add single-link arm urdf files for debugging
This commit is contained in:
Erwin Coumans
69
examples/pybullet/gym/pybullet_data/xarm/base.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/base.urdf
Normal file
@@ -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">
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||||
<color rgba="0.95 0.76 0.05 1.0"/>
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||||
</material>
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||||
<material name="White">
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||||
<color rgba="1.0 1.0 1.0 1.0"/>
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||||
</material>
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||||
<material name="Silver">
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||||
<color rgba="0.753 0.753 0.753 1.0"/>
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</material>
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||||
<link name="link_base">
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||||
<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
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</geometry>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="Blue"/>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
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</geometry>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
</collision>
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||||
<inertial>
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||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
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||||
<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"/>
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</inertial>
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</link>
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||||
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</robot>
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69
examples/pybullet/gym/pybullet_data/xarm/base_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/base_com.urdf
Normal file
@@ -0,0 +1,69 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
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||||
<!-- =================================================================================== -->
|
||||
<!-- | 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">
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||||
<visual>
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||||
<geometry>
|
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<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
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||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
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||||
<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"/>
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||||
</inertial>
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||||
</link>
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||||
|
||||
</robot>
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||||
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||||
69
examples/pybullet/gym/pybullet_data/xarm/link1.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link1.urdf
Normal file
@@ -0,0 +1,69 @@
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||||
<?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_link1">
|
||||
<!--
|
||||
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="link1"/>
|
||||
<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="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
|
||||
<mass value="2.16"/>
|
||||
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
|
||||
</inertial>
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||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf
Normal file
@@ -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_link1">
|
||||
<!--
|
||||
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="link1"/>
|
||||
<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="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.002 -0.02692 0.01332"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.002 -0.02692 0.01332"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="2.16"/>
|
||||
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link2.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link2.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?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_link2">
|
||||
<!--
|
||||
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="link2"/>
|
||||
<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="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Yellow"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
|
||||
<mass value="1.71"/>
|
||||
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?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_link2">
|
||||
<!--
|
||||
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="link2"/>
|
||||
<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="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.03531 0.21398 -0.03386"/>
|
||||
<material name="Yellow"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.03531 0.21398 -0.03386"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.71"/>
|
||||
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link3.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link3.urdf
Normal file
@@ -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_link3">
|
||||
<!--
|
||||
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="link3"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
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|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
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|
||||
<material name="Red">
|
||||
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|
||||
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|
||||
<material name="Blue">
|
||||
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|
||||
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|
||||
<material name="Green">
|
||||
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|
||||
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|
||||
<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="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
|
||||
<mass value="1.384"/>
|
||||
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf
Normal file
@@ -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_link3">
|
||||
<!--
|
||||
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="link3"/>
|
||||
<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"/>
|
||||
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|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
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|
||||
<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"/>
|
||||
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|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
||||
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|
||||
<origin rpy="0 0 0" xyz="-0.06781 -0.10749 -0.01457"/>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.06781 -0.10749 -0.01457"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.384"/>
|
||||
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link4.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link4.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?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_link4">
|
||||
<!--
|
||||
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="link4"/>
|
||||
<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="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
|
||||
<mass value="1.115"/>
|
||||
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?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_link4">
|
||||
<!--
|
||||
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="link4"/>
|
||||
<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="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
|
||||
<material name="Green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.115"/>
|
||||
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link5.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link5.urdf
Normal file
@@ -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_link5">
|
||||
<!--
|
||||
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="link5"/>
|
||||
<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="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
|
||||
<mass value="1.275"/>
|
||||
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf
Normal file
@@ -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_link5">
|
||||
<!--
|
||||
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="link5"/>
|
||||
<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="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.275"/>
|
||||
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link6.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link6.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?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_link6">
|
||||
<!--
|
||||
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="link6"/>
|
||||
<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="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
|
||||
<mass value="0.1096"/>
|
||||
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?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_link6">
|
||||
<!--
|
||||
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="link6"/>
|
||||
<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="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
|
||||
<material name="Silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1096"/>
|
||||
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
Reference in New Issue
Block a user