diff --git a/data/block.urdf b/data/block.urdf new file mode 100644 index 000000000..9ff64decf --- /dev/null +++ b/data/block.urdf @@ -0,0 +1,32 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/block_grasp_log.bin b/data/block_grasp_log.bin new file mode 100644 index 000000000..1bf3d5050 Binary files /dev/null and b/data/block_grasp_log.bin differ diff --git a/data/kuka_iiwa/kuka_with_gripper.sdf b/data/kuka_iiwa/kuka_with_gripper.sdf new file mode 100644 index 000000000..739eac349 --- /dev/null +++ b/data/kuka_iiwa/kuka_with_gripper.sdf @@ -0,0 +1,760 @@ + + + + + + + 0 0 0 0 -0 0 + + -0.1 0 0.07 0 -0 0 + 0 + + 0.05 + 0 + 0 + 0.06 + 0 + 0.03 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + /meshes/link_0.stl + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_0.stl + + + + 1 0 0 1 + 0.5 0.5 0.5 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + 0 0 0.1575 0 -0 0 + + 0 -0.03 0.12 0 -0 0 + 4 + + 0.1 + 0 + 0 + 0.09 + 0 + 0.02 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_1.stl + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_1.stl + + + + 1 0 0 1 + 0.5 0.5 0.5 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + lbr_iiwa_link_1 + lbr_iiwa_link_0 + + 0 0 1 + + -2.96706 + 2.96706 + 300 + 10 + + + 0.5 + 0 + 0 + 0 + + + + + 0 0 0.36 1.5708 -0 -3.14159 + + 0.0003 0.059 0.042 0 -0 0 + 4 + + 0.05 + 0 + 0 + 0.018 + 0 + 0.044 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_2.stl + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_2.stl + + + + 1 0 0 1 + 1.0 0.42 0.04 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + lbr_iiwa_link_2 + lbr_iiwa_link_1 + + 0 0 1 + + -2.0944 + 2.0944 + 300 + 10 + + + 0.5 + 0 + 0 + 0 + + + + + 0 -0 0.5645 0 0 0 + + 0 0.03 0.13 0 -0 0 + 3 + + 0.08 + 0 + 0 + 0.075 + 0 + 0.01 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_3.stl + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_3.stl + + + + 1 0 0 1 + 0.6 0.6 0.6 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + lbr_iiwa_link_3 + lbr_iiwa_link_2 + + 0 0 1 + + -2.96706 + 2.96706 + 300 + 10 + + + 0.5 + 0 + 0 + 0 + + + + + 0 -0 0.78 1.5708 0 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0 0 0 + + + + + lbr_iiwa_link_6 + lbr_iiwa_link_5 + + 0 0 1 + + -2.0944 + 2.0944 + 300 + 10 + + + 0.5 + 0 + 0 + 0 + + + + + 0 0 1.261 0 0 0 + + 0 0 0.02 0 -0 0 + 0.3 + + 0.001 + 0 + 0 + 0.001 + 0 + 0.001 + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_7.stl + + + + + 0 0 0 0 -0 0 + + + 1 1 1 + meshes/link_7.stl + + + + 1 0 0 1 + 0.6 0.6 0.6 1 + 0.1 0.1 0.1 1 + 0 0 0 0 + + + + + lbr_iiwa_link_7 + lbr_iiwa_link_6 + + 0 0 1 + + -3.05433 + 3.05433 + 300 + 10 + + + 0.5 + 0 + 0 + 0 + + + + + + + lbr_iiwa_link_7 + base_link + + + 0 0 1.305 0 -0 0 + + 0 0 0 0 -0 0 + 1.2 + + 1 + 0 + 0 + 1 + 0 + 1 + + + + 0 0 0 0 0 0 + + + 0.05 0.05 0.1 + + + + + + + base_link + left_finger + + 0 1 0 + + -0.4 + 0.01 + 100 + 0 + + + 0 + 0 + 0 + 0 + + + + + 0 0.024 1.35 0 -0.05 0 + + 0 0 0.04 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0.04 0 0 0 + + + 0.01 0.01 0.08 + + + + + + left_finger + left_finger_base + + + -0.005 0.024 1.43 0 -0.3 0 + + -0.003 0 0.04 0 0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_base_left.stl + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_base_left.stl + + + + + + left_finger_base + left_finger_tip + + 0 1 0 + + -0.1 + 0.3 + 0 + 0 + + + 0 + 0 + 0 + 0 + + + + + + 0.8 + 1.0 + + -0.02 0.024 1.49 0 0.2 0 + + -0.005 0 0.026 0 0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_tip_left.stl + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_tip_left.stl + + + + + + base_link + right_finger + + 0 1 0 + + -0.01 + 0.4 + 100 + 0 + + + 0 + 0 + 0 + 0 + + + + + 0 0.024 1.35 0 0.05 0 + + 0 0 0.04 0 0 0 + 0.1 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0.04 0 0 0 + + + 0.01 0.01 0.08 + + + + + + right_finger + right_finger_base + + + 0.005 0.024 1.43 0 0.3 0 + + 0.003 0 0.04 0 0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_base_right.stl + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_base_right.stl + + + + + + right_finger_base + right_finger_tip + + 0 1 0 + + -0.3 + 0.1 + 0 + 0 + + + 0 + 0 + 0 + 0 + + + + + + 0.8 + 1.0 + + 0.02 0.024 1.49 0 -0.2 0 + + 0.005 0 0.026 0 0 0 + 0.2 + + 0.1 + 0 + 0 + 0.1 + 0 + 0.1 + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_tip_right.stl + + + + + 0 0 0 0 0 0 + + + 1 1 1 + meshes/finger_tip_right.stl + + + + + + + diff --git a/data/kuka_iiwa/meshes/finger_base_left.stl b/data/kuka_iiwa/meshes/finger_base_left.stl new file mode 100755 index 000000000..4ef433272 Binary files /dev/null and b/data/kuka_iiwa/meshes/finger_base_left.stl differ diff --git a/data/kuka_iiwa/meshes/finger_base_right.stl b/data/kuka_iiwa/meshes/finger_base_right.stl new file mode 100755 index 000000000..0e7c91f14 Binary files /dev/null and b/data/kuka_iiwa/meshes/finger_base_right.stl differ diff --git a/data/kuka_iiwa/meshes/finger_tip_left.stl b/data/kuka_iiwa/meshes/finger_tip_left.stl new file mode 100755 index 000000000..2a258e339 Binary files /dev/null and b/data/kuka_iiwa/meshes/finger_tip_left.stl differ diff --git a/data/kuka_iiwa/meshes/finger_tip_right.stl b/data/kuka_iiwa/meshes/finger_tip_right.stl new file mode 100755 index 000000000..458f26b05 Binary files /dev/null and b/data/kuka_iiwa/meshes/finger_tip_right.stl differ diff --git a/data/tray/tray.urdf b/data/tray/tray.urdf new file mode 100755 index 000000000..06f596e8b --- /dev/null +++ b/data/tray/tray.urdf @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/data/tray/tray_textured4.mtl b/data/tray/tray_textured4.mtl new file mode 100755 index 000000000..1a2697882 --- /dev/null +++ b/data/tray/tray_textured4.mtl @@ -0,0 +1,13 @@ +# Blender MTL File: 'None' +# Material Count: 1 + +newmtl None +Ns 0.000000 +Ka 0.000000 0.000000 0.000000 +Kd 0.800000 0.800000 0.800000 +Ks 0.800000 0.800000 0.800000 +Ke 0.000000 0.000000 0.000000 +Ni 1.000000 +d 1.000000 +illum 2 +#map_Kd tray.jpg diff --git a/data/tray/tray_textured4.obj b/data/tray/tray_textured4.obj new file mode 100755 index 000000000..a367c02cb --- /dev/null +++ b/data/tray/tray_textured4.obj @@ -0,0 +1,256 @@ +# Blender v2.77 (sub 0) OBJ File: '' +# www.blender.org +mtllib tray_textured5.mtl +o edge_2_Cube +v 0.593683 0.625721 0.255175 +v 0.406317 0.459389 0.004580 +v 0.576239 0.625721 0.266503 +v 0.593683 -0.580640 0.255175 +v 0.423761 0.459389 -0.006748 +v 0.576239 -0.580640 0.266503 +v 0.423761 -0.413369 -0.007320 +v 0.406317 -0.413369 0.004008 +vt 0.9410 0.8520 +vt 0.7523 0.8566 +vt 0.9234 0.8524 +vt 0.8896 0.1426 +vt 0.7698 0.8562 +vt 0.8721 0.1430 +vt 0.7185 0.1468 +vt 0.7009 0.1472 +vn -0.2561 0.8826 -0.3943 +vn 0.8394 0.0003 -0.5435 +vn 0.8390 0.0001 -0.5441 +vn 0.8389 0.0000 -0.5443 +vn -0.2569 -0.8818 -0.3956 +vn -0.8390 -0.0003 0.5441 +vn -0.8394 -0.0001 0.5436 +vn -0.8395 -0.0000 0.5434 +vn -0.5446 0.0005 -0.8387 +vn 0.5446 -0.0000 0.8387 +vn 0.8396 0.0004 -0.5433 +vn -0.8388 -0.0004 0.5444 +usemtl None +s 1 +f 1/1/1 2/2/1 3/3/1 +f 4/4/2 5/5/3 1/1/4 +f 6/6/5 7/7/5 4/4/5 +f 3/3/6 8/8/7 6/6/8 +f 5/5/9 8/8/9 2/2/9 +f 4/4/10 3/3/10 6/6/10 +f 1/1/1 5/5/1 2/2/1 +f 4/4/2 7/7/11 5/5/3 +f 6/6/5 8/8/5 7/7/5 +f 3/3/6 2/2/12 8/8/7 +f 5/5/9 7/7/9 8/8/9 +f 4/4/10 1/1/10 3/3/10 +o edge_3_Cube.002 +v 0.580000 -0.573309 0.261247 +v -0.419400 -0.409917 0.008678 +v -0.580000 -0.573309 0.261247 +v 0.580000 -0.590083 0.250354 +v 0.419883 -0.409917 0.009162 +v -0.580000 -0.590083 0.250354 +v 0.419883 -0.426691 -0.001731 +v -0.419400 -0.426691 -0.002215 +vt 0.8690 0.1040 +vt 0.1365 0.1739 +vt 0.0188 0.1040 +vt 0.8690 0.0968 +vt 0.7517 0.1739 +vt 0.0188 0.0968 +vt 0.7517 0.1668 +vt 0.1365 0.1668 +vn -0.0002 0.8392 0.5438 +vn -0.0000 0.8395 0.5433 +vn 0.0000 0.8396 0.5432 +vn 0.8825 0.2562 -0.3945 +vn 0.0002 -0.8396 -0.5433 +vn 0.0000 -0.8392 -0.5438 +vn 0.0000 -0.8391 -0.5439 +vn -0.8821 0.2565 -0.3950 +vn -0.8822 0.2565 -0.3950 +vn 0.0005 0.5446 -0.8387 +vn 0.0000 -0.5446 0.8387 +vn -0.0003 0.8391 0.5440 +vn 0.0003 -0.8397 -0.5430 +usemtl None +s 1 +f 9/9/13 10/10/14 11/11/15 +f 12/12/16 13/13/16 9/9/16 +f 14/14/17 15/15/18 12/12/19 +f 11/11/20 16/16/21 14/14/21 +f 13/13/22 16/16/22 10/10/22 +f 12/12/23 11/11/23 14/14/23 +f 9/9/13 13/13/24 10/10/14 +f 12/12/16 15/15/16 13/13/16 +f 14/14/17 16/16/25 15/15/18 +f 11/11/20 10/10/21 16/16/21 +f 13/13/22 15/15/22 16/16/22 +f 12/12/23 9/9/23 11/11/23 +o base_Cube.004 +v 0.417551 0.466622 0.009942 +v -0.417551 0.466622 -0.009942 +v -0.417551 0.466622 0.009942 +v 0.417551 -0.415378 0.009942 +v 0.417551 0.466622 -0.009942 +v -0.417551 -0.415378 0.009942 +v 0.417551 -0.415378 -0.009942 +v -0.417551 -0.415378 -0.009942 +vt 0.7524 0.8072 +vt -0.3038 0.8371 +vt -0.3038 0.8371 +vt 0.7012 0.1905 +vt 0.7524 0.8072 +vt -0.3550 0.2204 +vt 0.7012 0.1905 +vt -0.3550 0.2204 +vn 0.0000 1.0000 0.0000 +vn 1.0000 -0.0000 0.0000 +vn 0.0000 -1.0000 0.0000 +vn -1.0000 -0.0000 0.0000 +vn 0.0000 0.0000 -1.0000 +vn 0.0000 -0.0000 1.0000 +usemtl None +s 1 +f 17/17/26 18/18/26 19/19/26 +f 20/20/27 21/21/27 17/17/27 +f 22/22/28 23/23/28 20/20/28 +f 19/19/29 24/24/29 22/22/29 +f 21/21/30 24/24/30 18/18/30 +f 20/20/31 19/19/31 22/22/31 +f 17/17/26 21/21/26 18/18/26 +f 20/20/27 23/23/27 21/21/27 +f 22/22/28 24/24/28 23/23/28 +f 19/19/29 18/18/29 24/24/29 +f 21/21/30 23/23/30 24/24/30 +f 20/20/31 17/17/31 19/19/31 +o edge_4_Cube.001 +v -0.576397 0.631608 0.266791 +v -0.423603 0.464243 -0.007768 +v -0.593877 0.631608 0.255439 +v -0.576397 -0.577253 0.266791 +v -0.406123 0.464243 0.003584 +v -0.593877 -0.577253 0.255439 +v -0.406123 -0.409889 0.004087 +v -0.423603 -0.409889 -0.007265 +vt 0.9046 0.2397 +vt 0.7929 0.2434 +vt 0.9174 0.2393 +vt 0.9537 0.7559 +vt 0.7801 0.2438 +vt 0.9664 0.7554 +vt 0.8291 0.7599 +vt 0.8419 0.7595 +vn 0.2565 0.8821 -0.3950 +vn 0.8392 0.0002 0.5438 +vn 0.8395 0.0000 0.5433 +vn 0.8396 -0.0000 0.5432 +vn 0.2568 -0.8819 -0.3954 +vn -0.8396 -0.0002 -0.5433 +vn -0.8392 -0.0000 -0.5438 +vn -0.8391 0.0000 -0.5439 +vn 0.5446 -0.0005 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8391 0.0003 0.5440 +vn -0.8397 -0.0003 -0.5430 +usemtl None +s 1 +f 25/25/32 26/26/32 27/27/32 +f 28/28/33 29/29/34 25/25/35 +f 30/30/36 31/31/36 28/28/36 +f 27/27/37 32/32/38 30/30/39 +f 29/29/40 32/32/40 26/26/40 +f 28/28/41 27/27/41 30/30/41 +f 25/25/32 29/29/32 26/26/32 +f 28/28/33 31/31/42 29/29/34 +f 30/30/36 32/32/36 31/31/36 +f 27/27/37 26/26/43 32/32/38 +f 29/29/40 31/31/40 32/32/40 +f 28/28/41 25/25/41 27/27/41 +o edge_5_Cube.005 +v -0.326052 0.623641 0.266072 +v -0.174054 0.457147 -0.007058 +v -0.343442 0.623641 0.254779 +v -0.326052 -0.578931 0.266072 +v -0.156664 0.457147 0.004235 +v -0.343442 -0.578931 0.254779 +v -0.156664 -0.412938 0.005326 +v -0.174054 -0.412938 -0.005967 +vt 0.0506 0.8517 +vt 0.1935 0.8492 +vt 0.0342 0.8520 +vt 0.0164 0.1914 +vt 0.2099 0.8489 +vt 0.0001 0.1917 +vt 0.1757 0.1886 +vt 0.1594 0.1889 +vn 0.2565 0.8821 -0.3950 +vn 0.8387 0.0005 0.5446 +vn 0.8394 0.0001 0.5434 +vn 0.8396 -0.0000 0.5432 +vn 0.2565 -0.8822 -0.3950 +vn -0.8395 -0.0005 -0.5434 +vn -0.8388 -0.0001 -0.5445 +vn -0.8386 0.0000 -0.5448 +vn 0.5446 -0.0011 -0.8387 +vn -0.5446 -0.0000 0.8387 +vn 0.8384 0.0007 0.5451 +vn -0.8398 -0.0007 -0.5429 +usemtl None +s 1 +f 33/33/44 34/34/44 35/35/44 +f 36/36/45 37/37/46 33/33/47 +f 38/38/48 39/39/48 36/36/48 +f 35/35/49 40/40/50 38/38/51 +f 37/37/52 40/40/52 34/34/52 +f 36/36/53 35/35/53 38/38/53 +f 33/33/44 37/37/44 34/34/44 +f 36/36/45 39/39/54 37/37/46 +f 38/38/48 40/40/48 39/39/48 +f 35/35/49 34/34/55 40/40/50 +f 37/37/52 39/39/52 40/40/52 +f 36/36/53 33/33/53 35/35/53 +o edge_1_Cube.003 +v 0.580000 0.640851 0.250354 +v -0.419960 0.477459 -0.001860 +v -0.580000 0.640851 0.250354 +v 0.580000 0.624077 0.261247 +v 0.420014 0.477459 -0.001059 +v -0.580000 0.624077 0.261247 +v 0.420014 0.460685 0.009834 +v -0.419960 0.460685 0.009033 +vt 0.8346 0.9187 +vt 0.2203 0.8574 +vt 0.1480 0.9187 +vt 0.8346 0.9129 +vt 0.7623 0.8574 +vt 0.1480 0.9129 +vt 0.7623 0.8511 +vt 0.2203 0.8511 +vn 0.0004 0.8386 -0.5448 +vn 0.0001 0.8391 -0.5439 +vn 0.0000 0.8393 -0.5437 +vn 0.8823 -0.2564 -0.3948 +vn -0.0004 -0.8392 0.5439 +vn -0.0001 -0.8386 0.5447 +vn 0.0000 -0.8385 0.5449 +vn -0.8826 -0.2560 -0.3942 +vn 0.0008 -0.5446 -0.8387 +vn 0.0000 0.5446 0.8387 +vn 0.0005 0.8383 -0.5452 +vn -0.0005 -0.8394 0.5435 +usemtl None +s 1 +f 41/41/56 42/42/57 43/43/58 +f 44/44/59 45/45/59 41/41/59 +f 46/46/60 47/47/61 44/44/62 +f 43/43/63 48/48/63 46/46/63 +f 45/45/64 48/48/64 42/42/64 +f 44/44/65 43/43/65 46/46/65 +f 41/41/56 45/45/66 42/42/57 +f 44/44/59 47/47/59 45/45/59 +f 46/46/60 48/48/67 47/47/61 +f 43/43/63 42/42/63 48/48/63 +f 45/45/64 47/47/64 48/48/64 +f 44/44/65 41/41/65 43/43/65 diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py index 0158f2e17..78d476a27 100644 --- a/examples/pybullet/examples/reset_dynamic_info.py +++ b/examples/pybullet/examples/reset_dynamic_info.py @@ -6,15 +6,15 @@ p.connect(p.GUI) planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593]) p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2]) cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4]) -p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1) -#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0) +#p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=0.1) +p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=100.0) p.setGravity(0,0,-10) p.setRealTimeSimulation(0) t=0 while 1: t=t+1 if t > 400: - p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01) + p.changeDynamics(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01) mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1) mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1) print mass1,frictionCoeff1