added xarm 7 URDF description

Author: mhubii

README.md

@@ -277,7 +277,7 @@ rr-render \
     --joint-states-path test/assets/lbr_med7_r800/samples \
     --image-pattern left_image_*.png \
     --joint-states-pattern joint_states_*.npy \
-    --output-path test/assets/lbr_med7_r800/samples
+    --output-path /tmp/renders/lbr_med7_r800
 ```
 
 ## Testing
@@ -288,13 +288,12 @@ To run Hydra robust ICP on provided `xarm` and `realsense` data, run
 
 ```shell
 rr-hydra \
-    --camera-info-file test/assets/xarm/realsense/camera_info.yaml \
-    --path test/assets/xarm/realsense \
+    --camera-info-file test/assets/xarm_7/samples/camera_info.yaml \
+    --path test/assets/xarm_7/samples \
     --mask-pattern mask_*.png \
     --depth-pattern depth_*.npy \
     --joint-states-pattern joint_state_*.npy \
-    --ros-package xarm_description \
-    --xacro-path  urdf/xarm_device.urdf.xacro \
+    --urdf-path test/assets/xarm_7/description/xarm_7.urdf \
     --root-link-name link_base \
     --end-link-name link7 \
     --number-of-points 5000 \
@@ -308,17 +307,16 @@ Generate renders using the obtained extrinsics:
 rr-render \
     --batch-size 1 \
     --num-workers 0 \
-    --ros-package xarm_description \
-    --xacro-path urdf/xarm_device.urdf.xacro \
+    --urdf-path test/assets/xarm_7/description/xarm_7.urdf \
     --root-link-name link_base \
     --end-link-name link7 \
-    --camera-info-file test/assets/xarm/realsense/camera_info.yaml \
-    --extrinsics-file test/assets/xarm/realsense/HT_hydra_robust.npy \
-    --images-path test/assets/xarm/realsense \
-    --joint-states-path test/assets/xarm/realsense \
+    --camera-info-file test/assets/xarm_7/samples/camera_info.yaml \
+    --extrinsics-file test/assets/xarm_7/samples/HT_hydra_robust.npy \
+    --images-path test/assets/xarm_7/samples \
+    --joint-states-path test/assets/xarm_7/samples \
     --image-pattern img_*.png \
     --joint-states-pattern joint_state_*.npy \
-    --output-path test/assets/xarm/realsense
+    --output-path /tmp/renders/xarm_7
 ```
 
 ## Acknowledgements

test/assets/xarm_7/description/meshes/visual/link1.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34b541122df84d2ef5fcb91b715eb19659dc15ad8d44a191dde481f780265636
+size 184184

test/assets/xarm_7/description/meshes/visual/link2.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61e641cd47c169ecef779683332e00e4914db729bf02dfb61bfbe69351827455
+size 225584

test/assets/xarm_7/description/meshes/visual/link3.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2798e7946dd70046c95455d5ba96392d0b54a6069caba91dc4ca66e1379b42
+size 237084

test/assets/xarm_7/description/meshes/visual/link4.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c757fee95f873191a0633c355c07a360032960771cabbd7593a6cdb0f1ffb089
+size 243684

test/assets/xarm_7/description/meshes/visual/link5.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:715ad5787c5dab57589937fd47289882707b5e1eb997e340d567785b02f4ec90
+size 229084

test/assets/xarm_7/description/meshes/visual/link6.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85b320aa420497827223d16d492bba8de091173374e361396fc7a5dad7bdb0cb
+size 399384

test/assets/xarm_7/description/meshes/visual/link7.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97115d848fbf802cb770cd9be639ae2af993103b9d9bbb0c50c943c738a36f18
+size 231684

…/assets/xarm_7/description/link_base.STL …/description/meshes/visual/link_base.stltest/assets/xarm_7/description/link_base.STL renamed to test/assets/xarm_7/description/meshes/visual/link_base.stl test/assets/xarm_7/description/link_base.STL renamed to test/assets/xarm_7/description/meshes/visual/link_base.stl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65943ebd6a0d3fa59373f8c15ad8cbcb37448c53bc1dd21e9a115863d979b0e4
+size 8041