "50a33b609f5d77f29005e1e8", + "elementId": "5b9209335b6f615901783241", + "fullConfiguration": "default", + "id": "My+gEc8CJ2cJqKioc", + "isStandardContent": false, + "name": "cube_connector <5>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/cube_connector.stl b/momo_urdf/assets/cube_connector.stl new file mode 100644 index 0000000..5182936 Binary files /dev/null and b/momo_urdf/assets/cube_connector.stl differ diff --git 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a/momo_urdf/assets/merged/roller_visual.stl b/momo_urdf/assets/merged/roller_visual.stl new file mode 100644 index 0000000..7d6dbfc Binary files /dev/null and b/momo_urdf/assets/merged/roller_visual.stl differ diff --git a/momo_urdf/assets/motor_holder.part b/momo_urdf/assets/motor_holder.part new file mode 100644 index 0000000..557b961 --- /dev/null +++ b/momo_urdf/assets/motor_holder.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "b350b06ad9b1ad44171134c8", + "documentMicroversion": "cdda3618b3b9a0152ad9b1ff", + "documentVersion": "19f0b494e8447cd6f223e98a", + "elementId": "48db604709e6bd00586134e4", + "fullConfiguration": "default", + "id": "MxuCXMwdUWuhaK+vh", + "isStandardContent": false, + "name": "motor_holder <35>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/motor_holder.stl b/momo_urdf/assets/motor_holder.stl new file mode 100644 index 0000000..43bd2a5 Binary files /dev/null and b/momo_urdf/assets/motor_holder.stl differ diff --git a/momo_urdf/assets/mount_harting_connector.part b/momo_urdf/assets/mount_harting_connector.part new file mode 100644 index 0000000..8be7672 --- /dev/null +++ b/momo_urdf/assets/mount_harting_connector.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "01e957eea226793619458ada", + "fullConfiguration": "default", + "id": "MwgQGUg7IanQQq1gU", + "isStandardContent": false, + "name": "Mount_Harting_Connector <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/mount_harting_connector.stl b/momo_urdf/assets/mount_harting_connector.stl new file mode 100644 index 0000000..8e198d1 Binary files /dev/null and b/momo_urdf/assets/mount_harting_connector.stl differ diff --git a/momo_urdf/assets/mounting_bracket.part b/momo_urdf/assets/mounting_bracket.part new file mode 100644 index 0000000..3113a5f --- /dev/null +++ b/momo_urdf/assets/mounting_bracket.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "45c20015cd68f9773d2a1cc5", + "fullConfiguration": "default", + "id": "Mu5ad3/YaFwSywqun", + "isStandardContent": false, + "name": "mounting_bracket <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/mounting_bracket.stl b/momo_urdf/assets/mounting_bracket.stl new file mode 100644 index 0000000..8863c29 Binary files /dev/null and b/momo_urdf/assets/mounting_bracket.stl differ diff --git a/momo_urdf/assets/realsense_d435i.part b/momo_urdf/assets/realsense_d435i.part new file mode 100644 index 0000000..d928aa3 --- /dev/null +++ b/momo_urdf/assets/realsense_d435i.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "67b9de4ad3aabbe56e9170b7", + "fullConfiguration": "default", + "id": "M9Z8iUE2Y7DhVMaE4", + "isStandardContent": false, + "name": "realsense_d435i <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/realsense_d435i.stl b/momo_urdf/assets/realsense_d435i.stl new file mode 100644 index 0000000..7ca595f Binary files /dev/null and b/momo_urdf/assets/realsense_d435i.stl differ diff --git a/momo_urdf/assets/realsense_mounting_bracket.part b/momo_urdf/assets/realsense_mounting_bracket.part new file mode 100644 index 0000000..614aed9 --- /dev/null +++ b/momo_urdf/assets/realsense_mounting_bracket.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "5f8cd043285800661664bacb", + "fullConfiguration": "default", + "id": "MuDfN2oHoVivN9hQh", + "isStandardContent": false, + "name": "realsense_mounting_bracket <6>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/realsense_mounting_bracket.stl b/momo_urdf/assets/realsense_mounting_bracket.stl new file mode 100644 index 0000000..6c87f13 Binary files /dev/null and b/momo_urdf/assets/realsense_mounting_bracket.stl differ diff --git a/momo_urdf/assets/realsense_t265.part b/momo_urdf/assets/realsense_t265.part new file mode 100644 index 0000000..4cd72e8 --- /dev/null +++ b/momo_urdf/assets/realsense_t265.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "9874fec32a1811b2eeff8c3c", + "fullConfiguration": "default", + "id": "MuWbmGqZSvoPwlVOz", + "isStandardContent": false, + "name": "realsense_t265 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/realsense_t265.stl b/momo_urdf/assets/realsense_t265.stl new file mode 100644 index 0000000..c2f9f06 Binary files /dev/null and b/momo_urdf/assets/realsense_t265.stl differ diff --git a/momo_urdf/assets/roller.part b/momo_urdf/assets/roller.part new file mode 100644 index 0000000..33ca418 --- /dev/null +++ b/momo_urdf/assets/roller.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "6b104b6cdda343f6edc63901", + "documentMicroversion": "19a593efb69811db1ed0046e", + "documentVersion": "f2ce908d12f0e47af053dafc", + "elementId": "182a583e51a36ae6e8172655", + "fullConfiguration": "default", + "id": "MgueT+tbcf4yuASc5", + "isStandardContent": false, + "name": "roller <43>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/roller.scad b/momo_urdf/assets/roller.scad new file mode 100644 index 0000000..d818506 --- /dev/null +++ b/momo_urdf/assets/roller.scad @@ -0,0 +1,25 @@ +% scale(1000) import("roller.stl"); + +// Append pure shapes (cube, cylinder and sphere), e.g: +// cube([10, 10, 10], center=true); +// cylinder(r=10, h=10, center=true); +translate([0,0,0]) +sphere(15.5); + +translate([0,0,8.5]) +sphere(15.5); + +translate([0,0,-8.5]) +sphere(15.5); + +translate([0,0,16.5]) +sphere(15); + +translate([0,0,-16.5]) +sphere(15); + +translate([0,0,23.5]) +sphere(14); + +translate([0,0,-23.5]) +sphere(14); \ No newline at end of file diff --git a/momo_urdf/assets/roller.stl b/momo_urdf/assets/roller.stl new file mode 100644 index 0000000..3912498 Binary files /dev/null and b/momo_urdf/assets/roller.stl differ diff --git a/momo_urdf/assets/screen_holder.part b/momo_urdf/assets/screen_holder.part new file mode 100644 index 0000000..deac66b --- /dev/null +++ b/momo_urdf/assets/screen_holder.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "4bd86bde432cb9d9d2d4bb97", + "documentMicroversion": "fb38d0662b4ef2cd42f83836", + "documentVersion": "5ff654fdfe56f268696120d8", + "elementId": "42ef4858708c21bed7027cb6", + "fullConfiguration": "default", + "id": "MuJLxLmS4IEyJHTZf", + "isStandardContent": false, + "name": "screen_holder <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/screen_holder.stl b/momo_urdf/assets/screen_holder.stl new file mode 100644 index 0000000..f031424 Binary files /dev/null and b/momo_urdf/assets/screen_holder.stl differ diff --git a/momo_urdf/assets/side_plate_1.part b/momo_urdf/assets/side_plate_1.part new file mode 100644 index 0000000..e46c8cb --- /dev/null +++ b/momo_urdf/assets/side_plate_1.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "4ed8fe0da8e143ffa585ab2b", + "fullConfiguration": "default", + "id": "MTtKXRV8m7W8H2cBD", + "isStandardContent": false, + "name": "side_plate_1 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/side_plate_1.stl b/momo_urdf/assets/side_plate_1.stl new file mode 100644 index 0000000..890de14 Binary files /dev/null and b/momo_urdf/assets/side_plate_1.stl differ diff --git a/momo_urdf/assets/side_plate_2.part b/momo_urdf/assets/side_plate_2.part new file mode 100644 index 0000000..f0e7ef0 --- /dev/null +++ b/momo_urdf/assets/side_plate_2.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "fe9f9ace38301a5e2d7f899e", + "fullConfiguration": "default", + "id": "MfcQLl8SCycFzp+4Z", + "isStandardContent": false, + "name": "side_plate_2 <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/side_plate_2.stl b/momo_urdf/assets/side_plate_2.stl new file mode 100644 index 0000000..0e93b82 Binary files /dev/null and b/momo_urdf/assets/side_plate_2.stl differ diff --git a/momo_urdf/assets/side_plate_3.part b/momo_urdf/assets/side_plate_3.part new file mode 100644 index 0000000..a0a7444 --- /dev/null +++ b/momo_urdf/assets/side_plate_3.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "b5ad7715c3ce13b5c88f270c", + "fullConfiguration": "default", + "id": "MTllRzxBjjcE7If6s", + "isStandardContent": false, + "name": "side_plate_3 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/side_plate_3.stl b/momo_urdf/assets/side_plate_3.stl new file mode 100644 index 0000000..c5df100 Binary files /dev/null and b/momo_urdf/assets/side_plate_3.stl differ diff --git a/momo_urdf/assets/spacer.part b/momo_urdf/assets/spacer.part new file mode 100644 index 0000000..ff40d4d --- /dev/null +++ b/momo_urdf/assets/spacer.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "16bbb252afe1d39f866fa94c", + "documentMicroversion": "5c7651a3dac612bada4ad3c5", + "documentVersion": "e7f53b09382d4739e67ce316", + "elementId": "f258eb165bc782d94a26993c", + "fullConfiguration": "default", + "id": "MjXunLMJ8ZTG7Oue4", + "isStandardContent": false, + "name": "Spacer <2>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/spacer.stl b/momo_urdf/assets/spacer.stl new file mode 100644 index 0000000..6510f82 Binary files /dev/null and b/momo_urdf/assets/spacer.stl differ diff --git a/momo_urdf/assets/top_plate_localization_module.part b/momo_urdf/assets/top_plate_localization_module.part new file mode 100644 index 0000000..de8eff1 --- /dev/null +++ b/momo_urdf/assets/top_plate_localization_module.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "062adffe3c208bdd2ead9d70", + "fullConfiguration": "default", + "id": "MQ57YJW1RtFDPzvUa", + "isStandardContent": false, + "name": "top_plate_localization_module <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/top_plate_localization_module.stl b/momo_urdf/assets/top_plate_localization_module.stl new file mode 100644 index 0000000..6fe50de Binary files /dev/null and b/momo_urdf/assets/top_plate_localization_module.stl differ diff --git a/momo_urdf/assets/velodyne_mount.part b/momo_urdf/assets/velodyne_mount.part new file mode 100644 index 0000000..4cea169 --- /dev/null +++ b/momo_urdf/assets/velodyne_mount.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "8a1433f64247b4654a9ffadd", + "documentMicroversion": "57b21fca22fd0d9ac49c1759", + "documentVersion": "312cae68760d89a1f51b5a29", + "elementId": "6b7b19abdc0556e1215e8ebf", + "fullConfiguration": "default", + "id": "M99XUYkyMa/GW5SPP", + "isStandardContent": false, + "name": "velodyne_mount <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/velodyne_mount.stl b/momo_urdf/assets/velodyne_mount.stl new file mode 100644 index 0000000..8b9a2e2 Binary files /dev/null and b/momo_urdf/assets/velodyne_mount.stl differ diff --git a/momo_urdf/assets/velodyne_vlp16.part b/momo_urdf/assets/velodyne_vlp16.part new file mode 100644 index 0000000..7c42d71 --- /dev/null +++ b/momo_urdf/assets/velodyne_vlp16.part @@ -0,0 +1,14 @@ +{ + "configuration": "default", + "documentId": "09389ac704fd38bc03a7f12f", + "documentMicroversion": "efb9e3b6af2bf864a2298056", + "documentVersion": "8e12247e0a5c04bf3d9cbbd3", + "elementId": "61a71f7b678196ef713bc858", + "fullConfiguration": "default", + "id": "MXQQfr7E1t3LeaytE", + "isStandardContent": false, + "name": "velodyne-vlp16 <1>", + "partId": "JFD", + "suppressed": false, + "type": "Part" +} \ No newline at end of file diff --git a/momo_urdf/assets/velodyne_vlp16.stl b/momo_urdf/assets/velodyne_vlp16.stl new file mode 100644 index 0000000..c56ace9 Binary files /dev/null and b/momo_urdf/assets/velodyne_vlp16.stl differ diff --git a/momo_urdf/config.json b/momo_urdf/config.json new file mode 100644 index 0000000..a4f13f8 --- /dev/null +++ b/momo_urdf/config.json @@ -0,0 +1,21 @@ +{ + "url": 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