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add kuka_lwr urdf file for testing, the r2d2 gets boring

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Erwin Coumans
2015-07-23 18:36:46 -07:00
parent fd1c00dbb2
commit 346bc00ac7
30 changed files with 3721 additions and 0 deletions
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12
data/kuka_lwr/meshes_arm/COPYRIGHT Normal file
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The meshes of the lightweight robot are based on a blender model
which was re-designed from scratch. (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 <kresse@in.tum.de>.
This work is made available under the terms of the
Creative Commons Attribution 3.0 license,
http://creativecommons.org/licenses/by/3.0/.

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<?xml version="1.0" encoding="utf-8"?>
<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
<asset>
<contributor>
<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
<comments></comments>
<copyright></copyright>
<source_data>file:///home/ingo/models/lwr/meshes/arm_flanche.blend</source_data>
</contributor>
<created>2010-07-28T12:31:52.074222</created>
<modified>2010-07-28T12:31:52.074265</modified>
<unit meter="1" name="meter"/>
<up_axis>Z_UP</up_axis>
</asset>
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<profile_COMMON>
<technique sid="blender">
<phong>
<emission>
<color>0.00000 0.00000 0.00000 1</color>
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<ambient>
<color>0.10000 0.10000 0.10000 1</color>
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<diffuse>
<color>0.10000 0.10000 0.10000 1</color>
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<specular>
<color>0.50000 0.50000 0.50000 1</color>
</specular>
<shininess>
<float>12.5</float>
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<reflective>
<color>1.00000 1.00000 1.00000 1</color>
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<reflectivity>
<float>1.0</float>
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<color>1 1 1 1</color>
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<transparency>
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<color>0.60667 0.63686 0.70000 1</color>
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<matrix>
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0.0 1.0 0.0 0.0
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0.0 0.0 0.0 1.0
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<scene>
<instance_visual_scene url="#Scene"/>
</scene>
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convex collision hulls, created using
rosrun convex_decomposition convex_decomposition <mesh.obj> -v24 -p10 -s0.01
rosrun ivcon ivcon <mesh_convex.obj> <mesh_convex.stlb>

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