feat: more urdf parser fixes + stl parser

assets/3d/T12/README.md

@@ -0,0 +1,3 @@
+These samples files originate from the repository
+[gkjohnson/urdf-loaders](https://github.com/gkjohnson/urdf-loaders/tree/b67f5de98f6222e2d921ce24f46a6725dad9704e/urdf/T12)
+(Apache 2.0 license).

assets/3d/sample.urdf

@@ -1,132 +0,0 @@
-<robot name="robot">
-  <link name="root">
-    <inertial>
-      <origin xyz="0 0 0.5" rpy="0 0 0"/>
-      <mass value="1"/>
-      <inertia ixx="100"  ixy="0"  ixz="0" iyy="100" iyz="0" izz="100" />
-    </inertial>
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.2 0.2 0.4" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="1.0 1.0 1.0 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <cylinder radius="1" length="0.5"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="shoulder1">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.1 0.1 0.1" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="0 1.0 1.0 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <link name="shoulder2">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.1 0.1 0.1" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="1.0 1.0 0.0 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <link name="shoulder3">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.1 0.1 0.2" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="0.5 0.5 0.2 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <link name="elbow1">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.1 0.1 0.2" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="0.8 0.2 0.2 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <link name="wrist1">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.1 0.15 0.1" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="1.0 0.0 0.0 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <joint name="shoulder_yaw" type="revolute">
-    <origin xyz="0.0 0.2 0.2" />
-    <parent link="root" />
-    <child link="shoulder1" />
-    <axis xyz="0 0 1" />
-    <limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
-  </joint>
-  <link name="wrist2">
-    <visual>
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-      <geometry>
-        <box size="0.05 0.08 0.15" />
-      </geometry>
-      <material name="Cyan">
-        <color rgba="0.0 0.0 1.0 1.0"/>
-      </material>
-    </visual>
-  </link>
-  <joint name="shoulder_pitch" type="revolute">
-    <origin xyz="0.0 0.1 0.0" />
-    <parent link="shoulder1" />
-    <child link="shoulder2" />
-    <axis xyz="0 1 0" />
-    <limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
-  </joint>
-  <joint name="shoulder_roll" type="revolute">
-    <origin xyz="0.0 0.1 0.0" />
-    <parent link="shoulder2" />
-    <child link="shoulder3" />
-    <axis xyz="1 0 0" />
-    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
-  </joint>
-  <joint name="elbow_pitch" type="revolute">
-    <origin xyz="0.0 0.0 -0.2" />
-    <parent link="shoulder3" />
-    <child link="elbow1" />
-    <axis xyz="0 1 0" />
-    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
-  </joint>
-  <joint name="wrist_yaw" type="revolute">
-    <origin xyz="0.0 0.0 -0.2" />
-    <parent link="elbow1" />
-    <child link="wrist1" />
-    <axis xyz="0 0 1" />
-    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
-  </joint>
-  <joint name="wrist_pitch" type="revolute">
-    <origin xyz="0.0 0.0 -0.2" />
-    <parent link="wrist1" />
-    <child link="wrist2" />
-    <axis xyz="0 1 0" />
-    <limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
-  </joint>
-</robot>