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0 0 178 0 2 0 0 1 2 1 1 1 1 2 2 2 3 2 179 3 1 3 3 3 179 4 3 4 181 4 181 5 3 5 165 5 4 6 181 6 165 6 183 7 4 7 165 7 6 8 166 8 5 8 5 9 166 9 149 9 6 10 7 10 166 10 8 11 176 11 7 11 7 12 176 12 166 12 8 13 9 13 176 13 180 14 10 14 9 14 9 15 10 15 176 15 184 16 10 16 180 16 12 17 11 17 13 17 84 18 17 18 12 18 13 19 11 19 16 19 12 20 18 20 11 20 17 21 18 21 12 21 84 22 12 22 13 22 13 23 16 23 15 23 14 24 17 24 84 24 16 25 11 25 69 25 15 26 16 26 19 26 69 27 11 27 18 27 17 28 20 28 18 28 14 29 20 29 17 29 13 30 15 30 84 30 15 31 19 31 21 31 84 32 24 32 14 32 21 33 19 33 39 33 69 34 19 34 16 34 69 35 18 35 20 35 14 36 25 36 20 36 24 37 25 37 14 37 84 38 15 38 21 38 21 39 39 39 54 39 22 40 32 40 40 40 84 41 26 41 24 41 23 42 22 42 40 42 39 43 19 43 69 43 20 44 25 44 69 44 24 45 41 45 25 45 26 46 41 46 24 46 27 47 45 47 22 47 28 48 34 48 29 48 28 49 33 49 34 49 80 50 30 50 31 50 79 51 51 51 30 51 84 52 21 52 54 52 54 53 39 53 40 53 22 54 45 54 81 54 22 55 81 55 32 55 40 56 32 56 57 56 34 57 33 57 48 57 29 58 34 58 58 58 29 59 58 59 63 59 35 60 38 60 36 60 35 61 36 61 82 61 29 62 63 62 134 62 84 63 42 63 26 63 35 64 37 64 38 64 40 65 68 65 23 65 39 66 69 66 40 66 69 67 25 67 41 67 26 68 71 68 41 68 42 69 71 69 26 69 43 70 44 70 45 70 68 71 46 71 47 71 48 72 33 72 73 72 74 73 73 73 33 73 134 74 28 74 29 74 74 75 33 75 28 75 30 76 49 76 50 76 30 77 51 77 52 77 77 78 80 78 31 78 79 79 53 79 51 79 78 80 53 80 79 80 80 81 79 81 30 81 54 82 55 82 84 82 54 83 40 83 55 83 40 84 57 84 93 84 32 85 81 85 56 85 32 86 56 86 57 86 93 87 57 87 97 87 60 88 37 88 83 88 63 89 59 89 64 89 48 90 58 90 34 90 63 91 58 91 59 91 36 92 38 92 61 92 60 93 38 93 37 93 36 94 61 94 82 94 82 95 62 95 35 95 66 96 65 96 83 96 121 97 83 97 37 97 134 98 63 98 64 98 64 99 65 99 66 99 67 100 42 100 84 100 121 101 37 101 35 101 40 102 69 102 68 102 69 103 41 103 71 103 42 104 70 104 71 104 67 105 70 105 42 105 68 106 102 106 72 106 48 107 73 107 86 107 87 108 73 108 74 108 134 109 74 109 28 109 87 110 86 110 73 110 75 111 76 111 106 111 31 112 106 112 77 112 84 113 80 113 77 113 78 114 89 114 53 114 78 115 79 115 80 115 84 116 55 116 80 116 55 117 40 117 93 117 57 118 98 118 97 118 169 119 56 119 81 119 57 120 56 120 98 120 93 121 97 121 116 121 83 122 65 122 60 122 64 123 59 123 65 123 48 124 59 124 58 124 35 125 62 125 85 125 61 126 38 126 60 126 82 127 61 127 100 127 82 128 100 128 62 128 66 129 83 129 121 129 134 130 64 130 66 130 67 131 84 131 134 131 35 132 85 132 121 132 69 133 102 133 68 133 71 134 70 134 69 134 67 135 120 135 70 135 88 136 48 136 86 136 87 137 74 137 134 137 88 138 86 138 87 138 77 139 106 139 105 139 77 140 105 140 84 140 134 141 84 141 108 141 109 142 53 142 89 142 91 143 90 143 89 143 112 144 90 144 91 144 91 145 89 145 78 145 91 146 111 146 112 146 92 147 78 147 80 147 114 148 113 148 191 148 191 149 113 149 92 149 80 150 95 150 92 150 55 151 93 151 80 151 95 152 2 152 178 152 178 153 94 153 95 153 95 154 94 154 96 154 95 155 96 155 92 155 92 156 96 156 191 156 97 157 98 157 115 157 169 158 98 158 56 158 97 159 115 159 116 159 116 160 129 160 93 160 60 161 65 161 59 161 117 162 59 162 48 162 62 163 99 163 85 163 60 164 100 164 61 164 62 165 100 165 99 165 121 166 134 166 66 166 134 167 120 167 67 167 121 168 85 168 118 168 69 169 101 169 102 169 69 170 70 170 120 170 169 171 81 171 45 171 45 172 103 172 169 172 169 173 103 173 102 173 169 174 102 174 101 174 104 175 48 175 88 175 134 176 88 176 87 176 104 177 117 177 48 177 84 178 123 178 108 178 109 179 105 179 106 179 106 180 107 180 109 180 109 181 107 181 51 181 109 182 51 182 53 182 84 183 105 183 123 183 108 184 124 184 134 184 109 185 89 185 90 185 112 186 110 186 90 186 126 187 110 187 112 187 111 188 126 188 112 188 78 189 111 189 91 189 113 190 78 190 92 190 114 191 189 191 113 191 80 192 93 192 95 192 95 193 165 193 2 193 115 194 98 194 169 194 116 195 115 195 136 195 116 196 136 196 129 196 93 197 129 197 135 197 60 198 59 198 117 198 85 199 99 199 131 199 60 200 99 200 100 200 85 201 131 201 118 201 119 202 134 202 121 202 134 203 199 203 120 203 121 204 118 204 119 204 132 205 122 205 101 205 132 206 101 206 69 206 69 207 120 207 199 207 169 208 101 208 122 208 104 209 88 209 134 209 137 210 117 210 104 210 108 211 123 211 142 211 109 212 123 212 105 212 108 213 142 213 124 213 134 214 124 214 141 214 90 215 110 215 109 215 126 216 125 216 110 216 111 217 125 217 126 217 78 218 146 218 111 218 113 219 127 219 78 219 188 220 127 220 189 220 189 221 127 221 113 221 165 222 3 222 2 222 93 223 165 223 95 223 129 224 128 224 135 224 169 225 136 225 115 225 129 226 136 226 128 226 130 227 148 227 93 227 93 228 135 228 130 228 137 229 60 229 117 229 131 230 99 230 60 230 118 231 131 231 138 231 119 232 199 232 134 232 118 233 138 233 119 233 140 234 122 234 132 234 69 235 199 235 132 235 140 236 139 236 122 236 169 237 122 237 139 237 134 238 137 238 104 238 142 239 123 239 109 239 124 240 142 240 133 240 124 241 133 241 141 241 134 242 141 242 154 242 109 243 110 243 125 243 111 244 144 244 125 244 146 245 144 245 111 245 145 246 146 246 78 246 78 247 127 247 147 247 188 248 192 248 127 248 93 249 148 249 165 249 135 250 128 250 158 250 169 251 128 251 136 251 130 252 182 252 148 252 135 253 158 253 130 253 151 254 60 254 137 254 60 255 138 255 131 255 119 256 138 256 199 256 132 257 199 257 140 257 159 258 139 258 140 258 159 259 153 259 139 259 139 260 153 260 169 260 134 261 151 261 137 261 141 262 143 262 154 262 109 263 133 263 142 263 141 264 133 264 143 264 154 265 156 265 134 265 109 266 125 266 144 266 146 267 162 267 144 267 145 268 162 268 146 268 78 269 147 269 145 269 196 270 147 270 192 270 192 271 147 271 127 271 148 272 182 272 165 272 158 273 128 273 169 273 130 274 158 274 182 274 151 275 149 275 60 275 60 276 199 276 138 276 150 277 152 277 151 277 151 278 152 278 190 278 151 279 190 279 149 279 149 280 190 280 202 280 149 281 202 281 5 281 167 282 161 282 153 282 199 283 159 283 140 283 167 284 153 284 159 284 169 285 153 285 161 285 150 286 151 286 134 286 154 287 143 287 155 287 109 288 143 288 133 288 154 289 155 289 156 289 134 290 156 290 171 290 144 291 162 291 109 291 145 292 163 292 162 292 147 293 157 293 145 293 196 294 157 294 147 294 182 295 164 295 165 295 169 296 182 296 158 296 149 297 199 297 60 297 193 298 152 298 150 298 160 299 161 299 167 299 199 300 167 300 159 300 160 301 168 301 161 301 169 302 161 302 168 302 134 303 171 303 172 303 134 304 173 304 150 304 193 305 150 305 174 305 174 306 150 306 173 306 155 307 143 307 109 307 156 308 155 308 175 308 156 309 175 309 171 309 109 310 162 310 163 310 145 311 157 311 163 311 164 312 183 312 165 312 149 313 166 313 199 313 160 314 167 314 199 314 177 315 168 315 160 315 177 316 186 316 168 316 168 317 186 317 169 317 172 318 170 318 134 318 171 319 198 319 172 319 134 320 170 320 173 320 194 321 174 321 173 321 109 322 175 322 155 322 171 323 175 323 198 323 199 324 166 324 176 324 199 325 177 325 160 325 185 326 186 326 177 326 169 327 186 327 200 327 172 328 198 328 170 328 194 329 173 329 195 329 195 330 173 330 170 330 109 331 198 331 175 331 199 332 176 332 10 332 199 333 185 333 177 333 94 334 178 334 202 334 202 335 178 335 0 335 0 336 1 336 202 336 202 337 1 337 179 337 202 338 179 338 181 338 4 339 184 339 181 339 181 340 184 340 180 340 180 341 9 341 181 341 181 342 9 342 8 342 181 343 8 343 7 343 7 344 6 344 181 344 181 345 6 345 5 345 181 346 5 346 202 346 164 347 182 347 169 347 4 348 183 348 184 348 184 349 183 349 164 349 184 350 164 350 201 350 201 351 164 351 169 351 201 352 169 352 200 352 185 353 200 353 186 353 198 354 187 354 170 354 197 355 195 355 170 355 188 356 189 356 190 356 193 357 174 357 192 357 189 358 114 358 190 358 190 359 114 359 191 359 190 360 191 360 96 360 188 361 190 361 192 361 192 362 190 362 152 362 192 363 152 363 193 363 174 364 194 364 192 364 192 365 194 365 195 365 192 366 195 366 196 366 196 367 195 367 157 367 157 368 195 368 197 368 157 369 197 369 187 369 187 370 198 370 157 370 157 371 198 371 109 371 157 372 109 372 163 372 10 373 185 373 199 373 201 374 200 374 185 374 197 375 170 375 187 375 10 376 201 376 185 376 201 377 10 377 184 377 190 378 96 378 202 378 202 379 96 379 94 379

- - - - - - - - - - - - - - - diff --git a/pmb2_description/meshes/base/base_collision.stl b/pmb2_description/meshes/base/base_collision.stl new file mode 100644 index 00000000..8a0f2972 Binary files /dev/null and b/pmb2_description/meshes/base/base_collision.stl differ diff --git a/pmb2_description/urdf/base/base.urdf.xacro b/pmb2_description/urdf/base/base.urdf.xacro index 4995c09f..dd173e21 100644 --- a/pmb2_description/urdf/base/base.urdf.xacro +++ b/pmb2_description/urdf/base/base.urdf.xacro @@ -57,7 +57,7 @@ - +