decrease some gjk/epa tolerance to improve collision detection using very small collision margins (0.001/1mm)
tweak pr2 gripper.
This commit is contained in:
erwin coumans
16
data/jenga/jenga.mtl
Normal file
16
data/jenga/jenga.mtl
Normal file
@@ -0,0 +1,16 @@
|
||||
newmtl jenga
|
||||
Ns 10.0000
|
||||
Ni 1.5000
|
||||
d 1.0000
|
||||
Tr 0.0000
|
||||
Tf 1.0000 1.0000 1.0000
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.5880 0.5880 0.5880
|
||||
Ks 0.0000 0.0000 0.0000
|
||||
Ke 0.0000 0.0000 0.0000
|
||||
map_Ka jenga.tga
|
||||
map_Kd jenga.png
|
||||
|
||||
|
||||
|
||||
113
data/jenga/jenga.obj
Normal file
113
data/jenga/jenga.obj
Normal file
@@ -0,0 +1,113 @@
|
||||
# jenga.obj
|
||||
#
|
||||
|
||||
o jenga
|
||||
mtllib jenga.mtl
|
||||
|
||||
v -0.5 -0.5 0.5
|
||||
v 0.5 -0.5 0.5
|
||||
v 0.5 0.5 0.5
|
||||
v -0.5 0.5 0.5
|
||||
|
||||
v -0.5 -0.5 -0.5
|
||||
v 0.5 -0.5 -0.5
|
||||
v 0.5 0.5 -0.5
|
||||
v -0.5 0.5 -0.5
|
||||
|
||||
v -0.5 -0.5 -0.5
|
||||
v -0.5 0.5 -0.5
|
||||
v -0.5 0.5 0.5
|
||||
v -0.5 -0.5 0.5
|
||||
|
||||
v 0.5 -0.5 -0.5
|
||||
v 0.5 0.5 -0.5
|
||||
v 0.5 0.5 0.5
|
||||
v 0.5 -0.5 0.5
|
||||
v -0.5 -0.5 -0.5
|
||||
v -0.5 -0.5 0.5
|
||||
v 0.5 -0.5 0.5
|
||||
v 0.5 -0.5 -0.5
|
||||
v -0.5 0.5 -0.5
|
||||
v -0.5 0.5 0.5
|
||||
v 0.5 0.5 0.5
|
||||
v 0.5 0.5 -0.5
|
||||
|
||||
vt 0 1
|
||||
vt 0 0.75
|
||||
vt 0.25 0.75
|
||||
vt 0.25 1
|
||||
|
||||
vt 0.25 0.5
|
||||
vt 0.25 0.75
|
||||
vt 0.5 0.75
|
||||
vt 0.5 0.5
|
||||
|
||||
vt 1 0.75
|
||||
vt 0.75 0.75
|
||||
vt 0.75 1
|
||||
vt 1 1
|
||||
|
||||
vt 0.25 0.75
|
||||
vt 0.5 0.75
|
||||
vt 0.5 1
|
||||
vt 0.25 1
|
||||
|
||||
vt 0 0.5
|
||||
vt 0 0.75
|
||||
vt 0.25 0.75
|
||||
vt 0.25 0.5
|
||||
|
||||
|
||||
vt 0.75 0.75
|
||||
vt 0.75 1
|
||||
vt 0.5 1
|
||||
vt 0.5 0.75
|
||||
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
|
||||
|
||||
g jenga
|
||||
usemtl jenga
|
||||
s 1
|
||||
f 1/1/1 2/2/2 3/3/3
|
||||
f 1/1/1 3/3/3 4/4/4
|
||||
s 2
|
||||
f 7/7/7 6/6/6 5/5/5
|
||||
f 8/8/8 7/7/7 5/5/5
|
||||
s 3
|
||||
f 11/11/11 10/10/10 9/9/9
|
||||
f 12/12/12 11/11/11 9/9/9
|
||||
s 4
|
||||
f 13/13/13 14/14/14 15/15/15
|
||||
f 13/13/13 15/15/15 16/16/16
|
||||
s 5
|
||||
f 19/19/19 18/18/18 17/17/17
|
||||
f 20/20/20 19/19/19 17/17/17
|
||||
s 6
|
||||
f 21/21/21 22/22/22 23/23/23
|
||||
f 21/21/21 23/23/23 24/24/24
|
||||
|
||||
|
||||
BIN
data/jenga/jenga.png
Normal file
BIN
data/jenga/jenga.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 280 KiB |
31
data/jenga/jenga.urdf
Normal file
31
data/jenga/jenga.urdf
Normal file
@@ -0,0 +1,31 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="jenga.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="0.5"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="jenga.obj" scale="0.15 0.05 0.03"/>
|
||||
</geometry>
|
||||
<material name="blue">
|
||||
<color rgba="0.5 0.5 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.15 0.05 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
Binary file not shown.
@@ -32,18 +32,23 @@
|
||||
|
||||
<link name="left_gripper">
|
||||
<contact>
|
||||
<lateral_friction value="5.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="1.5"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger.stl"/>
|
||||
<mesh filename="l_finger_collision.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger_collision.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
@@ -55,8 +60,8 @@
|
||||
|
||||
<link name="left_tip">
|
||||
<contact>
|
||||
<lateral_friction value="5.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="1.5"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
||||
@@ -71,7 +76,7 @@
|
||||
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
@@ -86,18 +91,23 @@
|
||||
|
||||
<link name="right_gripper">
|
||||
<contact>
|
||||
<lateral_friction value="5.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="1.5"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger.stl"/>
|
||||
<mesh filename="l_finger_collision.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger_collision.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
@@ -109,8 +119,8 @@
|
||||
|
||||
<link name="right_tip">
|
||||
<contact>
|
||||
<lateral_friction value="5.0"/>
|
||||
<spinning_friction value=".2"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="1.5"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
||||
@@ -125,7 +135,7 @@
|
||||
<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
Reference in New Issue
Block a user