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Add IK damping coefficient vector.

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YunfeiBai
2016-09-27 16:37:49 -07:00
parent 61fccba5be
commit 3910003e0a
6 changed files with 15 additions and 178 deletions
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0
data/gripper/wsg50_one_motor_gripper_new.sdf → data/gripper/wsg50_one_motor_gripper_free_base.sdf
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61
data/table.urdf
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@@ -1,61 +0,0 @@
<?xml version="0.0" ?>
<robot name="urdf_table">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<mass value="0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<box size="1.5 1.0 0.08"/>
</geometry>
<material name="framemat0">
<color
rgba="1 1 1 1" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.65 -0.4 0.28"/>
<geometry>
<box size="0.1 0.1 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.65 0.4 0.28"/>
<geometry>
<box size="0.1 0.1 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.65 -0.4 0.28"/>
<geometry>
<box size="0.1 0.1 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.65 0.4 0.28"/>
<geometry>
<box size="0.1 0.1 0.56"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<box size="1.5 1.0 0.08"/>
</geometry>
</collision>
</link>
</robot>

91
data/tray.urdf
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@@ -1,91 +0,0 @@
<?xml version="1.0"?>
<robot name="tray">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="-0.29 0.0 0.05"/>
<geometry>
<box size="0.02 0.6 0.06"/>
</geometry>
<material name="framemat0">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="-0.29 0.0 0.05"/>
<geometry>
<box size="0.02 0.6 0.06"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.29 0.0 0.05"/>
<geometry>
<box size="0.02 0.6 0.06"/>
</geometry>
<material name="framemat0">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.29 0.0 0.05"/>
<geometry>
<box size="0.02 0.6 0.06"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.0 -0.29 0.05"/>
<geometry>
<box size="0.56 0.02 0.06"/>
</geometry>
<material name="framemat0">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 -0.29 0.05"/>
<geometry>
<box size="0.56 0.02 0.06"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="0.0 0.29 0.05"/>
<geometry>
<box size="0.56 0.02 0.06"/>
</geometry>
<material name="framemat0">
<color rgba="0.6 0.6 0.6 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.0 0.29 0.05"/>
<geometry>
<box size="0.56 0.02 0.06"/>
</geometry>
</collision>
<!-- base -->
<visual>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<box size="0.6 0.6 0.02"/>
</geometry>
<material name="framemat0"/>
<color rgba="0.4 0.4 0.4 1"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.01"/>
<geometry>
<box size="0.6 0.6 0.02"/>
</geometry>
</collision>
</link>
</robot>