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Merged
KalanaRatnayake merged 7 commits into from
Mar 31, 2026
Merged

Develop #4

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c2ff06c
seperated handsolo digital twin related configuration from ld250-tm12…
KalanaRatnayake Nov 27, 2025
700bb6b
updating xacro file to include control box
KalanaRatnayake Nov 27, 2025
57113c0
moved omron_handsolo into a new package
KalanaRatnayake Nov 27, 2025
e256589
minor update to sizes
KalanaRatnayake Dec 1, 2025
792d969
updated launch files to use xacro instead urdf for now
KalanaRatnayake Dec 1, 2025
02e7216
updated urdf
KalanaRatnayake Mar 30, 2026
18eddc7
falling back to original urdf files
KalanaRatnayake Mar 30, 2026
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392 changes: 392 additions & 0 deletions moma_description/meshes/controlbox/LD250.mtl
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Original file line number Diff line number Diff line change
@@ -0,0 +1,392 @@
# Blender MTL File: 'None'
# Material Count: 39

newmtl Mtl.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.792157 0.819608 0.933333
Ks 0.424183 0.424183 0.424183
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl1.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.700000 0.700000 0.700000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl10.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.071373 0.071373 0.071373
Ks 0.005098 0.005098 0.005098
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl11.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.752941 0.000000 0.000000
Ks 0.250980 0.250980 0.250980
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl12.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.250980 0.250980 0.250980
Ks 0.250980 0.250980 0.250980
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl13.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 1.000000 0.000000
Ks 0.333333 0.333333 0.333333
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl14.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.000000 0.000000
Ks 0.333333 0.333333 0.333333
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl15.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 1.000000 0.000000
Ks 0.666667 0.666667 0.666667
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl16.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.752941 0.752941 0.752941
Ks 0.752941 0.752941 0.752941
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl17.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.996078 0.835294 0.337255
Ks 0.722876 0.722876 0.722876
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl18.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 0.874510 0.380392
Ks 0.751634 0.751634 0.751634
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl19.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.992157 0.835294 0.690196
Ks 0.839216 0.839216 0.839216
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl1a.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.527059 0.527059 0.527059
Ks 0.376471 0.376471 0.376471
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl1b.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1

newmtl Mtl2.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.525490 0.545098 0.545098
Ks 0.538562 0.538562 0.538562
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl20.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.894118 0.913725 0.929412
Ks 0.456209 0.456209 0.456209
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl21.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1

newmtl Mtl22.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.427451 0.458824 0.494118
Ks 0.460131 0.460131 0.460131
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl23.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.772549 0.752941 0.733333
Ks 0.752941 0.752941 0.752941
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl24.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.500000 0.500000 0.000000
Ks 0.333333 0.333333 0.333333
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl25.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.388235 0.388235 0.388235
Ks 0.388235 0.388235 0.388235
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl26.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.486275 0.011765 0.000000
Ks 0.166013 0.166013 0.166013
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl27.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.250980 0.250980 0.250980
Ks 0.125490 0.125490 0.125490
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl28.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.749020 0.749020 0.749020
Ks 0.749020 0.749020 0.749020
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl29.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.615686 0.643137 0.674510
Ks 0.644444 0.644444 0.644444
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl2a.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.792157 0.819608 0.929412
Ks 0.847059 0.847059 0.847059
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl2b.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 1.000000
Ks 0.166667 0.166667 0.166667
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl3.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.700000
Ks 0.166667 0.166667 0.166667
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl30.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 1.000000 1.000000 0.000000
Ks 0.333333 0.333333 0.333333
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl31.002
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.831373 0.207843 0.200000
Ks 0.413072 0.413072 0.413072
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl32.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.894118 0.913725 0.929412
Ks 0.456209 0.456209 0.456209
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl4.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 1.000000
Ks 0.250000 0.250000 0.250000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl5.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1

newmtl Mtl6.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.898039 0.913725 0.925490
Ks 0.912418 0.912418 0.912418
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl7.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.501961 0.501961 0.580392
Ks 0.528105 0.528105 0.528105
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl8.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.894118 0.913725 0.929412
Ks 0.456209 0.456209 0.456209
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtl9.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.866667 0.909804 1.000000
Ks 0.462745 0.462745 0.462745
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtla.001
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.294118 0.294118 0.294118
Ks 0.088235 0.088235 0.088235
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

newmtl Mtlb.003
Ns 0.000000
Ka 1.000000 1.000000 1.000000
Kd 0.000000 0.000000 0.000000
Ks 0.000000 0.000000 0.000000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 1
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