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add single-link arm urdf files for debugging

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Erwin Coumans
2019-12-13 09:20:46 -08:00
parent 3668bc5e2a
commit 30b42a14f0
14 changed files with 972 additions and 0 deletions
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69
examples/pybullet/gym/pybullet_data/xarm/base_com.urdf Normal file
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@@ -0,0 +1,69 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6_base">
<!--
Author: Jason Peng <jason@ufactory.cc>
Contributers:
-->
<gazebo>
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
<robotNamespace>/xarm</robotNamespace>
<!-- <controlPeriod>0.0001</controlPeriod> -->
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
<legacyModeNS>true</legacyModeNS>
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
</plugin>
</gazebo>
<link name="world"/>
<joint name="world_joint" type="fixed">
<parent link="world"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<material name="Black">
<color rgba="0.0 0.0 0.0 1.0"/>
</material>
<material name="Red">
<color rgba="0.85 0.19 0.21 1.0"/>
</material>
<material name="Blue">
<color rgba="0.28 0.52 0.92 1.0"/>
</material>
<material name="Green">
<color rgba="0.23 0.72 0.32 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.95 0.76 0.05 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Silver">
<color rgba="0.753 0.753 0.753 1.0"/>
</material>
<link name="link_base">
<visual>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
<material name="Blue"/>
</visual>
<collision>
<geometry>
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
</geometry>
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="2.7"/>
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
</inertial>
</link>
</robot>