refactor pybullet/gym to allow instantiating environments directly from a pybullet install:
work-in-progress (need to add missing data files, fix paths etc)
example:
pip install pybullet
pip install gym
python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
This commit is contained in:
Erwin Coumans
29
examples/pybullet/gym/pybullet_envs/data/block.urdf
Normal file
29
examples/pybullet/gym/pybullet_envs/data/block.urdf
Normal file
@@ -0,0 +1,29 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="block_2">
|
||||
<link name="block_2_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value=".001"/>
|
||||
</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>
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||||
74
examples/pybullet/gym/pybullet_envs/data/cartpole.urdf
Normal file
74
examples/pybullet/gym/pybullet_envs/data/cartpole.urdf
Normal file
@@ -0,0 +1,74 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="physics">
|
||||
|
||||
<link name="slideBar">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="30 0.05 0.05"/>
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||||
</geometry>
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||||
<origin xyz="0 0 0"/>
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<material name="green">
|
||||
<color rgba="0 0.8 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
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</inertial>
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</link>
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<link name="cart">
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<visual>
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<geometry>
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<box size="0.5 0.5 0.2"/>
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||||
</geometry>
|
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<origin xyz="0 0 0"/>
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<material name="blue">
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||||
<color rgba="0 0 .8 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.5 0.5 0.2"/>
|
||||
</geometry>
|
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<origin xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
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||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
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||||
</link>
|
||||
|
||||
<joint name="slider_to_cart" type="prismatic">
|
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<axis xyz="1 0 0"/>
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<parent link="slideBar"/>
|
||||
<child link="cart"/>
|
||||
<limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
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</joint>
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|
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<link name="pole">
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<visual>
|
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<geometry>
|
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<box size="0.05 0.05 1.0"/>
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||||
</geometry>
|
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<origin rpy="0 0 0" xyz="0 0 0.5"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.5"/>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="cart_to_pole" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="0.0 0.0 0"/>
|
||||
<parent link="cart"/>
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<child link="pole"/>
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||||
</joint>
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||||
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</robot>
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BIN
examples/pybullet/gym/pybullet_envs/data/checker_blue.png
Normal file
BIN
examples/pybullet/gym/pybullet_envs/data/checker_blue.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 6.2 KiB |
@@ -0,0 +1,802 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
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||||
It has been produced from the varients in //third_party/robotics/models.
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Note: This file is temporary, and should be deleted once Bullet supports
|
||||
importing models in SDF. Also, this file has been specialized for Bullet,
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||||
because the mass of the base link has been set to 0, as needed by Bullet.
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||||
Note: All of the gripper link poses have been adjusted in the z direction
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||||
to achieve a reasonable position of the gripper relative to the arm.
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||||
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
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||||
<sdf version='1.6'>
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||||
<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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
<specular>0.4 0.4 0.4 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.4</lower>
|
||||
<upper>10.01</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.1</lower>
|
||||
<upper>10.3</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.01</lower>
|
||||
<upper>10.4</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.3</lower>
|
||||
<upper>10.1</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>
|
||||
@@ -0,0 +1,857 @@
|
||||
<?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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
<specular>0.4 0.4 0.4 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 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>1.3</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.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 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='continuous'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</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>0.2</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='base_link_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</collision>
|
||||
</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>-10.4</lower>
|
||||
<upper>10.01</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>0.2</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_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_collision'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.1</lower>
|
||||
<upper>10.3</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</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.01</lower>
|
||||
<upper>10.4</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'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.2</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 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_collision'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>-10.3</lower>
|
||||
<upper>10.1</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</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>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</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>
|
||||
@@ -0,0 +1,414 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<joint name='fix_to_world' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>lbr_iiwa_link_0</child>
|
||||
</joint>
|
||||
<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>0.01</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/coarse/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>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
Binary file not shown.
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
BIN
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
6055
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.obj
Normal file
6055
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_0.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
5576
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.obj
Normal file
5576
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_1.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
2948
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.obj
Normal file
2948
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_2.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3924
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.obj
Normal file
3924
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_3.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3168
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj
Normal file
3168
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_4.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
2732
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.obj
Normal file
2732
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_5.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
2328
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.obj
Normal file
2328
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_6.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3155
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.obj
Normal file
3155
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/meshes/link_7.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
459
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model.sdf
Normal file
459
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model.sdf
Normal file
@@ -0,0 +1,459 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<pose frame=''>0 -2.3 0.7 0 0 0</pose>
|
||||
<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>0.2 0.2 0.2 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 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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>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='lbr_iiwa_joint_3' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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='lbr_iiwa_joint_6' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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>0.2 0.2 0.2 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
289
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model.urdf
Normal file
289
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model.urdf
Normal file
@@ -0,0 +1,289 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
818
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model2.sdf
Normal file
818
examples/pybullet/gym/pybullet_envs/data/kuka_iiwa/model2.sdf
Normal file
@@ -0,0 +1,818 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<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/coarse/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>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
|
||||
<model name='lbr_iiwa'>
|
||||
<pose frame=''>2 2 0 0 -0 0</pose>
|
||||
<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/coarse/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>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</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/coarse/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>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' 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>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,285 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,289 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,289 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. Redistributions in binary form must reproduce the above copyright -->
|
||||
<!-- notice, this list of conditions and the following disclaimer in the -->
|
||||
<!-- documentation and/or other materials provided with the distribution. -->
|
||||
<!-- -->
|
||||
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
|
||||
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
|
||||
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
|
||||
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
|
||||
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
|
||||
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
|
||||
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
|
||||
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
|
||||
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
|
||||
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
|
||||
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-.96705972839" upper="0.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="0.19439510239" upper="2.29439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
71
examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml
Normal file
71
examples/pybullet/gym/pybullet_envs/data/mjcf/ant.xml
Normal file
@@ -0,0 +1,71 @@
|
||||
<mujoco model="ant">
|
||||
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
||||
<option integrator="RK4" timestep="0.01"/>
|
||||
<custom>
|
||||
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
|
||||
</custom>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
|
||||
</default>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 0.75">
|
||||
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
|
||||
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
|
||||
<body name="front_left_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body name="aux_1" pos="0.2 0.2 0">
|
||||
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body pos="0.2 0.2 0" name="front_left_foot">
|
||||
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="front_right_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
|
||||
<body name="aux_2" pos="-0.2 0.2 0">
|
||||
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
|
||||
<body pos="-0.2 0.2 0" name="front_right_foot">
|
||||
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_back_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
|
||||
<body name="aux_3" pos="-0.2 -0.2 0">
|
||||
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
|
||||
<body pos="-0.2 -0.2 0" name="left_back_foot">
|
||||
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_back_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body name="aux_4" pos="0.2 -0.2 0">
|
||||
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body pos="0.2 -0.2 0" name="right_back_foot">
|
||||
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
13
examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml
Normal file
13
examples/pybullet/gym/pybullet_envs/data/mjcf/capsule.xml
Normal file
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom name="aux_1_geom" size="0.05 0.1" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
13
examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml
Normal file
13
examples/pybullet/gym/pybullet_envs/data/mjcf/cylinder.xml
Normal file
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom name="aux_1_geom" size="0.05 0.1" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
57
examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml
Normal file
57
examples/pybullet/gym/pybullet_envs/data/mjcf/ground.xml
Normal file
@@ -0,0 +1,57 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<!-- light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/-->
|
||||
<geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
|
||||
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,5 @@
|
||||
<mujoco model="ground_plane">
|
||||
<worldbody>
|
||||
<geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,88 @@
|
||||
<!-- Cheetah Model
|
||||
|
||||
The state space is populated with joints in the order that they are
|
||||
defined in this file. The actuators also operate on joints.
|
||||
|
||||
State-Space (name/joint/parameter):
|
||||
- rootx slider position (m)
|
||||
- rootz slider position (m)
|
||||
- rooty hinge angle (rad)
|
||||
- bthigh hinge angle (rad)
|
||||
- bshin hinge angle (rad)
|
||||
- bfoot hinge angle (rad)
|
||||
- fthigh hinge angle (rad)
|
||||
- fshin hinge angle (rad)
|
||||
- ffoot hinge angle (rad)
|
||||
- rootx slider velocity (m/s)
|
||||
- rootz slider velocity (m/s)
|
||||
- rooty hinge angular velocity (rad/s)
|
||||
- bthigh hinge angular velocity (rad/s)
|
||||
- bshin hinge angular velocity (rad/s)
|
||||
- bfoot hinge angular velocity (rad/s)
|
||||
- fthigh hinge angular velocity (rad/s)
|
||||
- fshin hinge angular velocity (rad/s)
|
||||
- ffoot hinge angular velocity (rad/s)
|
||||
|
||||
Actuators (name/actuator/parameter):
|
||||
- bthigh hinge torque (N m)
|
||||
- bshin hinge torque (N m)
|
||||
- bfoot hinge torque (N m)
|
||||
- fthigh hinge torque (N m)
|
||||
- fshin hinge torque (N m)
|
||||
- ffoot hinge torque (N m)
|
||||
|
||||
-->
|
||||
<mujoco model="cheetah">
|
||||
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
|
||||
<default>
|
||||
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
|
||||
<geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1"/>
|
||||
</default>
|
||||
<size nstack="300000" nuser_geom="1"/>
|
||||
<option gravity="0 0 -9.81" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 .7">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
|
||||
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
|
||||
<!-- <site name='tip' pos='.15 0 .11'/>-->
|
||||
<body name="bthigh" pos="-.5 0 0">
|
||||
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
|
||||
<body name="bshin" pos=".16 0 -.25">
|
||||
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
|
||||
<body name="bfoot" pos="-.28 0 -.14">
|
||||
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
|
||||
<inertial mass="10"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="fthigh" pos=".5 0 0">
|
||||
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
|
||||
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
|
||||
<body name="fshin" pos="-.14 0 -.24">
|
||||
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
|
||||
<body name="ffoot" pos=".13 0 -.18">
|
||||
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
|
||||
<inertial mass="10"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor gear="120" joint="bthigh" name="bthigh"/>
|
||||
<motor gear="90" joint="bshin" name="bshin"/>
|
||||
<motor gear="60" joint="bfoot" name="bfoot"/>
|
||||
<motor gear="120" joint="fthigh" name="fthigh"/>
|
||||
<motor gear="60" joint="fshin" name="fshin"/>
|
||||
<motor gear="30" joint="ffoot" name="ffoot"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
13
examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml
Normal file
13
examples/pybullet/gym/pybullet_envs/data/mjcf/hello_mjcf.xml
Normal file
@@ -0,0 +1,13 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
39
examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml
Normal file
39
examples/pybullet/gym/pybullet_envs/data/mjcf/hopper.xml
Normal file
@@ -0,0 +1,39 @@
|
||||
<mujoco model="hopper">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" timestep="0.002"/>
|
||||
<worldbody>
|
||||
<!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
|
||||
Interpretation of body pos="" depends on coordinate="global" above.
|
||||
Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
|
||||
After this change, Hopper still loads and works in MuJoCo simulator.
|
||||
-->
|
||||
<body name="torso">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
|
||||
<body name="thigh">
|
||||
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
|
||||
<body name="leg">
|
||||
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
|
||||
<body name="foot">
|
||||
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
130
examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml
Normal file
130
examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid.xml
Normal file
@@ -0,0 +1,130 @@
|
||||
<mujoco model='humanoid'>
|
||||
<compiler inertiafromgeom='true' angle='degree'/>
|
||||
|
||||
<default>
|
||||
<joint limited='true' damping='1' armature='0' />
|
||||
<geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1'
|
||||
margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
|
||||
<motor ctrlrange='-.4 .4' ctrllimited='true'/>
|
||||
</default>
|
||||
|
||||
<option timestep='0.002' iterations="50" solver="PGS">
|
||||
<flag energy="enable"/>
|
||||
</option>
|
||||
|
||||
<visual>
|
||||
<map fogstart="3" fogend="5" force="0.1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8"
|
||||
rgb2="0 0 0"/>
|
||||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
||||
width="100" height="100"/>
|
||||
|
||||
<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name='geom' texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
|
||||
|
||||
<body name='torso' pos='0 0 1.4'>
|
||||
<light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
|
||||
|
||||
|
||||
<geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0' size='0.07' />
|
||||
<geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
|
||||
<geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
|
||||
<body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
|
||||
<geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0' size='0.06' />
|
||||
<joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
|
||||
<joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
|
||||
<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
|
||||
<joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
|
||||
<geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0' size='0.09' />
|
||||
<body name='right_thigh' pos='0 -0.1 -0.04' >
|
||||
<joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-110 20' damping='5' stiffness='20' armature='0.0080' />
|
||||
<geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34' size='0.06' />
|
||||
<body name='right_shin' pos='0 0.01 -0.403' >
|
||||
<joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' armature='0.0060' />
|
||||
<geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='right_foot' pos='0 0 -.39' >
|
||||
<joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
|
||||
<geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_thigh' pos='0 0.1 -0.04' >
|
||||
<joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
|
||||
<geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34' size='0.06' />
|
||||
<body name='left_shin' pos='0 -0.01 -0.403' >
|
||||
<joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
|
||||
<geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='left_foot' pos='0 0 -.39' >
|
||||
<joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0' size='0.027' />
|
||||
<geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 -0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='right_upper_arm' pos='0 -0.17 0.06' >
|
||||
<joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1' range='-85 60' stiffness='1' armature='0.0068' />
|
||||
<joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1' armature='0.0051' />
|
||||
<geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16' size='0.04 0.16' />
|
||||
<body name='right_lower_arm' pos='.18 -.18 -.18' >
|
||||
<joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17' size='0.031' />
|
||||
<geom name='right_hand' type='sphere' pos='.18 .18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_upper_arm' pos='0 0.17 0.06' >
|
||||
<joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
|
||||
<joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85' stiffness='1' armature='0.0051' />
|
||||
<geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16' size='0.04 0.16' />
|
||||
<body name='left_lower_arm' pos='.18 .18 -.18' >
|
||||
<joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17' size='0.031' />
|
||||
<geom name='left_hand' type='sphere' pos='.18 -.18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name='abdomen_y' gear='200' joint='abdomen_y' />
|
||||
<motor name='abdomen_z' gear='200' joint='abdomen_z' />
|
||||
<motor name='abdomen_x' gear='200' joint='abdomen_x' />
|
||||
<motor name='right_hip_x' gear='200' joint='right_hip_x' />
|
||||
<motor name='right_hip_z' gear='200' joint='right_hip_z' />
|
||||
<motor name='right_hip_y' gear='600' joint='right_hip_y' />
|
||||
<motor name='right_knee' gear='400' joint='right_knee' />
|
||||
<motor name='right_ankle_x' gear='100' joint='right_ankle_x' />
|
||||
<motor name='right_ankle_y' gear='100' joint='right_ankle_y' />
|
||||
<motor name='left_hip_x' gear='200' joint='left_hip_x' />
|
||||
<motor name='left_hip_z' gear='200' joint='left_hip_z' />
|
||||
<motor name='left_hip_y' gear='600' joint='left_hip_y' />
|
||||
<motor name='left_knee' gear='400' joint='left_knee' />
|
||||
<motor name='left_ankle_x' gear='100' joint='left_ankle_x' />
|
||||
<motor name='left_ankle_y' gear='100' joint='left_ankle_y' />
|
||||
<motor name='right_shoulder1' gear='100' joint='right_shoulder1' />
|
||||
<motor name='right_shoulder2' gear='100' joint='right_shoulder2' />
|
||||
<motor name='right_elbow' gear='200' joint='right_elbow' />
|
||||
<motor name='left_shoulder1' gear='100' joint='left_shoulder1' />
|
||||
<motor name='left_shoulder2' gear='100' joint='left_shoulder2' />
|
||||
<motor name='left_elbow' gear='200' joint='left_elbow' />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
115
examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml
Normal file
115
examples/pybullet/gym/pybullet_envs/data/mjcf/humanoid_fixed.xml
Normal file
@@ -0,0 +1,115 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,107 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,115 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,47 @@
|
||||
<!-- Cartpole Model
|
||||
|
||||
The state space is populated with joints in the order that they are
|
||||
defined in this file. The actuators also operate on joints.
|
||||
|
||||
State-Space (name/joint/parameter):
|
||||
- cart slider position (m)
|
||||
- pole hinge angle (rad)
|
||||
- cart slider velocity (m/s)
|
||||
- pole hinge angular velocity (rad/s)
|
||||
|
||||
Actuators (name/actuator/parameter):
|
||||
- cart motor force x (N)
|
||||
|
||||
-->
|
||||
<mujoco model="cartpole">
|
||||
<compiler coordinate="local" inertiafromgeom="true"/>
|
||||
<custom>
|
||||
<numeric data="2" name="frame_skip"/>
|
||||
</custom>
|
||||
<default>
|
||||
<joint damping="0.05"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<size nstack="3000"/>
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
|
||||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||||
<body name="cart" pos="0 0 0">
|
||||
<joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||||
<body name="pole" pos="0 0 0">
|
||||
<joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||||
<body name="pole2" pos="0 0 0.6">
|
||||
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||||
<!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,27 @@
|
||||
<mujoco model="inverted pendulum">
|
||||
<compiler inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
<tendon/>
|
||||
<motor ctrlrange="-3 3"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
|
||||
<size nstack="3000"/>
|
||||
<worldbody>
|
||||
<!--geom name="ground" type="plane" pos="0 0 0" /-->
|
||||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||||
<body name="cart" pos="0 0 0">
|
||||
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||||
<body name="pole" pos="0 0 0">
|
||||
<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
|
||||
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor gear="100" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
90
examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml
Normal file
90
examples/pybullet/gym/pybullet_envs/data/mjcf/pusher.xml
Normal file
@@ -0,0 +1,90 @@
|
||||
<mujoco model="pusher">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<default>
|
||||
<joint armature='0.04' damping="0" limited="true"/>
|
||||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
<option timestep="0.01" gravity="0 0 0" integrator="RK4" />
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
|
||||
|
||||
<body name="wrist_flex_link" pos="0.321 0 0">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
<body name="fingertip" pos="0 0 0">
|
||||
<geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
|
||||
<geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
|
||||
</body>
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
|
||||
<geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0.45 -0.05 -0.275" >
|
||||
<geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
|
||||
<joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.45 -0.05 -0.3230">
|
||||
<geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
|
||||
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
39
examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml
Normal file
39
examples/pybullet/gym/pybullet_envs/data/mjcf/reacher.xml
Normal file
@@ -0,0 +1,39 @@
|
||||
<mujoco model="reacher">
|
||||
<compiler angle="radian" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<!-- Arena -->
|
||||
<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<!-- Arm -->
|
||||
<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
|
||||
<body name="body0" pos="0 0 .01">
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
|
||||
<body name="body1" pos="0.1 0 0">
|
||||
<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<body name="fingertip" pos="0.11 0 0">
|
||||
<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- Target -->
|
||||
<body name="target" pos="0 0 .01">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
|
||||
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
100
examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml
Normal file
100
examples/pybullet/gym/pybullet_envs/data/mjcf/striker.xml
Normal file
@@ -0,0 +1,100 @@
|
||||
<mujoco model="striker">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
|
||||
|
||||
<default>
|
||||
<joint armature='0.04' damping="0" limited="true"/>
|
||||
<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
|
||||
|
||||
<body name="wrist_flex_link" pos="0.321 0 0">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
<body name="fingertip" pos="0 0 0">
|
||||
<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1" />
|
||||
</body>
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0 0 -0.270" >
|
||||
<geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
|
||||
<joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
|
||||
<joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.0 0.0 -0.3230">
|
||||
<geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
|
||||
<body pos="0 0 0">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<body name="coaster" pos="0 0 0">
|
||||
<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 0.785">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 -0.785">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
38
examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml
Normal file
38
examples/pybullet/gym/pybullet_envs/data/mjcf/swimmer.xml
Normal file
@@ -0,0 +1,38 @@
|
||||
<mujoco model="swimmer">
|
||||
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
||||
<option collision="predefined" density="4000" integrator="RK4" timestep="0.01" viscosity="0.1"/>
|
||||
<default>
|
||||
<geom conaffinity="1" condim="1" contype="1" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<joint armature='0.1' />
|
||||
</default>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="30 30" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
|
||||
<geom conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 -0.1" rgba="0.8 0.9 0.8 1" size="40 40 0.1" type="plane"/>
|
||||
<!-- ================= SWIMMER ================= /-->
|
||||
<body name="torso" pos="0 0 0">
|
||||
<geom density="1000" fromto="1.5 0 0 0.5 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="1 0 0" name="slider1" pos="0 0 0" type="slide"/>
|
||||
<joint axis="0 1 0" name="slider2" pos="0 0 0" type="slide"/>
|
||||
<joint axis="0 0 1" name="rot" pos="0 0 0" type="hinge"/>
|
||||
<body name="mid" pos="0.5 0 0">
|
||||
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="true" name="rot2" pos="0 0 0" range="-100 100" type="hinge"/>
|
||||
<body name="back" pos="-1 0 0">
|
||||
<geom density="1000" fromto="0 0 0 -1 0 0" size="0.1" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="true" name="rot3" pos="0 0 0" range="-100 100" type="hinge"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot2"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="150.0" joint="rot3"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
127
examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml
Normal file
127
examples/pybullet/gym/pybullet_envs/data/mjcf/thrower.xml
Normal file
@@ -0,0 +1,127 @@
|
||||
<mujoco model="thrower">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<default>
|
||||
<joint armature='0.75' damping="0" limited="true"/>
|
||||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" density="0.0001"/>
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" density="0.0001"/>
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" density="0.0001"/>
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" density="0.0001"/>
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" density="0.0001"/>
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
|
||||
|
||||
<body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
|
||||
<geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.57">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.178">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 0.785">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.96">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 2.355">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 2.74">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0.5 -0.8 0.275">
|
||||
<geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
|
||||
<joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.575 0.5 -0.328">
|
||||
<geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
52
examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml
Normal file
52
examples/pybullet/gym/pybullet_envs/data/mjcf/walker2d.xml
Normal file
@@ -0,0 +1,52 @@
|
||||
<mujoco model="walker2d">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0.01" damping=".1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
|
||||
</default>
|
||||
<option integrator="RK4" timestep="0.002"/>
|
||||
<worldbody>
|
||||
<!-- CHANGES: see hopper.xml -->
|
||||
<body name="torso">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
|
||||
<body name="thigh">
|
||||
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
|
||||
<body name="leg">
|
||||
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
|
||||
<body name="foot">
|
||||
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
|
||||
<body name="thigh_left">
|
||||
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
|
||||
<body name="leg_left">
|
||||
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
|
||||
<body name="foot_left">
|
||||
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
|
||||
<!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
|
||||
</actuator>
|
||||
</mujoco>
|
||||
15
examples/pybullet/gym/pybullet_envs/data/plane.mtl
Normal file
15
examples/pybullet/gym/pybullet_envs/data/plane.mtl
Normal file
@@ -0,0 +1,15 @@
|
||||
newmtl Material
|
||||
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 cube.tga
|
||||
map_Kd checker_blue.png
|
||||
|
||||
|
||||
18
examples/pybullet/gym/pybullet_envs/data/plane.obj
Normal file
18
examples/pybullet/gym/pybullet_envs/data/plane.obj
Normal file
@@ -0,0 +1,18 @@
|
||||
# Blender v2.66 (sub 1) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib plane.mtl
|
||||
o Plane
|
||||
v 15.000000 -15.000000 0.000000
|
||||
v 15.000000 15.000000 0.000000
|
||||
v -15.000000 15.000000 0.000000
|
||||
v -15.000000 -15.000000 0.000000
|
||||
|
||||
vt 15.000000 0.000000
|
||||
vt 15.000000 15.000000
|
||||
vt 0.000000 15.000000
|
||||
vt 0.000000 0.000000
|
||||
|
||||
usemtl Material
|
||||
s off
|
||||
f 1/1 2/2 3/3
|
||||
f 1/1 3/3 4/4
|
||||
29
examples/pybullet/gym/pybullet_envs/data/plane.urdf
Normal file
29
examples/pybullet/gym/pybullet_envs/data/plane.urdf
Normal file
@@ -0,0 +1,29 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="plane">
|
||||
<link name="planeLink">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="plane.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -5"/>
|
||||
<geometry>
|
||||
<box size="30 30 10"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,16 @@
|
||||
newmtl stadium_white
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
|
||||
newmtl stadium_grass
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.000000 0.500000 0.000000
|
||||
Ks 0.000000 0.000000 0.000000
|
||||
map_Kd stadium_grass.jpg
|
||||
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||||
newmtl stadium_dirt
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107
examples/pybullet/gym/pybullet_envs/data/stadium.sdf
Normal file
107
examples/pybullet/gym/pybullet_envs/data/stadium.sdf
Normal file
@@ -0,0 +1,107 @@
|
||||
<sdf version='1.6'>
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<world name='default'>
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<gravity>0 0 -9.8</gravity>
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<model name='roboschool/models_outdoor/stadium/part0.obj'>
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||||
<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d0'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
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</mesh>
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<material>
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<ambient>1 1 1 1</ambient>
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<specular>0.1 .1 .1 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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<model name='roboschool/models_outdoor/stadium/part1.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d1'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<ixy>0</ixy>
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<ixz>0</ixz>
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<iyy>0.166667</iyy>
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<iyz>0</iyz>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<collision name='collision_1'>
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<geometry>
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<plane>
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<normal>0 0 1</normal>
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<size>100 100</size>
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</plane>
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</geometry>
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</collision>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
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<specular>.5 .5 .5 1</specular>
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<emissive>0 0 0 0</emissive>
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</material>
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</visual>
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</link>
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</model>
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<model name='part2.obj'>
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<static>1</static>
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<pose frame=''>0 0 0 0 0 0</pose>
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<link name='link_d2'>
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<inertial>
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<mass>0</mass>
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<inertia>
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<ixx>0.166667</ixx>
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<iyy>0.166667</iyy>
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<izz>0.166667</izz>
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</inertia>
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</inertial>
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<visual name='visual'>
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<geometry>
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<mesh>
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<scale>1 1 1</scale>
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<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
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<emissive>0 0 0 0</emissive>
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</link>
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</model>
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</world>
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</sdf>
|
||||
16
examples/pybullet/gym/pybullet_envs/data/table/table.mtl
Normal file
16
examples/pybullet/gym/pybullet_envs/data/table/table.mtl
Normal file
@@ -0,0 +1,16 @@
|
||||
newmtl table
|
||||
Ns 10.0000
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||||
Ni 1.5000
|
||||
d 1.0000
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Tr 0.0000
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Tf 1.0000 1.0000 1.0000
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illum 2
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||||
Ka 0.0000 0.0000 0.0000
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Kd 0.5880 0.5880 0.5880
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Ks 0.0000 0.0000 0.0000
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Ke 0.0000 0.0000 0.0000
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||||
map_Ka table.tga
|
||||
map_Kd table.png
|
||||
|
||||
|
||||
|
||||
48
examples/pybullet/gym/pybullet_envs/data/table/table.obj
Normal file
48
examples/pybullet/gym/pybullet_envs/data/table/table.obj
Normal file
@@ -0,0 +1,48 @@
|
||||
# table.obj
|
||||
#
|
||||
|
||||
o table
|
||||
mtllib table.mtl
|
||||
|
||||
v -0.500000 -0.500000 0.500000
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v 0.500000 -0.500000 0.500000
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v -0.500000 0.500000 0.500000
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v 0.500000 0.500000 0.500000
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v -0.500000 0.500000 -0.500000
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v 0.500000 0.500000 -0.500000
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v -0.500000 -0.500000 -0.500000
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v 0.500000 -0.500000 -0.500000
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||||
|
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vt 0.000000 0.000000
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vt 1.000000 0.000000
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vt 0.000000 1.000000
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||||
vt 1.000000 1.000000
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|
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vn 0.000000 0.000000 1.000000
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vn 0.000000 1.000000 0.000000
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vn 0.000000 0.000000 -1.000000
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vn 0.000000 -1.000000 0.000000
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vn 1.000000 0.000000 0.000000
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vn -1.000000 0.000000 0.000000
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|
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g table
|
||||
usemtl table
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||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
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f 3/3/1 2/2/1 4/4/1
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s 2
|
||||
f 3/1/2 4/2/2 5/3/2
|
||||
f 5/3/2 4/2/2 6/4/2
|
||||
s 3
|
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f 5/4/3 6/3/3 7/2/3
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f 7/2/3 6/3/3 8/1/3
|
||||
s 4
|
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f 7/1/4 8/2/4 1/3/4
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f 1/3/4 8/2/4 2/4/4
|
||||
s 5
|
||||
f 2/1/5 8/2/5 4/3/5
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||||
f 4/3/5 8/2/5 6/4/5
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||||
s 6
|
||||
f 7/1/6 1/2/6 5/3/6
|
||||
f 5/3/6 1/2/6 3/4/6
|
||||
|
||||
BIN
examples/pybullet/gym/pybullet_envs/data/table/table.png
Normal file
BIN
examples/pybullet/gym/pybullet_envs/data/table/table.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 847 KiB |
56
examples/pybullet/gym/pybullet_envs/data/table/table.urdf
Normal file
56
examples/pybullet/gym/pybullet_envs/data/table/table.urdf
Normal file
@@ -0,0 +1,56 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="table.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||
<geometry>
|
||||
<mesh filename="table.obj" scale="1.5 1 0.05"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||
<geometry>
|
||||
<box size="1.5 1 0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
|
||||
<geometry>
|
||||
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
|
||||
</geometry>
|
||||
<material name="framemat0"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
|
||||
<geometry>
|
||||
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
|
||||
</geometry>
|
||||
<material name="framemat0"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
|
||||
<geometry>
|
||||
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
|
||||
</geometry>
|
||||
<material name="framemat0"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
|
||||
<geometry>
|
||||
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
BIN
examples/pybullet/gym/pybullet_envs/data/tray/tray.jpg
Normal file
BIN
examples/pybullet/gym/pybullet_envs/data/tray/tray.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 361 KiB |
30
examples/pybullet/gym/pybullet_envs/data/tray/tray.urdf
Executable file
30
examples/pybullet/gym/pybullet_envs/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"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
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<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>
|
||||
@@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
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||||
|
||||
newmtl None
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||||
Ns 0.000000
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||||
Ka 0.000000 0.000000 0.000000
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||||
Kd 0.800000 0.800000 0.800000
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||||
Ks 0.800000 0.800000 0.800000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
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||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd tray.jpg
|
||||
213
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.obj
Normal file
213
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured.obj
Normal file
@@ -0,0 +1,213 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: ''
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||||
# www.blender.org
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||||
mtllib tray_textured.mtl
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||||
o edge_4_Cube.001
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vt 0.9046 0.2397
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vt 0.7929 0.2434
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vt 0.9174 0.2393
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vt 0.9537 0.7559
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vt 0.7801 0.2438
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vt 0.9664 0.7554
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vt 0.8291 0.7599
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vt 0.8419 0.7595
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||||
vn 0.2565 0.8821 -0.3950
|
||||
vn 0.8392 0.0002 0.5438
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vn 0.8395 0.0000 0.5433
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||||
vn 0.8396 -0.0000 0.5432
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vn 0.2568 -0.8819 -0.3954
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vn -0.8396 -0.0002 -0.5433
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vn -0.8392 -0.0000 -0.5438
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vn 0.5446 -0.0005 -0.8387
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vn -0.5446 -0.0000 0.8387
|
||||
vn 0.8391 0.0003 0.5440
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||||
vn -0.8397 -0.0003 -0.5430
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||||
usemtl None
|
||||
s 1
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||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 4/4/2 5/5/3 1/1/4
|
||||
f 6/6/5 7/7/5 4/4/5
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||||
f 3/3/6 8/8/7 6/6/8
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f 5/5/9 8/8/9 2/2/9
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f 4/4/10 3/3/10 6/6/10
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f 1/1/1 5/5/1 2/2/1
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f 4/4/2 7/7/11 5/5/3
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f 6/6/5 8/8/5 7/7/5
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f 3/3/6 2/2/12 8/8/7
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||||
f 5/5/9 7/7/9 8/8/9
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f 4/4/10 1/1/10 3/3/10
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o edge_1_Cube.003
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v 0.580000 0.590083 0.250354
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vt 0.8346 0.9187
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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
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||||
vt 0.7623 0.8511
|
||||
vt 0.2203 0.8511
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||||
vn 0.0004 0.8386 -0.5448
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||||
vn 0.0001 0.8391 -0.5439
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vn 0.0000 0.5446 0.8387
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vn 0.0005 0.8383 -0.5452
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||||
vn -0.0005 -0.8394 0.5435
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||||
usemtl None
|
||||
s 1
|
||||
f 9/9/13 10/10/14 11/11/15
|
||||
f 12/12/16 13/13/16 9/9/16
|
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f 14/14/17 15/15/18 12/12/19
|
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f 11/11/20 16/16/20 14/14/20
|
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f 13/13/21 16/16/21 10/10/21
|
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f 12/12/22 11/11/22 14/14/22
|
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f 9/9/13 13/13/23 10/10/14
|
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f 12/12/16 15/15/16 13/13/16
|
||||
f 14/14/17 16/16/24 15/15/18
|
||||
f 11/11/20 10/10/20 16/16/20
|
||||
f 13/13/21 15/15/21 16/16/21
|
||||
f 12/12/22 9/9/22 11/11/22
|
||||
o edge_2_Cube
|
||||
v 0.590083 0.580000 0.250354
|
||||
v 0.409917 0.420060 0.009390
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||||
v 0.573309 0.580000 0.261247
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||||
v 0.590083 -0.580000 0.250354
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||||
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||||
v 0.573309 -0.580000 0.261247
|
||||
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||||
v 0.409917 -0.419158 0.008840
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||||
vt 0.9410 0.8520
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||||
vt 0.7523 0.8566
|
||||
vt 0.9234 0.8524
|
||||
vt 0.8896 0.1426
|
||||
vt 0.7698 0.8562
|
||||
vt 0.8721 0.1430
|
||||
vt 0.7185 0.1468
|
||||
vt 0.7009 0.1472
|
||||
vn -0.2561 0.8826 -0.3943
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||||
vn 0.8394 0.0003 -0.5435
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vn 0.8390 0.0001 -0.5441
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||||
vn 0.8389 0.0000 -0.5443
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||||
vn -0.2569 -0.8818 -0.3956
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||||
vn -0.8390 -0.0003 0.5441
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vn -0.8394 -0.0001 0.5436
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||||
vn -0.8395 -0.0000 0.5434
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||||
vn -0.5446 0.0005 -0.8387
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||||
vn 0.5446 -0.0000 0.8387
|
||||
vn 0.8396 0.0004 -0.5433
|
||||
vn -0.8388 -0.0004 0.5444
|
||||
usemtl None
|
||||
s 1
|
||||
f 17/17/25 18/18/25 19/19/25
|
||||
f 20/20/26 21/21/27 17/17/28
|
||||
f 22/22/29 23/23/29 20/20/29
|
||||
f 19/19/30 24/24/31 22/22/32
|
||||
f 21/21/33 24/24/33 18/18/33
|
||||
f 20/20/34 19/19/34 22/22/34
|
||||
f 17/17/25 21/21/25 18/18/25
|
||||
f 20/20/26 23/23/35 21/21/27
|
||||
f 22/22/29 24/24/29 23/23/29
|
||||
f 19/19/30 18/18/36 24/24/31
|
||||
f 21/21/33 23/23/33 24/24/33
|
||||
f 20/20/34 17/17/34 19/19/34
|
||||
o base_Cube.004
|
||||
v 0.420000 0.420000 0.010000
|
||||
v -0.420000 0.420000 -0.010000
|
||||
v -0.420000 0.420000 0.010000
|
||||
v 0.420000 -0.420000 0.010000
|
||||
v 0.420000 0.420000 -0.010000
|
||||
v -0.420000 -0.420000 0.010000
|
||||
v 0.420000 -0.420000 -0.010000
|
||||
v -0.420000 -0.420000 -0.010000
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3038 0.8371
|
||||
vt -0.3038 0.8371
|
||||
vt 0.7012 0.1905
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3550 0.2204
|
||||
vt 0.7012 0.1905
|
||||
vt -0.3550 0.2204
|
||||
vn 0.0000 1.0000 0.0000
|
||||
vn 1.0000 -0.0000 0.0000
|
||||
vn 0.0000 -1.0000 0.0000
|
||||
vn -1.0000 -0.0000 0.0000
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
vn 0.0000 -0.0000 1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 25/25/37 26/26/37 27/27/37
|
||||
f 28/28/38 29/29/38 25/25/38
|
||||
f 30/30/39 31/31/39 28/28/39
|
||||
f 27/27/40 32/32/40 30/30/40
|
||||
f 29/29/41 32/32/41 26/26/41
|
||||
f 28/28/42 27/27/42 30/30/42
|
||||
f 25/25/37 29/29/37 26/26/37
|
||||
f 28/28/38 31/31/38 29/29/38
|
||||
f 30/30/39 32/32/39 31/31/39
|
||||
f 27/27/40 26/26/40 32/32/40
|
||||
f 29/29/41 31/31/41 32/32/41
|
||||
f 28/28/42 25/25/42 27/27/42
|
||||
o edge_3_Cube.002
|
||||
v 0.580000 -0.573309 0.261247
|
||||
v -0.419400 -0.409917 0.008678
|
||||
v -0.580000 -0.573309 0.261247
|
||||
v 0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.409917 0.009162
|
||||
v -0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.426691 -0.001731
|
||||
v -0.419400 -0.426691 -0.002215
|
||||
vt 0.8690 0.1040
|
||||
vt 0.1365 0.1739
|
||||
vt 0.0188 0.1040
|
||||
vt 0.8690 0.0968
|
||||
vt 0.7517 0.1739
|
||||
vt 0.0188 0.0968
|
||||
vt 0.7517 0.1668
|
||||
vt 0.1365 0.1668
|
||||
vn -0.0002 0.8392 0.5438
|
||||
vn -0.0000 0.8395 0.5433
|
||||
vn 0.0000 0.8396 0.5432
|
||||
vn 0.8825 0.2562 -0.3945
|
||||
vn 0.0002 -0.8396 -0.5433
|
||||
vn 0.0000 -0.8392 -0.5438
|
||||
vn 0.0000 -0.8391 -0.5439
|
||||
vn -0.8821 0.2565 -0.3950
|
||||
vn -0.8822 0.2565 -0.3950
|
||||
vn 0.0005 0.5446 -0.8387
|
||||
vn 0.0000 -0.5446 0.8387
|
||||
vn -0.0003 0.8391 0.5440
|
||||
vn 0.0003 -0.8397 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 33/33/43 34/34/44 35/35/45
|
||||
f 36/36/46 37/37/46 33/33/46
|
||||
f 38/38/47 39/39/48 36/36/49
|
||||
f 35/35/50 40/40/51 38/38/51
|
||||
f 37/37/52 40/40/52 34/34/52
|
||||
f 36/36/53 35/35/53 38/38/53
|
||||
f 33/33/43 37/37/54 34/34/44
|
||||
f 36/36/46 39/39/46 37/37/46
|
||||
f 38/38/47 40/40/55 39/39/48
|
||||
f 35/35/50 34/34/51 40/40/51
|
||||
f 37/37/52 39/39/52 40/40/52
|
||||
f 36/36/53 33/33/53 35/35/53
|
||||
@@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'tray_textured2.blend'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0.000000
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.800000 0.800000 0.800000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd tray.jpg
|
||||
255
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.obj
Normal file
255
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured2.obj
Normal file
@@ -0,0 +1,255 @@
|
||||
# Blender v2.78 (sub 0) OBJ File: 'tray_textured2.blend'
|
||||
# www.blender.org
|
||||
mtllib tray_textured2.mtl
|
||||
o edge_1_Cube.003
|
||||
v 0.580000 0.590083 0.250354
|
||||
v -0.419960 0.426691 -0.001860
|
||||
v -0.580000 0.590083 0.250354
|
||||
v 0.580000 0.573309 0.261247
|
||||
v 0.420014 0.426691 -0.001059
|
||||
v -0.580000 0.573309 0.261247
|
||||
v 0.420014 0.409917 0.009834
|
||||
v -0.419960 0.409917 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 1/1/1 2/2/2 3/3/3
|
||||
f 4/4/4 5/5/4 1/1/4
|
||||
f 6/6/5 7/7/6 4/4/7
|
||||
f 3/3/8 8/8/8 6/6/8
|
||||
f 5/5/9 8/8/9 2/2/9
|
||||
f 4/4/10 3/3/10 6/6/10
|
||||
f 1/1/1 5/5/11 2/2/2
|
||||
f 4/4/4 7/7/4 5/5/4
|
||||
f 6/6/5 8/8/12 7/7/6
|
||||
f 3/3/8 2/2/8 8/8/8
|
||||
f 5/5/9 7/7/9 8/8/9
|
||||
f 4/4/10 1/1/10 3/3/10
|
||||
o edge_2_Cube
|
||||
v 0.590083 0.580000 0.250354
|
||||
v 0.409917 0.420060 0.009390
|
||||
v 0.573309 0.580000 0.261247
|
||||
v 0.590083 -0.580000 0.250354
|
||||
v 0.426691 0.420060 -0.001503
|
||||
v 0.573309 -0.580000 0.261247
|
||||
v 0.426691 -0.419158 -0.002053
|
||||
v 0.409917 -0.419158 0.008840
|
||||
vt 0.9410 0.8520
|
||||
vt 0.7523 0.8566
|
||||
vt 0.9234 0.8524
|
||||
vt 0.8896 0.1426
|
||||
vt 0.7698 0.8562
|
||||
vt 0.8721 0.1430
|
||||
vt 0.7185 0.1468
|
||||
vt 0.7009 0.1472
|
||||
vn -0.2561 0.8826 -0.3943
|
||||
vn 0.8394 0.0003 -0.5435
|
||||
vn 0.8390 0.0001 -0.5441
|
||||
vn 0.8389 0.0000 -0.5442
|
||||
vn -0.2569 -0.8818 -0.3956
|
||||
vn -0.8390 -0.0003 0.5441
|
||||
vn -0.8394 -0.0001 0.5436
|
||||
vn -0.8395 -0.0000 0.5434
|
||||
vn -0.5446 0.0005 -0.8387
|
||||
vn 0.5446 -0.0000 0.8387
|
||||
vn 0.8396 0.0004 -0.5433
|
||||
vn -0.8388 -0.0004 0.5444
|
||||
usemtl None
|
||||
s 1
|
||||
f 9/9/13 10/10/13 11/11/13
|
||||
f 12/12/14 13/13/15 9/9/16
|
||||
f 14/14/17 15/15/17 12/12/17
|
||||
f 11/11/18 16/16/19 14/14/20
|
||||
f 13/13/21 16/16/21 10/10/21
|
||||
f 12/12/22 11/11/22 14/14/22
|
||||
f 9/9/13 13/13/13 10/10/13
|
||||
f 12/12/14 15/15/23 13/13/15
|
||||
f 14/14/17 16/16/17 15/15/17
|
||||
f 11/11/18 10/10/24 16/16/19
|
||||
f 13/13/21 15/15/21 16/16/21
|
||||
f 12/12/22 9/9/22 11/11/22
|
||||
o edge_3_Cube.002
|
||||
v 0.580000 -0.573309 0.261247
|
||||
v -0.419400 -0.409917 0.008678
|
||||
v -0.580000 -0.573309 0.261247
|
||||
v 0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.409917 0.009162
|
||||
v -0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.426691 -0.001731
|
||||
v -0.419400 -0.426691 -0.002215
|
||||
vt 0.8690 0.1040
|
||||
vt 0.1365 0.1739
|
||||
vt 0.0188 0.1040
|
||||
vt 0.8690 0.0968
|
||||
vt 0.7517 0.1739
|
||||
vt 0.0188 0.0968
|
||||
vt 0.7517 0.1668
|
||||
vt 0.1365 0.1668
|
||||
vn -0.0002 0.8392 0.5438
|
||||
vn -0.0000 0.8395 0.5433
|
||||
vn -0.0000 0.8396 0.5432
|
||||
vn 0.8825 0.2562 -0.3945
|
||||
vn 0.0002 -0.8396 -0.5433
|
||||
vn 0.0000 -0.8392 -0.5438
|
||||
vn 0.0000 -0.8391 -0.5439
|
||||
vn -0.8821 0.2565 -0.3950
|
||||
vn 0.0005 0.5446 -0.8387
|
||||
vn 0.0000 -0.5446 0.8387
|
||||
vn -0.0003 0.8391 0.5440
|
||||
vn 0.0003 -0.8397 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 17/17/25 18/18/26 19/19/27
|
||||
f 20/20/28 21/21/28 17/17/28
|
||||
f 22/22/29 23/23/30 20/20/31
|
||||
f 19/19/32 24/24/32 22/22/32
|
||||
f 21/21/33 24/24/33 18/18/33
|
||||
f 20/20/34 19/19/34 22/22/34
|
||||
f 17/17/25 21/21/35 18/18/26
|
||||
f 20/20/28 23/23/28 21/21/28
|
||||
f 22/22/29 24/24/36 23/23/30
|
||||
f 19/19/32 18/18/32 24/24/32
|
||||
f 21/21/33 23/23/33 24/24/33
|
||||
f 20/20/34 17/17/34 19/19/34
|
||||
o edge_5_Cube.005
|
||||
v -0.153309 0.580000 0.261247
|
||||
v -0.006691 0.419400 -0.002214
|
||||
v -0.170083 0.580000 0.250354
|
||||
v -0.153309 -0.580000 0.261247
|
||||
v 0.010083 0.419400 0.008679
|
||||
v -0.170083 -0.580000 0.250354
|
||||
v 0.010083 -0.419883 0.009732
|
||||
v -0.006691 -0.419883 -0.001161
|
||||
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 25/25/37 26/26/37 27/27/37
|
||||
f 28/28/38 29/29/39 25/25/40
|
||||
f 30/30/41 31/31/41 28/28/41
|
||||
f 27/27/42 32/32/43 30/30/44
|
||||
f 29/29/45 32/32/45 26/26/45
|
||||
f 28/28/46 27/27/46 30/30/46
|
||||
f 25/25/37 29/29/37 26/26/37
|
||||
f 28/28/38 31/31/47 29/29/39
|
||||
f 30/30/41 32/32/41 31/31/41
|
||||
f 27/27/42 26/26/48 32/32/43
|
||||
f 29/29/45 31/31/45 32/32/45
|
||||
f 28/28/46 25/25/46 27/27/46
|
||||
o edge_4_Cube.001
|
||||
v -0.573309 0.580000 0.261247
|
||||
v -0.426691 0.419400 -0.002214
|
||||
v -0.590083 0.580000 0.250354
|
||||
v -0.573309 -0.580000 0.261247
|
||||
v -0.409917 0.419400 0.008679
|
||||
v -0.590083 -0.580000 0.250354
|
||||
v -0.409917 -0.419400 0.009162
|
||||
v -0.426691 -0.419400 -0.001731
|
||||
vt 0.9046 0.2397
|
||||
vt 0.7929 0.2434
|
||||
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 33/33/49 34/34/49 35/35/49
|
||||
f 36/36/50 37/37/51 33/33/52
|
||||
f 38/38/53 39/39/53 36/36/53
|
||||
f 35/35/54 40/40/55 38/38/56
|
||||
f 37/37/57 40/40/57 34/34/57
|
||||
f 36/36/58 35/35/58 38/38/58
|
||||
f 33/33/49 37/37/49 34/34/49
|
||||
f 36/36/50 39/39/59 37/37/51
|
||||
f 38/38/53 40/40/53 39/39/53
|
||||
f 35/35/54 34/34/60 40/40/55
|
||||
f 37/37/57 39/39/57 40/40/57
|
||||
f 36/36/58 33/33/58 35/35/58
|
||||
o base_Cube.004
|
||||
v 0.420000 0.420000 0.010000
|
||||
v -0.420000 0.420000 -0.010000
|
||||
v -0.420000 0.420000 0.010000
|
||||
v 0.420000 -0.420000 0.010000
|
||||
v 0.420000 0.420000 -0.010000
|
||||
v -0.420000 -0.420000 0.010000
|
||||
v 0.420000 -0.420000 -0.010000
|
||||
v -0.420000 -0.420000 -0.010000
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3038 0.8371
|
||||
vt -0.3038 0.8371
|
||||
vt 0.7012 0.1905
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3550 0.2204
|
||||
vt 0.7012 0.1905
|
||||
vt -0.3550 0.2204
|
||||
vn -0.0000 1.0000 0.0000
|
||||
vn 1.0000 0.0000 0.0000
|
||||
vn 0.0000 -1.0000 0.0000
|
||||
vn -1.0000 -0.0000 0.0000
|
||||
vn -0.0000 0.0000 -1.0000
|
||||
vn 0.0000 -0.0000 1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 41/41/61 42/42/61 43/43/61
|
||||
f 44/44/62 45/45/62 41/41/62
|
||||
f 46/46/63 47/47/63 44/44/63
|
||||
f 43/43/64 48/48/64 46/46/64
|
||||
f 45/45/65 48/48/65 42/42/65
|
||||
f 44/44/66 43/43/66 46/46/66
|
||||
f 41/41/61 45/45/61 42/42/61
|
||||
f 44/44/62 47/47/62 45/45/62
|
||||
f 46/46/63 48/48/63 47/47/63
|
||||
f 43/43/64 42/42/64 48/48/64
|
||||
f 45/45/65 47/47/65 48/48/65
|
||||
f 44/44/66 41/41/66 43/43/66
|
||||
@@ -0,0 +1,24 @@
|
||||
<robot name="tabletop">
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="tray_material">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured2.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
13
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.mtl
Executable file
13
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.mtl
Executable file
@@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0.000000
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.800000 0.800000 0.800000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd tray.jpg
|
||||
256
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.obj
Executable file
256
examples/pybullet/gym/pybullet_envs/data/tray/tray_textured4.obj
Executable file
@@ -0,0 +1,256 @@
|
||||
# Blender v2.77 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib tray_textured4.mtl
|
||||
o edge_2_Cube
|
||||
v 0.593683 0.625721 0.255175
|
||||
v 0.406317 0.459389 0.004580
|
||||
v 0.576239 0.625721 0.266503
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||||
v 0.593683 -0.580640 0.255175
|
||||
v 0.423761 0.459389 -0.006748
|
||||
v 0.576239 -0.580640 0.266503
|
||||
v 0.423761 -0.413369 -0.007320
|
||||
v 0.406317 -0.413369 0.004008
|
||||
vt 0.9410 0.8520
|
||||
vt 0.7523 0.8566
|
||||
vt 0.9234 0.8524
|
||||
vt 0.8896 0.1426
|
||||
vt 0.7698 0.8562
|
||||
vt 0.8721 0.1430
|
||||
vt 0.7185 0.1468
|
||||
vt 0.7009 0.1472
|
||||
vn -0.2561 0.8826 -0.3943
|
||||
vn 0.8394 0.0003 -0.5435
|
||||
vn 0.8390 0.0001 -0.5441
|
||||
vn 0.8389 0.0000 -0.5443
|
||||
vn -0.2569 -0.8818 -0.3956
|
||||
vn -0.8390 -0.0003 0.5441
|
||||
vn -0.8394 -0.0001 0.5436
|
||||
vn -0.8395 -0.0000 0.5434
|
||||
vn -0.5446 0.0005 -0.8387
|
||||
vn 0.5446 -0.0000 0.8387
|
||||
vn 0.8396 0.0004 -0.5433
|
||||
vn -0.8388 -0.0004 0.5444
|
||||
usemtl None
|
||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 4/4/2 5/5/3 1/1/4
|
||||
f 6/6/5 7/7/5 4/4/5
|
||||
f 3/3/6 8/8/7 6/6/8
|
||||
f 5/5/9 8/8/9 2/2/9
|
||||
f 4/4/10 3/3/10 6/6/10
|
||||
f 1/1/1 5/5/1 2/2/1
|
||||
f 4/4/2 7/7/11 5/5/3
|
||||
f 6/6/5 8/8/5 7/7/5
|
||||
f 3/3/6 2/2/12 8/8/7
|
||||
f 5/5/9 7/7/9 8/8/9
|
||||
f 4/4/10 1/1/10 3/3/10
|
||||
o edge_3_Cube.002
|
||||
v 0.580000 -0.573309 0.261247
|
||||
v -0.419400 -0.409917 0.008678
|
||||
v -0.580000 -0.573309 0.261247
|
||||
v 0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.409917 0.009162
|
||||
v -0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.426691 -0.001731
|
||||
v -0.419400 -0.426691 -0.002215
|
||||
vt 0.8690 0.1040
|
||||
vt 0.1365 0.1739
|
||||
vt 0.0188 0.1040
|
||||
vt 0.8690 0.0968
|
||||
vt 0.7517 0.1739
|
||||
vt 0.0188 0.0968
|
||||
vt 0.7517 0.1668
|
||||
vt 0.1365 0.1668
|
||||
vn -0.0002 0.8392 0.5438
|
||||
vn -0.0000 0.8395 0.5433
|
||||
vn 0.0000 0.8396 0.5432
|
||||
vn 0.8825 0.2562 -0.3945
|
||||
vn 0.0002 -0.8396 -0.5433
|
||||
vn 0.0000 -0.8392 -0.5438
|
||||
vn 0.0000 -0.8391 -0.5439
|
||||
vn -0.8821 0.2565 -0.3950
|
||||
vn -0.8822 0.2565 -0.3950
|
||||
vn 0.0005 0.5446 -0.8387
|
||||
vn 0.0000 -0.5446 0.8387
|
||||
vn -0.0003 0.8391 0.5440
|
||||
vn 0.0003 -0.8397 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 9/9/13 10/10/14 11/11/15
|
||||
f 12/12/16 13/13/16 9/9/16
|
||||
f 14/14/17 15/15/18 12/12/19
|
||||
f 11/11/20 16/16/21 14/14/21
|
||||
f 13/13/22 16/16/22 10/10/22
|
||||
f 12/12/23 11/11/23 14/14/23
|
||||
f 9/9/13 13/13/24 10/10/14
|
||||
f 12/12/16 15/15/16 13/13/16
|
||||
f 14/14/17 16/16/25 15/15/18
|
||||
f 11/11/20 10/10/21 16/16/21
|
||||
f 13/13/22 15/15/22 16/16/22
|
||||
f 12/12/23 9/9/23 11/11/23
|
||||
o base_Cube.004
|
||||
v 0.417551 0.466622 0.009942
|
||||
v -0.417551 0.466622 -0.009942
|
||||
v -0.417551 0.466622 0.009942
|
||||
v 0.417551 -0.415378 0.009942
|
||||
v 0.417551 0.466622 -0.009942
|
||||
v -0.417551 -0.415378 0.009942
|
||||
v 0.417551 -0.415378 -0.009942
|
||||
v -0.417551 -0.415378 -0.009942
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3038 0.8371
|
||||
vt -0.3038 0.8371
|
||||
vt 0.7012 0.1905
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3550 0.2204
|
||||
vt 0.7012 0.1905
|
||||
vt -0.3550 0.2204
|
||||
vn 0.0000 1.0000 0.0000
|
||||
vn 1.0000 -0.0000 0.0000
|
||||
vn 0.0000 -1.0000 0.0000
|
||||
vn -1.0000 -0.0000 0.0000
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
vn 0.0000 -0.0000 1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 17/17/26 18/18/26 19/19/26
|
||||
f 20/20/27 21/21/27 17/17/27
|
||||
f 22/22/28 23/23/28 20/20/28
|
||||
f 19/19/29 24/24/29 22/22/29
|
||||
f 21/21/30 24/24/30 18/18/30
|
||||
f 20/20/31 19/19/31 22/22/31
|
||||
f 17/17/26 21/21/26 18/18/26
|
||||
f 20/20/27 23/23/27 21/21/27
|
||||
f 22/22/28 24/24/28 23/23/28
|
||||
f 19/19/29 18/18/29 24/24/29
|
||||
f 21/21/30 23/23/30 24/24/30
|
||||
f 20/20/31 17/17/31 19/19/31
|
||||
o edge_4_Cube.001
|
||||
v -0.576397 0.631608 0.266791
|
||||
v -0.423603 0.464243 -0.007768
|
||||
v -0.593877 0.631608 0.255439
|
||||
v -0.576397 -0.577253 0.266791
|
||||
v -0.406123 0.464243 0.003584
|
||||
v -0.593877 -0.577253 0.255439
|
||||
v -0.406123 -0.409889 0.004087
|
||||
v -0.423603 -0.409889 -0.007265
|
||||
vt 0.9046 0.2397
|
||||
vt 0.7929 0.2434
|
||||
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
|
||||
49
examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf
Normal file
49
examples/pybullet/gym/pybullet_envs/data/tray/traybox.urdf
Normal file
@@ -0,0 +1,49 @@
|
||||
<robot name="tabletop">
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="tray_material">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.005"/>
|
||||
<geometry>
|
||||
<box size=".6 .6 .02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 0.575469961 0" xyz="0.25 0 0.059"/>
|
||||
<geometry>
|
||||
<box size=".02 .6 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0 -0.575469961 0" xyz="-0.25 0 0.059"/>
|
||||
<geometry>
|
||||
<box size=".02 .6 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="0.575469961 0 0" xyz="0 -0.25 0.059"/>
|
||||
<geometry>
|
||||
<box size=".6 .02 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision>
|
||||
<origin rpy="-0.575469961 0 0" xyz="0 0.25 0.059"/>
|
||||
<geometry>
|
||||
<box size=".6 .02 .15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user