From 346bc00ac723ce554cd56b82fba0e6028ffacc4f Mon Sep 17 00:00:00 2001 From: Erwin Coumans Date: Thu, 23 Jul 2015 18:36:46 -0700 Subject: [PATCH] add kuka_lwr urdf file for testing, the r2d2 gets boring --- data/kuka_lwr/arm_base.urdf.xacro | 80 + data/kuka_lwr/gazebo.urdf.xacro | 16 + data/kuka_lwr/kuka.urdf | 296 +++ data/kuka_lwr/kuka_lwr_arm.urdf.xacro | 418 ++++ data/kuka_lwr/materials.xml | 34 + data/kuka_lwr/meshes_arm/COPYRIGHT | 12 + data/kuka_lwr/meshes_arm/arm_base.dae | 162 ++ data/kuka_lwr/meshes_arm/arm_base.stl | Bin 0 -> 28884 bytes data/kuka_lwr/meshes_arm/arm_flanche.dae | 158 ++ data/kuka_lwr/meshes_arm/arm_flanche.stl | Bin 0 -> 4784 bytes .../kuka_lwr/meshes_arm/arm_flanche_angle.dae | 162 ++ .../kuka_lwr/meshes_arm/arm_flanche_angle.stl | Bin 0 -> 7084 bytes data/kuka_lwr/meshes_arm/arm_segment_a.dae | 162 ++ data/kuka_lwr/meshes_arm/arm_segment_a.stl | Bin 0 -> 76884 bytes data/kuka_lwr/meshes_arm/arm_segment_b.dae | 162 ++ data/kuka_lwr/meshes_arm/arm_segment_b.stl | Bin 0 -> 76884 bytes data/kuka_lwr/meshes_arm/arm_segment_last.dae | 116 ++ data/kuka_lwr/meshes_arm/arm_segment_last.stl | Bin 0 -> 51284 bytes data/kuka_lwr/meshes_arm/arm_wrist.dae | 116 ++ data/kuka_lwr/meshes_arm/arm_wrist.stl | Bin 0 -> 55284 bytes data/kuka_lwr/meshes_arm/convex/README | 4 + .../meshes_arm/convex/arm_base_convex.stl | Bin 0 -> 2284 bytes .../convex/arm_flanche_angle_convex.stl | Bin 0 -> 4184 bytes .../meshes_arm/convex/arm_flanche_convex.stl | Bin 0 -> 2284 bytes .../convex/arm_segment_a_convex.stl | Bin 0 -> 4884 bytes .../convex/arm_segment_b_convex.stl | Bin 0 -> 4484 bytes .../convex/arm_segment_last_convex.stl | Bin 0 -> 5984 bytes .../meshes_arm/convex/arm_wrist_convex.stl | Bin 0 -> 4784 bytes data/kuka_lwr/tools/jr3-stabilo.dae | 1823 +++++++++++++++++ data/kuka_lwr/tools/jr3-stabilo.skp | Bin 0 -> 314341 bytes 30 files changed, 3721 insertions(+) create mode 100644 data/kuka_lwr/arm_base.urdf.xacro create mode 100644 data/kuka_lwr/gazebo.urdf.xacro create mode 100644 data/kuka_lwr/kuka.urdf create mode 100644 data/kuka_lwr/kuka_lwr_arm.urdf.xacro create mode 100644 data/kuka_lwr/materials.xml create mode 100644 data/kuka_lwr/meshes_arm/COPYRIGHT create mode 100644 data/kuka_lwr/meshes_arm/arm_base.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_base.stl create mode 100644 data/kuka_lwr/meshes_arm/arm_flanche.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_flanche.stl create mode 100644 data/kuka_lwr/meshes_arm/arm_flanche_angle.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_flanche_angle.stl create mode 100644 data/kuka_lwr/meshes_arm/arm_segment_a.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_segment_a.stl create mode 100644 data/kuka_lwr/meshes_arm/arm_segment_b.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_segment_b.stl create mode 100644 data/kuka_lwr/meshes_arm/arm_segment_last.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_segment_last.stl create mode 100644 data/kuka_lwr/meshes_arm/arm_wrist.dae create mode 100644 data/kuka_lwr/meshes_arm/arm_wrist.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/README create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_base_convex.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_flanche_angle_convex.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_flanche_convex.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_segment_a_convex.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_segment_b_convex.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_segment_last_convex.stl create mode 100644 data/kuka_lwr/meshes_arm/convex/arm_wrist_convex.stl create mode 100644 data/kuka_lwr/tools/jr3-stabilo.dae create mode 100644 data/kuka_lwr/tools/jr3-stabilo.skp diff --git a/data/kuka_lwr/arm_base.urdf.xacro b/data/kuka_lwr/arm_base.urdf.xacro new file mode 100644 index 000000000..07d279908 --- /dev/null +++ b/data/kuka_lwr/arm_base.urdf.xacro @@ -0,0 +1,80 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(It can be downloaded at +http://toychest.in.tum.de/wiki/_media/projects:lwr-arm.blend) + +This blender model, as well as the meshes found in this folder +are licensed under CC-BY-3.0: + +Copyright (c) 2010 by Ingo Kresse . +This work is made available under the terms of the +Creative Commons Attribution 3.0 license, +http://creativecommons.org/licenses/by/3.0/. + diff --git a/data/kuka_lwr/meshes_arm/arm_base.dae b/data/kuka_lwr/meshes_arm/arm_base.dae new file mode 100644 index 000000000..8172aef27 --- /dev/null +++ b/data/kuka_lwr/meshes_arm/arm_base.dae @@ -0,0 +1,162 @@ + + + + + Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com + Blender v:249 - Illusoft Collada Exporter v:0.3.162 + + + file:///home/ingo/models/lwr/meshes/arm_base.blend + + 2010-07-27T15:43:35.244746 + 2010-07-27T15:43:35.244784 + + Z_UP + + + + + + + + 0.00000 0.00000 0.00000 1 + + + 0.46218 0.26261 0.09261 1 + + + 0.92435 0.52522 0.18522 1 + + + 0.50000 0.50000 0.50000 1 + + + 12.5 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