Merge remote-tracking branch 'bp/master'
This commit is contained in:
Erwin Coumans
@@ -1,6 +1,6 @@
|
||||
cmake_minimum_required(VERSION 2.4.3)
|
||||
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
|
||||
|
||||
cmake_policy(SET CMP0017 NEW)
|
||||
#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
|
||||
SET(MSVC_INCREMENTAL_DEFAULT ON)
|
||||
|
||||
@@ -27,7 +27,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
|
||||
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
|
||||
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
|
||||
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
|
||||
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
|
||||
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
|
||||
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
|
||||
|
||||
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
|
||||
@@ -123,22 +123,22 @@ IF(MSVC)
|
||||
|
||||
OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
|
||||
|
||||
|
||||
|
||||
|
||||
OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
|
||||
|
||||
|
||||
IF(USE_MSVC_COMDAT_FOLDING)
|
||||
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
|
||||
ENDIF()
|
||||
|
||||
|
||||
OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
|
||||
IF(USE_MSVC_DISABLE_RTTI)
|
||||
STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
|
||||
SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
|
||||
SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
|
||||
ENDIF(USE_MSVC_DISABLE_RTTI)
|
||||
|
||||
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
|
||||
ENDIF(MSVC)
|
||||
|
||||
@@ -254,24 +254,39 @@ ENDIF()
|
||||
|
||||
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
|
||||
|
||||
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
|
||||
|
||||
# Optional Python configuration
|
||||
# builds pybullet automatically if all the requirements are met
|
||||
SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
|
||||
SET(Python_ADDITIONAL_VERSIONS 2.7 2.7.3 3 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
|
||||
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
|
||||
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
|
||||
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.3" OFF)
|
||||
IF(EXACT_PYTHON_VERSION)
|
||||
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
|
||||
ENDIF(EXACT_PYTHON_VERSION)
|
||||
# first find the python interpreter
|
||||
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
|
||||
# python library should exactly match that of the interpreter
|
||||
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
|
||||
SET(DEFAULT_BUILD_PYBULLET OFF)
|
||||
IF(PYTHONLIBS_FOUND)
|
||||
SET(DEFAULT_BUILD_PYBULLET ON)
|
||||
ENDIF(PYTHONLIBS_FOUND)
|
||||
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
|
||||
|
||||
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
|
||||
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
|
||||
|
||||
|
||||
|
||||
IF(BUILD_PYBULLET)
|
||||
|
||||
FIND_PACKAGE(PythonLibs)
|
||||
|
||||
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
|
||||
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" ON)
|
||||
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
|
||||
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
|
||||
|
||||
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
|
||||
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
|
||||
|
||||
IF(BUILD_PYBULLET_NUMPY)
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
|
||||
IF(BUILD_PYBULLET_NUMPY)
|
||||
#include(FindNumPy)
|
||||
FIND_PACKAGE(NumPy)
|
||||
if (PYTHON_NUMPY_FOUND)
|
||||
@@ -281,7 +296,6 @@ IF(BUILD_PYBULLET)
|
||||
message("NumPy not found")
|
||||
endif()
|
||||
ENDIF()
|
||||
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
|
||||
|
||||
IF(WIN32)
|
||||
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
|
||||
|
||||
25
build3/cmake/FindLibPython.py
Normal file
25
build3/cmake/FindLibPython.py
Normal file
@@ -0,0 +1,25 @@
|
||||
# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
|
||||
# same as CMake (BSD). My adaptations are in part based
|
||||
# https://github.com/qgis/QGIS/tree/master/cmake which has the following
|
||||
# copyright note:
|
||||
|
||||
# FindLibPython.py
|
||||
# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
|
||||
# Redistribution and use is allowed according to the terms of the BSD license.
|
||||
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
|
||||
|
||||
import sys
|
||||
import distutils.sysconfig
|
||||
|
||||
print("exec_prefix:%s" % sys.exec_prefix)
|
||||
print("major_version:%s" % str(sys.version_info[0]))
|
||||
print("minor_version:%s" % str(sys.version_info[1]))
|
||||
print("patch_version:%s" % str(sys.version_info[2]))
|
||||
print("short_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:2])))
|
||||
print("long_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:3])))
|
||||
print("py_inc_dir:%s" % distutils.sysconfig.get_python_inc())
|
||||
print("site_packages_dir:%s" % distutils.sysconfig.get_python_lib(plat_specific=1))
|
||||
for e in distutils.sysconfig.get_config_vars ('LIBDIR'):
|
||||
if e != None:
|
||||
print("py_lib_dir:%s" % e)
|
||||
break
|
||||
@@ -1,41 +1,59 @@
|
||||
# Find the Python NumPy package
|
||||
# PYTHON_NUMPY_INCLUDE_DIR
|
||||
# PYTHON_NUMPY_FOUND
|
||||
# will be set by this script
|
||||
# - Find the NumPy libraries
|
||||
# This module finds if NumPy is installed, and sets the following variables
|
||||
# indicating where it is.
|
||||
#
|
||||
# TODO: Update to provide the libraries and paths for linking npymath lib.
|
||||
#
|
||||
# PYTHON_NUMPY_FOUND - was NumPy found
|
||||
# PYTHON_NUMPY_VERSION - the version of NumPy found as a string
|
||||
# PYTHON_NUMPY_VERSION_MAJOR - the major version number of NumPy
|
||||
# PYTHON_NUMPY_VERSION_MINOR - the minor version number of NumPy
|
||||
# PYTHON_NUMPY_VERSION_PATCH - the patch version number of NumPy
|
||||
# PYTHON_NUMPY_VERSION_DECIMAL - e.g. version 1.6.1 is 10601
|
||||
# PYTHON_NUMPY_INCLUDE_DIR - path to the NumPy include files
|
||||
|
||||
cmake_minimum_required(VERSION 2.6)
|
||||
unset(PYTHON_NUMPY_VERSION)
|
||||
unset(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
|
||||
if(NOT PYTHON_EXECUTABLE)
|
||||
if(NumPy_FIND_QUIETLY)
|
||||
find_package(PythonInterp QUIET)
|
||||
else()
|
||||
find_package(PythonInterp)
|
||||
set(__numpy_out 1)
|
||||
if(PYTHONINTERP_FOUND)
|
||||
execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
||||
"import numpy as n; print(n.__version__); print(n.get_include());"
|
||||
RESULT_VARIABLE __result
|
||||
OUTPUT_VARIABLE __output
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
|
||||
if(__result MATCHES 0)
|
||||
string(REGEX REPLACE ";" "\\\\;" __values ${__output})
|
||||
string(REGEX REPLACE "\r?\n" ";" __values ${__values})
|
||||
list(GET __values 0 PYTHON_NUMPY_VERSION)
|
||||
list(GET __values 1 PYTHON_NUMPY_INCLUDE_DIR)
|
||||
|
||||
string(REGEX MATCH "^([0-9])+\\.([0-9])+\\.([0-9])+" __ver_check "${PYTHON_NUMPY_VERSION}")
|
||||
if(NOT "${__ver_check}" STREQUAL "")
|
||||
set(PYTHON_NUMPY_VERSION_MAJOR ${CMAKE_MATCH_1})
|
||||
set(PYTHON_NUMPY_VERSION_MINOR ${CMAKE_MATCH_2})
|
||||
set(PYTHON_NUMPY_VERSION_PATCH ${CMAKE_MATCH_3})
|
||||
math(EXPR PYTHON_NUMPY_VERSION_DECIMAL
|
||||
"(${PYTHON_NUMPY_VERSION_MAJOR} * 10000) + (${PYTHON_NUMPY_VERSION_MINOR} * 100) + ${PYTHON_NUMPY_VERSION_PATCH}")
|
||||
string(REGEX REPLACE "\\\\" "/" PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_DIR})
|
||||
else()
|
||||
unset(PYTHON_NUMPY_VERSION)
|
||||
unset(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
message(STATUS "Requested NumPy version and include path, but got instead:\n${__output}\n")
|
||||
endif()
|
||||
endif()
|
||||
else()
|
||||
message(STATUS "To find NumPy Python interpretor is required to be found.")
|
||||
endif()
|
||||
|
||||
if (PYTHON_EXECUTABLE)
|
||||
# Find out the include path
|
||||
execute_process(
|
||||
COMMAND "${PYTHON_EXECUTABLE}" -c
|
||||
"from __future__ import print_function\ntry: import numpy; print(numpy.get_include(), end='')\nexcept:pass\n"
|
||||
OUTPUT_VARIABLE __numpy_path)
|
||||
# And the version
|
||||
execute_process(
|
||||
COMMAND "${PYTHON_EXECUTABLE}" -c
|
||||
"from __future__ import print_function\ntry: import numpy; print(numpy.__version__, end='')\nexcept:pass\n"
|
||||
OUTPUT_VARIABLE __numpy_version)
|
||||
elseif(__numpy_out)
|
||||
message(STATUS "Python executable not found.")
|
||||
endif(PYTHON_EXECUTABLE)
|
||||
|
||||
find_path(PYTHON_NUMPY_INCLUDE_DIR numpy/arrayobject.h
|
||||
HINTS "${__numpy_path}" "${PYTHON_INCLUDE_PATH}" NO_DEFAULT_PATH)
|
||||
|
||||
if(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
set(PYTHON_NUMPY_FOUND 1 CACHE INTERNAL "Python numpy found")
|
||||
endif(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR
|
||||
VERSION_VAR __numpy_version)
|
||||
find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR PYTHON_NUMPY_VERSION
|
||||
VERSION_VAR PYTHON_NUMPY_VERSION)
|
||||
|
||||
if(NUMPY_FOUND)
|
||||
set(PYTHON_NUMPY_FOUND TRUE)
|
||||
message(STATUS "NumPy ver. ${PYTHON_NUMPY_VERSION} found (include: ${PYTHON_NUMPY_INCLUDE_DIR})")
|
||||
endif()
|
||||
|
||||
# caffe_clear_vars(__result __output __error_value __values __ver_check __error_value)
|
||||
|
||||
|
||||
353
build3/cmake/FindPythonLibs.cmake
Normal file
353
build3/cmake/FindPythonLibs.cmake
Normal file
@@ -0,0 +1,353 @@
|
||||
# - Find python libraries
|
||||
# This module finds if Python is installed and determines where the
|
||||
# include files and libraries are. It also determines what the name of
|
||||
# the library is. This code sets the following variables:
|
||||
#
|
||||
# PYTHONLIBS_FOUND - have the Python libs been found
|
||||
# PYTHON_LIBRARIES - path to the python library
|
||||
# PYTHON_INCLUDE_PATH - path to where Python.h is found (deprecated)
|
||||
# PYTHON_INCLUDE_DIRS - path to where Python.h is found
|
||||
# PYTHON_DEBUG_LIBRARIES - path to the debug library (deprecated)
|
||||
# PYTHONLIBS_VERSION_STRING - version of the Python libs found (since CMake 2.8.8)
|
||||
#
|
||||
# The Python_ADDITIONAL_VERSIONS variable can be used to specify a list of
|
||||
# version numbers that should be taken into account when searching for Python.
|
||||
# You need to set this variable before calling find_package(PythonLibs).
|
||||
#
|
||||
# If you'd like to specify the installation of Python to use, you should modify
|
||||
# the following cache variables:
|
||||
# PYTHON_LIBRARY - path to the python library
|
||||
# PYTHON_INCLUDE_DIR - path to where Python.h is found
|
||||
|
||||
#=============================================================================
|
||||
# Copyright 2001-2009 Kitware, Inc.
|
||||
#
|
||||
# Distributed under the OSI-approved BSD License (the "License");
|
||||
# see accompanying file Copyright.txt for details.
|
||||
#
|
||||
# This software is distributed WITHOUT ANY WARRANTY; without even the
|
||||
# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||
# See the License for more information.
|
||||
#=============================================================================
|
||||
# (To distribute this file outside of CMake, substitute the full
|
||||
# License text for the above reference.)
|
||||
|
||||
# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
|
||||
# same as CMake (BSD). My adaptations are in part based
|
||||
# https://github.com/qgis/QGIS/tree/master/cmake which has the following
|
||||
# copyright note:
|
||||
|
||||
# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
|
||||
# Redistribution and use is allowed according to the terms of the BSD license.
|
||||
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
|
||||
|
||||
|
||||
if(NOT DEFINED PYTHON_INCLUDE_DIR)
|
||||
if(DEFINED PYTHON_INCLUDE_PATH)
|
||||
# For backward compatibility, repect PYTHON_INCLUDE_PATH.
|
||||
set(PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_PATH}" CACHE PATH
|
||||
"Path to where Python.h is found" FORCE)
|
||||
else()
|
||||
set(PYTHON_INCLUDE_DIR "" CACHE PATH
|
||||
"Path to where Python.h is found" FORCE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
|
||||
if(EXISTS "${PYTHON_INCLUDE_DIR}/patchlevel.h")
|
||||
file(STRINGS "${PYTHON_INCLUDE_DIR}/patchlevel.h" _PYTHON_VERSION_STR
|
||||
REGEX "^#define[ \t]+PY_VERSION[ \t]+\"[^\"]+\"")
|
||||
string(REGEX REPLACE "^#define[ \t]+PY_VERSION[ \t]+\"([^\"]+)\".*" "\\1"
|
||||
PYTHONLIBS_VERSION_STRING "${_PYTHON_VERSION_STR}")
|
||||
unset(_PYTHON_VERSION_STR)
|
||||
endif()
|
||||
else()
|
||||
set(_PYTHON1_VERSIONS 1.6 1.5)
|
||||
set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
|
||||
set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0)
|
||||
|
||||
unset(_PYTHON_FIND_OTHER_VERSIONS)
|
||||
if(PythonLibs_FIND_VERSION)
|
||||
if(PythonLibs_FIND_VERSION_COUNT GREATER 1)
|
||||
set(_PYTHON_FIND_MAJ_MIN "${PythonLibs_FIND_VERSION_MAJOR}.${PythonLibs_FIND_VERSION_MINOR}")
|
||||
if(NOT PythonLibs_FIND_VERSION_EXACT)
|
||||
foreach(_PYTHON_V ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
|
||||
if(NOT _PYTHON_V VERSION_LESS _PYTHON_FIND_MAJ_MIN)
|
||||
if(NOT _PYTHON_V STREQUAL PythonLibs_FIND_VERSION)
|
||||
list(APPEND _PYTHON_FIND_OTHER_VERSIONS ${_PYTHON_V})
|
||||
endif()
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
unset(_PYTHON_FIND_MAJ_MIN)
|
||||
else()
|
||||
set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
|
||||
endif()
|
||||
else()
|
||||
# add an empty version to check the `python` executable first in case no version is requested
|
||||
set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON3_VERSIONS} ${_PYTHON2_VERSIONS} ${_PYTHON1_VERSIONS})
|
||||
endif()
|
||||
|
||||
unset(_PYTHON1_VERSIONS)
|
||||
unset(_PYTHON2_VERSIONS)
|
||||
unset(_PYTHON3_VERSIONS)
|
||||
|
||||
# Set up the versions we know about, in the order we will search. Always add
|
||||
# the user supplied additional versions to the front.
|
||||
# If FindPythonInterp has already found the major and minor version,
|
||||
# insert that version between the user supplied versions and the stock
|
||||
# version list.
|
||||
# If no specific version is requested or suggested by PythonInterp, always look
|
||||
# for "python" executable first
|
||||
set(_PYTHON_VERSIONS ${PythonLibs_FIND_VERSION} ${PythonLibs_ADDITIONAL_VERSIONS} )
|
||||
if(DEFINED PYTHON_VERSION_MAJOR AND DEFINED PYTHON_VERSION_MINOR)
|
||||
list(APPEND _PYTHON_VERSIONS ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR})
|
||||
endif()
|
||||
if (NOT _PYTHON_VERSIONS)
|
||||
set(_PYTHON_VERSIONS ";") # empty entry at the front makeing sure we search for "python" first
|
||||
endif()
|
||||
list(APPEND _PYTHON_VERSIONS ${_PYTHON_FIND_OTHER_VERSIONS})
|
||||
|
||||
unset(_PYTHON_FIND_OTHER_VERSIONS)
|
||||
|
||||
message(STATUS "Looking for versions: ${_PYTHON_VERSIONS}")
|
||||
|
||||
FIND_FILE(_FIND_LIB_PYTHON_PY FindLibPython.py PATHS ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
|
||||
|
||||
if(NOT _FIND_LIB_PYTHON_PY)
|
||||
message(FATAL_ERROR "Could not find required file 'FindLibPython.py'")
|
||||
endif()
|
||||
|
||||
unset(PYTHONLIBS_VERSION_STRING)
|
||||
foreach(_CURRENT_VERSION IN LISTS _PYTHON_VERSIONS)
|
||||
|
||||
STRING(REGEX REPLACE "^([0-9]+).*$" "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
|
||||
STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
|
||||
|
||||
set(_PYTHON_NAMES python)
|
||||
|
||||
if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
|
||||
list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
|
||||
if (_CURRENT_VERSION MATCHES "^[0-9]+\\.[0-9].*$")
|
||||
list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}.${_VERSION_MINOR}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
message(STATUS "Looking for python version '${_CURRENT_VERSION}' by checking executables: ${_PYTHON_NAMES}.")
|
||||
|
||||
foreach(_CURRENT_PYTHON_NAME IN LISTS _PYTHON_NAMES)
|
||||
|
||||
unset(_PYTHON_EXECUTABLE CACHE)
|
||||
find_program(_PYTHON_EXECUTABLE ${_CURRENT_PYTHON_NAME}
|
||||
PATHS [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath])
|
||||
|
||||
if(_PYTHON_EXECUTABLE)
|
||||
|
||||
EXECUTE_PROCESS(
|
||||
COMMAND ${_PYTHON_EXECUTABLE} "${_FIND_LIB_PYTHON_PY}"
|
||||
OUTPUT_VARIABLE _PYTHON_CONFIG
|
||||
RESULT_VARIABLE _PYTHON_CONFIG_RESULT
|
||||
ERROR_QUIET)
|
||||
|
||||
if(NOT ${_PYTHON_CONFIG_RESULT} AND (NOT ${_PYTHON_CONFIG} STREQUAL ""))
|
||||
STRING(REGEX REPLACE ".*\nmajor_version:([0-9]+).*$" "\\1" _PYTHON_MAJOR_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nminor_version:([0-9]+).*$" "\\1" _PYTHON_MINOR_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\npatch_version:([0-9]+).*$" "\\1" _PYTHON_PATCH_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nshort_version:([^\n]+).*$" "\\1" _PYTHON_SHORT_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nlong_version:([^\n]+).*$" "\\1" _PYTHON_LONG_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\npy_inc_dir:([^\n]+).*$" "\\1" _PYTHON_INCLUDE_DIR ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\npy_lib_dir:([^\n]+).*$" "\\1" _PYTHON_LIBRARY_DIR ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nexec_prefix:(^\n+).*$" "\\1" _PYTHON_PREFIX ${_PYTHON_CONFIG})
|
||||
|
||||
if ("${_CURRENT_VERSION}" STREQUAL "" OR
|
||||
"${_CURRENT_VERSION}" STREQUAL "${_PYTHON_MAJOR_VERSION}" OR
|
||||
"${_CURRENT_VERSION}" STREQUAL "${_PYTHON_SHORT_VERSION}" OR
|
||||
"${_CURRENT_VERSION}" STREQUAL "${_PYTHON_LONG_VERSION}")
|
||||
|
||||
message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with suitable version ${_PYTHON_LONG_VERSION}")
|
||||
|
||||
if(NOT EXISTS "${PYTHON_INCLUDE_DIR}")
|
||||
set(PYTHON_INCLUDE_DIR "${_PYTHON_INCLUDE_DIR}")
|
||||
endif()
|
||||
|
||||
if(NOT EXISTS "${PYTHON_LIBRARY}")
|
||||
set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
|
||||
set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT})
|
||||
FIND_LIBRARY(PYTHON_LIBRARY
|
||||
NAMES ${_PYTHON_LIBRARY_NAMES}
|
||||
PATH_SUFFIXES
|
||||
python${_PYTHON_SHORT_VERSION}/config
|
||||
python${_PYTHON_SHORT_VERSION_NO_DOT}/config
|
||||
PATHS
|
||||
${_PYTHON_LIBRARY_DIR}
|
||||
${_PYTHON_PREFIX}/lib $
|
||||
{_PYTHON_PREFIX}/libs
|
||||
NO_DEFAULT_PATH)
|
||||
|
||||
if(WIN32)
|
||||
find_library(PYTHON_DEBUG_LIBRARY
|
||||
NAMES python${_PYTHON_SHORT_VERSION_NO_DOT}_d python
|
||||
PATHS
|
||||
[HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
|
||||
[HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
|
||||
[HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
|
||||
[HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
set(PYTHONLIBS_VERSION_STRING ${_PYTHON_LONG_VERSION})
|
||||
if(_PYTHON_PATCH_VERSION STREQUAL "0")
|
||||
# it's called "Python 2.7", not "2.7.0"
|
||||
string(REGEX REPLACE "\\.0$" "" PYTHONLIBS_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}")
|
||||
endif()
|
||||
|
||||
break()
|
||||
else()
|
||||
message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with UNsuitable version ${_PYTHON_LONG_VERSION}")
|
||||
endif() # version ok
|
||||
else()
|
||||
message(WARNING "Found executable ${_PYTHON_EXECUTABLE}, but could not extract version info.")
|
||||
endif() # could extract config
|
||||
endif() # found executable
|
||||
endforeach() # python names
|
||||
if (PYTHONLIBS_VERSION_STRING)
|
||||
break()
|
||||
endif()
|
||||
endforeach() # python versions
|
||||
endif()
|
||||
|
||||
unset(_PYTHON_NAMES)
|
||||
unset(_PYTHON_VERSIONS)
|
||||
unset(_PYTHON_EXECUTABLE CACHE)
|
||||
unset(_PYTHON_MAJOR_VERSION)
|
||||
unset(_PYTHON_MINOR_VERSION)
|
||||
unset(_PYTHON_PATCH_VERSION)
|
||||
unset(_PYTHON_SHORT_VERSION)
|
||||
unset(_PYTHON_LONG_VERSION)
|
||||
unset(_PYTHON_LIBRARY_DIR)
|
||||
unset(_PYTHON_INCLUDE_DIR)
|
||||
unset(_PYTHON_PREFIX)
|
||||
unset(_PYTHON_SHORT_VERSION_NO_DOT)
|
||||
unset(_PYTHON_LIBRARY_NAMES)
|
||||
|
||||
|
||||
# For backward compatibility, set PYTHON_INCLUDE_PATH.
|
||||
set(PYTHON_INCLUDE_PATH "${PYTHON_INCLUDE_DIR}")
|
||||
|
||||
mark_as_advanced(
|
||||
PYTHON_DEBUG_LIBRARY
|
||||
PYTHON_LIBRARY
|
||||
PYTHON_INCLUDE_DIR
|
||||
)
|
||||
|
||||
# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
|
||||
# cache entries because they are meant to specify the location of a single
|
||||
# library. We now set the variables listed by the documentation for this
|
||||
# module.
|
||||
set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
|
||||
set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
|
||||
|
||||
# These variables have been historically named in this module different from
|
||||
# what SELECT_LIBRARY_CONFIGURATIONS() expects.
|
||||
set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
|
||||
set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
|
||||
include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
|
||||
SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
|
||||
# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
|
||||
# Unset this, this prefix doesn't match the module prefix, they are different
|
||||
# for historical reasons.
|
||||
unset(PYTHON_FOUND)
|
||||
|
||||
# include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
|
||||
include(FindPackageHandleStandardArgs)
|
||||
FIND_PACKAGE_HANDLE_STANDARD_ARGS(PythonLibs
|
||||
REQUIRED_VARS PYTHON_LIBRARIES PYTHON_INCLUDE_DIRS
|
||||
VERSION_VAR PYTHONLIBS_VERSION_STRING)
|
||||
|
||||
# PYTHON_ADD_MODULE(<name> src1 src2 ... srcN) is used to build modules for python.
|
||||
# PYTHON_WRITE_MODULES_HEADER(<filename>) writes a header file you can include
|
||||
# in your sources to initialize the static python modules
|
||||
function(PYTHON_ADD_MODULE _NAME )
|
||||
get_property(_TARGET_SUPPORTS_SHARED_LIBS
|
||||
GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
|
||||
option(PYTHON_ENABLE_MODULE_${_NAME} "Add module ${_NAME}" TRUE)
|
||||
option(PYTHON_MODULE_${_NAME}_BUILD_SHARED
|
||||
"Add module ${_NAME} shared" ${_TARGET_SUPPORTS_SHARED_LIBS})
|
||||
|
||||
# Mark these options as advanced
|
||||
mark_as_advanced(PYTHON_ENABLE_MODULE_${_NAME}
|
||||
PYTHON_MODULE_${_NAME}_BUILD_SHARED)
|
||||
|
||||
if(PYTHON_ENABLE_MODULE_${_NAME})
|
||||
if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
|
||||
set(PY_MODULE_TYPE MODULE)
|
||||
else()
|
||||
set(PY_MODULE_TYPE STATIC)
|
||||
set_property(GLOBAL APPEND PROPERTY PY_STATIC_MODULES_LIST ${_NAME})
|
||||
endif()
|
||||
|
||||
set_property(GLOBAL APPEND PROPERTY PY_MODULES_LIST ${_NAME})
|
||||
add_library(${_NAME} ${PY_MODULE_TYPE} ${ARGN})
|
||||
# target_link_libraries(${_NAME} ${PYTHON_LIBRARIES})
|
||||
|
||||
if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
|
||||
set_target_properties(${_NAME} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}")
|
||||
if(WIN32 AND NOT CYGWIN)
|
||||
set_target_properties(${_NAME} PROPERTIES SUFFIX ".pyd")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
function(PYTHON_WRITE_MODULES_HEADER _filename)
|
||||
|
||||
get_property(PY_STATIC_MODULES_LIST GLOBAL PROPERTY PY_STATIC_MODULES_LIST)
|
||||
|
||||
get_filename_component(_name "${_filename}" NAME)
|
||||
string(REPLACE "." "_" _name "${_name}")
|
||||
string(TOUPPER ${_name} _nameUpper)
|
||||
set(_filename ${CMAKE_CURRENT_BINARY_DIR}/${_filename})
|
||||
|
||||
set(_filenameTmp "${_filename}.in")
|
||||
file(WRITE ${_filenameTmp} "/*Created by cmake, do not edit, changes will be lost*/\n")
|
||||
file(APPEND ${_filenameTmp}
|
||||
"#ifndef ${_nameUpper}
|
||||
#define ${_nameUpper}
|
||||
|
||||
#include <Python.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern \"C\" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
")
|
||||
|
||||
foreach(_currentModule ${PY_STATIC_MODULES_LIST})
|
||||
file(APPEND ${_filenameTmp} "extern void init${PYTHON_MODULE_PREFIX}${_currentModule}(void);\n\n")
|
||||
endforeach()
|
||||
|
||||
file(APPEND ${_filenameTmp}
|
||||
"#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
")
|
||||
|
||||
|
||||
foreach(_currentModule ${PY_STATIC_MODULES_LIST})
|
||||
file(APPEND ${_filenameTmp} "int ${_name}_${_currentModule}(void) \n{\n static char name[]=\"${PYTHON_MODULE_PREFIX}${_currentModule}\"; return PyImport_AppendInittab(name, init${PYTHON_MODULE_PREFIX}${_currentModule});\n}\n\n")
|
||||
endforeach()
|
||||
|
||||
file(APPEND ${_filenameTmp} "void ${_name}_LoadAllPythonModules(void)\n{\n")
|
||||
foreach(_currentModule ${PY_STATIC_MODULES_LIST})
|
||||
file(APPEND ${_filenameTmp} " ${_name}_${_currentModule}();\n")
|
||||
endforeach()
|
||||
file(APPEND ${_filenameTmp} "}\n\n")
|
||||
file(APPEND ${_filenameTmp} "#ifndef EXCLUDE_LOAD_ALL_FUNCTION\nvoid CMakeLoadAllPythonModules(void)\n{\n ${_name}_LoadAllPythonModules();\n}\n#endif\n\n#endif\n")
|
||||
|
||||
# with configure_file() cmake complains that you may not use a file created using file(WRITE) as input file for configure_file()
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different "${_filenameTmp}" "${_filename}" OUTPUT_QUIET ERROR_QUIET)
|
||||
|
||||
endfunction()
|
||||
70
build3/cmake/SelectLibraryConfigurations.cmake
Normal file
70
build3/cmake/SelectLibraryConfigurations.cmake
Normal file
@@ -0,0 +1,70 @@
|
||||
# Distributed under the OSI-approved BSD 3-Clause License. See accompanying
|
||||
# file Copyright.txt or https://cmake.org/licensing for details.
|
||||
|
||||
#.rst:
|
||||
# SelectLibraryConfigurations
|
||||
# ---------------------------
|
||||
#
|
||||
#
|
||||
#
|
||||
# select_library_configurations( basename )
|
||||
#
|
||||
# This macro takes a library base name as an argument, and will choose
|
||||
# good values for basename_LIBRARY, basename_LIBRARIES,
|
||||
# basename_LIBRARY_DEBUG, and basename_LIBRARY_RELEASE depending on what
|
||||
# has been found and set. If only basename_LIBRARY_RELEASE is defined,
|
||||
# basename_LIBRARY will be set to the release value, and
|
||||
# basename_LIBRARY_DEBUG will be set to basename_LIBRARY_DEBUG-NOTFOUND.
|
||||
# If only basename_LIBRARY_DEBUG is defined, then basename_LIBRARY will
|
||||
# take the debug value, and basename_LIBRARY_RELEASE will be set to
|
||||
# basename_LIBRARY_RELEASE-NOTFOUND.
|
||||
#
|
||||
# If the generator supports configuration types, then basename_LIBRARY
|
||||
# and basename_LIBRARIES will be set with debug and optimized flags
|
||||
# specifying the library to be used for the given configuration. If no
|
||||
# build type has been set or the generator in use does not support
|
||||
# configuration types, then basename_LIBRARY and basename_LIBRARIES will
|
||||
# take only the release value, or the debug value if the release one is
|
||||
# not set.
|
||||
|
||||
# This macro was adapted from the FindQt4 CMake module and is maintained by Will
|
||||
# Dicharry <wdicharry@stellarscience.com>.
|
||||
|
||||
macro( select_library_configurations basename )
|
||||
if(NOT ${basename}_LIBRARY_RELEASE)
|
||||
set(${basename}_LIBRARY_RELEASE "${basename}_LIBRARY_RELEASE-NOTFOUND" CACHE FILEPATH "Path to a library.")
|
||||
endif()
|
||||
if(NOT ${basename}_LIBRARY_DEBUG)
|
||||
set(${basename}_LIBRARY_DEBUG "${basename}_LIBRARY_DEBUG-NOTFOUND" CACHE FILEPATH "Path to a library.")
|
||||
endif()
|
||||
|
||||
if( ${basename}_LIBRARY_DEBUG AND ${basename}_LIBRARY_RELEASE AND
|
||||
NOT ${basename}_LIBRARY_DEBUG STREQUAL ${basename}_LIBRARY_RELEASE AND
|
||||
( CMAKE_CONFIGURATION_TYPES OR CMAKE_BUILD_TYPE ) )
|
||||
# if the generator supports configuration types or CMAKE_BUILD_TYPE
|
||||
# is set, then set optimized and debug options.
|
||||
set( ${basename}_LIBRARY "" )
|
||||
foreach( _libname IN LISTS ${basename}_LIBRARY_RELEASE )
|
||||
list( APPEND ${basename}_LIBRARY optimized "${_libname}" )
|
||||
endforeach()
|
||||
foreach( _libname IN LISTS ${basename}_LIBRARY_DEBUG )
|
||||
list( APPEND ${basename}_LIBRARY debug "${_libname}" )
|
||||
endforeach()
|
||||
elseif( ${basename}_LIBRARY_RELEASE )
|
||||
set( ${basename}_LIBRARY ${${basename}_LIBRARY_RELEASE} )
|
||||
elseif( ${basename}_LIBRARY_DEBUG )
|
||||
set( ${basename}_LIBRARY ${${basename}_LIBRARY_DEBUG} )
|
||||
else()
|
||||
set( ${basename}_LIBRARY "${basename}_LIBRARY-NOTFOUND")
|
||||
endif()
|
||||
|
||||
set( ${basename}_LIBRARIES "${${basename}_LIBRARY}" )
|
||||
|
||||
if( ${basename}_LIBRARY )
|
||||
set( ${basename}_FOUND TRUE )
|
||||
endif()
|
||||
|
||||
mark_as_advanced( ${basename}_LIBRARY_RELEASE
|
||||
${basename}_LIBRARY_DEBUG
|
||||
)
|
||||
endmacro()
|
||||
32
data/block.urdf
Normal file
32
data/block.urdf
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="block_2">
|
||||
<link name="block_2_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.02"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
<material name="blockmat">
|
||||
<color rgba="0.1 0.7 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
BIN
data/block_grasp_log.bin
Normal file
BIN
data/block_grasp_log.bin
Normal file
Binary file not shown.
760
data/kuka_iiwa/kuka_with_gripper.sdf
Normal file
760
data/kuka_iiwa/kuka_with_gripper.sdf
Normal file
@@ -0,0 +1,760 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
|
||||
It has been produced from the varients in //third_party/robotics/models.
|
||||
Note: This file is temporary, and should be deleted once Bullet supports
|
||||
importing models in SDF. Also, this file has been specialized for Bullet,
|
||||
because the mass of the base link has been set to 0, as needed by Bullet.
|
||||
Note: All of the gripper link poses have been adjusted in the z direction
|
||||
to achieve a reasonable position of the gripper relative to the arm.
|
||||
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa_with_wsg50'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>/meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.5 0.5 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.5 0.5 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J0' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J1' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J2' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J3' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J4' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J5' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J6' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<!-- Attach the base of the gripper to the end of the arm -->
|
||||
<joint name='gripper_to_arm' type='fixed'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 1.305 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='base_link_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_left_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.4</lower>
|
||||
<upper>0.01</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='left_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_base_tip_joint' type='revolute'>
|
||||
<parent>left_finger_base</parent>
|
||||
<child>left_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.1</lower>
|
||||
<upper>0.3</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>1.0</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_tip_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='left_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='base_right_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.4</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='right_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_base_tip_joint' type='revolute'>
|
||||
<parent>right_finger_base</parent>
|
||||
<child>right_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.3</lower>
|
||||
<upper>0.1</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>1.0</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='right_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
BIN
data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
Binary file not shown.
30
data/tray/tray.urdf
Executable file
30
data/tray/tray.urdf
Executable file
@@ -0,0 +1,30 @@
|
||||
<robot name="tray">
|
||||
<link name="tray_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="0.5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
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|
||||
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|
||||
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|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
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|
||||
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|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="tray_material">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
13
data/tray/tray_textured4.mtl
Executable file
13
data/tray/tray_textured4.mtl
Executable file
@@ -0,0 +1,13 @@
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||||
# Blender MTL File: 'None'
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# Material Count: 1
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newmtl None
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Ni 1.000000
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d 1.000000
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illum 2
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||||
#map_Kd tray.jpg
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||||
256
data/tray/tray_textured4.obj
Executable file
256
data/tray/tray_textured4.obj
Executable file
@@ -0,0 +1,256 @@
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||||
# Blender v2.77 (sub 0) OBJ File: ''
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# www.blender.org
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||||
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||||
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||||
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||||
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vt 0.9174 0.2393
|
||||
vt 0.9537 0.7559
|
||||
vt 0.7801 0.2438
|
||||
vt 0.9664 0.7554
|
||||
vt 0.8291 0.7599
|
||||
vt 0.8419 0.7595
|
||||
vn 0.2565 0.8821 -0.3950
|
||||
vn 0.8392 0.0002 0.5438
|
||||
vn 0.8395 0.0000 0.5433
|
||||
vn 0.8396 -0.0000 0.5432
|
||||
vn 0.2568 -0.8819 -0.3954
|
||||
vn -0.8396 -0.0002 -0.5433
|
||||
vn -0.8392 -0.0000 -0.5438
|
||||
vn -0.8391 0.0000 -0.5439
|
||||
vn 0.5446 -0.0005 -0.8387
|
||||
vn -0.5446 -0.0000 0.8387
|
||||
vn 0.8391 0.0003 0.5440
|
||||
vn -0.8397 -0.0003 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 25/25/32 26/26/32 27/27/32
|
||||
f 28/28/33 29/29/34 25/25/35
|
||||
f 30/30/36 31/31/36 28/28/36
|
||||
f 27/27/37 32/32/38 30/30/39
|
||||
f 29/29/40 32/32/40 26/26/40
|
||||
f 28/28/41 27/27/41 30/30/41
|
||||
f 25/25/32 29/29/32 26/26/32
|
||||
f 28/28/33 31/31/42 29/29/34
|
||||
f 30/30/36 32/32/36 31/31/36
|
||||
f 27/27/37 26/26/43 32/32/38
|
||||
f 29/29/40 31/31/40 32/32/40
|
||||
f 28/28/41 25/25/41 27/27/41
|
||||
o edge_5_Cube.005
|
||||
v -0.326052 0.623641 0.266072
|
||||
v -0.174054 0.457147 -0.007058
|
||||
v -0.343442 0.623641 0.254779
|
||||
v -0.326052 -0.578931 0.266072
|
||||
v -0.156664 0.457147 0.004235
|
||||
v -0.343442 -0.578931 0.254779
|
||||
v -0.156664 -0.412938 0.005326
|
||||
v -0.174054 -0.412938 -0.005967
|
||||
vt 0.0506 0.8517
|
||||
vt 0.1935 0.8492
|
||||
vt 0.0342 0.8520
|
||||
vt 0.0164 0.1914
|
||||
vt 0.2099 0.8489
|
||||
vt 0.0001 0.1917
|
||||
vt 0.1757 0.1886
|
||||
vt 0.1594 0.1889
|
||||
vn 0.2565 0.8821 -0.3950
|
||||
vn 0.8387 0.0005 0.5446
|
||||
vn 0.8394 0.0001 0.5434
|
||||
vn 0.8396 -0.0000 0.5432
|
||||
vn 0.2565 -0.8822 -0.3950
|
||||
vn -0.8395 -0.0005 -0.5434
|
||||
vn -0.8388 -0.0001 -0.5445
|
||||
vn -0.8386 0.0000 -0.5448
|
||||
vn 0.5446 -0.0011 -0.8387
|
||||
vn -0.5446 -0.0000 0.8387
|
||||
vn 0.8384 0.0007 0.5451
|
||||
vn -0.8398 -0.0007 -0.5429
|
||||
usemtl None
|
||||
s 1
|
||||
f 33/33/44 34/34/44 35/35/44
|
||||
f 36/36/45 37/37/46 33/33/47
|
||||
f 38/38/48 39/39/48 36/36/48
|
||||
f 35/35/49 40/40/50 38/38/51
|
||||
f 37/37/52 40/40/52 34/34/52
|
||||
f 36/36/53 35/35/53 38/38/53
|
||||
f 33/33/44 37/37/44 34/34/44
|
||||
f 36/36/45 39/39/54 37/37/46
|
||||
f 38/38/48 40/40/48 39/39/48
|
||||
f 35/35/49 34/34/55 40/40/50
|
||||
f 37/37/52 39/39/52 40/40/52
|
||||
f 36/36/53 33/33/53 35/35/53
|
||||
o edge_1_Cube.003
|
||||
v 0.580000 0.640851 0.250354
|
||||
v -0.419960 0.477459 -0.001860
|
||||
v -0.580000 0.640851 0.250354
|
||||
v 0.580000 0.624077 0.261247
|
||||
v 0.420014 0.477459 -0.001059
|
||||
v -0.580000 0.624077 0.261247
|
||||
v 0.420014 0.460685 0.009834
|
||||
v -0.419960 0.460685 0.009033
|
||||
vt 0.8346 0.9187
|
||||
vt 0.2203 0.8574
|
||||
vt 0.1480 0.9187
|
||||
vt 0.8346 0.9129
|
||||
vt 0.7623 0.8574
|
||||
vt 0.1480 0.9129
|
||||
vt 0.7623 0.8511
|
||||
vt 0.2203 0.8511
|
||||
vn 0.0004 0.8386 -0.5448
|
||||
vn 0.0001 0.8391 -0.5439
|
||||
vn 0.0000 0.8393 -0.5437
|
||||
vn 0.8823 -0.2564 -0.3948
|
||||
vn -0.0004 -0.8392 0.5439
|
||||
vn -0.0001 -0.8386 0.5447
|
||||
vn 0.0000 -0.8385 0.5449
|
||||
vn -0.8826 -0.2560 -0.3942
|
||||
vn 0.0008 -0.5446 -0.8387
|
||||
vn 0.0000 0.5446 0.8387
|
||||
vn 0.0005 0.8383 -0.5452
|
||||
vn -0.0005 -0.8394 0.5435
|
||||
usemtl None
|
||||
s 1
|
||||
f 41/41/56 42/42/57 43/43/58
|
||||
f 44/44/59 45/45/59 41/41/59
|
||||
f 46/46/60 47/47/61 44/44/62
|
||||
f 43/43/63 48/48/63 46/46/63
|
||||
f 45/45/64 48/48/64 42/42/64
|
||||
f 44/44/65 43/43/65 46/46/65
|
||||
f 41/41/56 45/45/66 42/42/57
|
||||
f 44/44/59 47/47/59 45/45/59
|
||||
f 46/46/60 48/48/67 47/47/61
|
||||
f 43/43/63 42/42/63 48/48/63
|
||||
f 45/45/64 47/47/64 48/48/64
|
||||
f 44/44/65 41/41/65 43/43/65
|
||||
91
examples/pybullet/examples/kuka_grasp_block_playback.py
Normal file
91
examples/pybullet/examples/kuka_grasp_block_playback.py
Normal file
@@ -0,0 +1,91 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
import math
|
||||
from datetime import datetime
|
||||
from numpy import *
|
||||
from pylab import *
|
||||
import struct
|
||||
import sys
|
||||
import os, fnmatch
|
||||
import argparse
|
||||
from time import sleep
|
||||
|
||||
def readLogFile(filename, verbose = True):
|
||||
f = open(filename, 'rb')
|
||||
|
||||
print('Opened'),
|
||||
print(filename)
|
||||
|
||||
keys = f.readline().decode('utf8').rstrip('\n').split(',')
|
||||
fmt = f.readline().decode('utf8').rstrip('\n')
|
||||
|
||||
# The byte number of one record
|
||||
sz = struct.calcsize(fmt)
|
||||
# The type number of one record
|
||||
ncols = len(fmt)
|
||||
|
||||
if verbose:
|
||||
print('Keys:'),
|
||||
print(keys)
|
||||
print('Format:'),
|
||||
print(fmt)
|
||||
print('Size:'),
|
||||
print(sz)
|
||||
print('Columns:'),
|
||||
print(ncols)
|
||||
|
||||
# Read data
|
||||
wholeFile = f.read()
|
||||
# split by alignment word
|
||||
chunks = wholeFile.split(b'\xaa\xbb')
|
||||
log = list()
|
||||
for chunk in chunks:
|
||||
if len(chunk) == sz:
|
||||
values = struct.unpack(fmt, chunk)
|
||||
record = list()
|
||||
for i in range(ncols):
|
||||
record.append(values[i])
|
||||
log.append(record)
|
||||
|
||||
return log
|
||||
|
||||
#clid = p.connect(p.SHARED_MEMORY)
|
||||
p.connect(p.GUI)
|
||||
p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf")
|
||||
p.loadURDF("tray/tray.urdf",[0,0,0])
|
||||
p.loadURDF("block.urdf",[0,0,2])
|
||||
|
||||
log = readLogFile("data/block_grasp_log.bin")
|
||||
|
||||
recordNum = len(log)
|
||||
itemNum = len(log[0])
|
||||
objectNum = p.getNumBodies()
|
||||
|
||||
print('record num:'),
|
||||
print(recordNum)
|
||||
print('item num:'),
|
||||
print(itemNum)
|
||||
|
||||
def Step(stepIndex):
|
||||
for objectId in range(objectNum):
|
||||
record = log[stepIndex*objectNum+objectId]
|
||||
Id = record[2]
|
||||
pos = [record[3],record[4],record[5]]
|
||||
orn = [record[6],record[7],record[8],record[9]]
|
||||
p.resetBasePositionAndOrientation(Id,pos,orn)
|
||||
numJoints = p.getNumJoints(Id)
|
||||
for i in range (numJoints):
|
||||
jointInfo = p.getJointInfo(Id,i)
|
||||
qIndex = jointInfo[3]
|
||||
if qIndex > -1:
|
||||
p.resetJointState(Id,i,record[qIndex-7+17])
|
||||
|
||||
|
||||
stepIndexId = p.addUserDebugParameter("stepIndex",0,recordNum/objectNum-1,0)
|
||||
|
||||
while True:
|
||||
stepIndex = int(p.readUserDebugParameter(stepIndexId))
|
||||
Step(stepIndex)
|
||||
p.stepSimulation()
|
||||
Step(stepIndex)
|
||||
|
||||
@@ -6,15 +6,15 @@ p.connect(p.GUI)
|
||||
planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
|
||||
p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
|
||||
cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
|
||||
p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
|
||||
#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
|
||||
#p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=0.1)
|
||||
p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=100.0)
|
||||
p.setGravity(0,0,-10)
|
||||
p.setRealTimeSimulation(0)
|
||||
t=0
|
||||
while 1:
|
||||
t=t+1
|
||||
if t > 400:
|
||||
p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
|
||||
p.changeDynamics(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
|
||||
mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
|
||||
mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
|
||||
print mass1,frictionCoeff1
|
||||
|
||||
21
examples/pybullet/gym/agents/actor_net.py
Normal file
21
examples/pybullet/gym/agents/actor_net.py
Normal file
@@ -0,0 +1,21 @@
|
||||
"""An actor network."""
|
||||
import tensorflow as tf
|
||||
import sonnet as snt
|
||||
|
||||
class ActorNetwork(snt.AbstractModule):
|
||||
"""An actor network as a sonnet Module."""
|
||||
|
||||
def __init__(self, layer_sizes, action_size, name='target_actor'):
|
||||
super(ActorNetwork, self).__init__(name=name)
|
||||
self._layer_sizes = layer_sizes
|
||||
self._action_size = action_size
|
||||
|
||||
def _build(self, inputs):
|
||||
state = inputs
|
||||
for output_size in self._layer_sizes:
|
||||
state = snt.Linear(output_size)(state)
|
||||
state = tf.nn.relu(state)
|
||||
|
||||
action = tf.tanh(
|
||||
snt.Linear(self._action_size, name='action')(state))
|
||||
return action
|
||||
@@ -10,11 +10,12 @@ import numpy as np
|
||||
import tensorflow as tf
|
||||
import pdb
|
||||
|
||||
class SimplerAgent():
|
||||
class SimpleAgent():
|
||||
def __init__(
|
||||
self,
|
||||
session,
|
||||
ckpt_path,
|
||||
actor_layer_size,
|
||||
observation_dim=31
|
||||
):
|
||||
self._ckpt_path = ckpt_path
|
||||
46
examples/pybullet/gym/agents/simpleAgentWithSonnet.py
Normal file
46
examples/pybullet/gym/agents/simpleAgentWithSonnet.py
Normal file
@@ -0,0 +1,46 @@
|
||||
"""Loads a DDPG agent without too much external dependencies
|
||||
"""
|
||||
from __future__ import absolute_import
|
||||
from __future__ import division
|
||||
from __future__ import print_function
|
||||
|
||||
import os
|
||||
import collections
|
||||
import numpy as np
|
||||
import tensorflow as tf
|
||||
|
||||
import sonnet as snt
|
||||
from agents import actor_net
|
||||
|
||||
class SimpleAgent():
|
||||
def __init__(
|
||||
self,
|
||||
session,
|
||||
ckpt_path,
|
||||
actor_layer_size,
|
||||
observation_size=(31,),
|
||||
action_size=8,
|
||||
):
|
||||
self._ckpt_path = ckpt_path
|
||||
self._actor_layer_size = actor_layer_size
|
||||
self._observation_size = observation_size
|
||||
self._action_size = action_size
|
||||
self._session = session
|
||||
self._build()
|
||||
|
||||
def _build(self):
|
||||
self._agent_net = actor_net.ActorNetwork(self._actor_layer_size, self._action_size)
|
||||
self._obs = tf.placeholder(tf.float32, (31,))
|
||||
with tf.name_scope('Act'):
|
||||
batch_obs = snt.nest.pack_iterable_as(self._obs,
|
||||
snt.nest.map(lambda x: tf.expand_dims(x, 0),
|
||||
snt.nest.flatten_iterable(self._obs)))
|
||||
self._action = self._agent_net(batch_obs)
|
||||
saver = tf.train.Saver()
|
||||
saver.restore(
|
||||
sess=self._session,
|
||||
save_path=self._ckpt_path)
|
||||
|
||||
def __call__(self, observation):
|
||||
out_action = self._session.run(self._action, feed_dict={self._obs: observation})
|
||||
return out_action[0]
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -10,8 +10,15 @@ import numpy as np
|
||||
import tensorflow as tf
|
||||
|
||||
from envs.bullet.minitaurGymEnv import MinitaurGymEnv
|
||||
from agents import simplerAgent
|
||||
|
||||
try:
|
||||
import sonnet
|
||||
from agents import simpleAgentWithSonnet as agent_lib
|
||||
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
|
||||
except ImportError:
|
||||
from agents import simpleAgent as agent_lib
|
||||
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data.ckpt'
|
||||
|
||||
def testSinePolicy():
|
||||
"""Tests sine policy
|
||||
"""
|
||||
@@ -53,14 +60,14 @@ def testDDPGPolicy():
|
||||
environment = MinitaurGymEnv(render=True)
|
||||
sum_reward = 0
|
||||
steps = 1000
|
||||
ckpt_path = 'data/agent/tf_graph_data/tf_graph_data_converted.ckpt-0'
|
||||
|
||||
observation_shape = (31,)
|
||||
action_size = 8
|
||||
actor_layer_sizes = (100, 181)
|
||||
actor_layer_size = (100, 181)
|
||||
n_steps = 0
|
||||
tf.reset_default_graph()
|
||||
with tf.Session() as session:
|
||||
agent = simplerAgent.SimplerAgent(session, ckpt_path)
|
||||
agent = agent_lib.SimpleAgent(session=session, ckpt_path=ckpt_path, actor_layer_size=actor_layer_size)
|
||||
state = environment.reset()
|
||||
action = agent(state)
|
||||
for _ in range(steps):
|
||||
|
||||
Reference in New Issue
Block a user