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Add kiva_shelf to prepare for picking/grasping task

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Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
This commit is contained in:
erwin coumans
2016-07-14 00:05:57 -07:00
parent 10cc6f14cb
commit 4a705d1e03
25 changed files with 399 additions and 88 deletions
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32
data/cube_no_friction.urdf Normal file
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@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="0.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="1.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

7
data/kiva_shelf/0_Bullet3Demo.txt Normal file
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@@ -0,0 +1,7 @@
--start_demo_name=R2D2 Grasp
--mouse_move_multiplier=0.400000
--mouse_wheel_multiplier=0.010000
--background_color_red= 0.900000
--background_color_green= 0.900000
--background_color_blue= 1.000000
--fixed_timestep= 0.000000

BIN
data/kiva_shelf/meshes/pod_lowres.stl Normal file
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55
data/kiva_shelf/model.sdf Normal file
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@@ -0,0 +1,55 @@
<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Amazon Pod">
<static>1</static>
<pose>0 2 1.21 0 0 0</pose>
<link name="pod_link">
<inertial>
<pose>0.0 0.0 1.2045 0 0 0</pose>
<mass>76.26</mass>
<inertia>
<ixx>47</ixx>
<ixy>-0.003456</ixy>
<ixz>0.001474</ixz>
<izz>13.075</izz>
<iyz>-0.014439</iyz>
<iyy>47</iyy>
</inertia>
</inertial>
<visual name="pod_visual">
<pose>0 0 0 1.5707 0 0 </pose>
<geometry>
<mesh>
<uri>meshes/pod_lowres.stl</uri>
</mesh>
</geometry>
<material>
<diffuse>0.9 0.8 0.5 1</diffuse>
</material>
</visual>
<collision name="pod_collision">
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<mesh>
<uri>meshes/pod_lowres.stl</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>0.8</mu>
<mu2>0.8</mu2>
<fdir1>0.0 0.0 0.0</fdir1>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
</link>
</model>
</sdf>

45
data/kuka_iiwa/model.sdf
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@@ -1,6 +1,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='lbr_iiwa'>
<static>1</static>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
@@ -34,7 +35,7 @@
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0 0 1 1</diffuse>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
@@ -71,6 +72,12 @@
<uri>meshes/link_1.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.5 0.7 1.0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_1' type='revolute'>
@@ -124,6 +131,12 @@
<uri>meshes/link_2.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.5 0.7 1.0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_2' type='revolute'>
@@ -177,6 +190,12 @@
<uri>meshes/link_3.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1.0 0.42 0.04 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_3' type='revolute'>
@@ -230,6 +249,12 @@
<uri>meshes/link_4.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.5 0.7 1.0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_4' type='revolute'>
@@ -283,6 +308,12 @@
<uri>meshes/link_5.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.5 0.7 1.0 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_5' type='revolute'>
@@ -336,6 +367,12 @@
<uri>meshes/link_6.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>1.0 0.42 0.04 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_6' type='revolute'>
@@ -389,6 +426,12 @@
<uri>meshes/link_7.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.2 0.2 0.2 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<joint name='lbr_iiwa_joint_7' type='revolute'>

26
data/plane.urdf Normal file
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@@ -0,0 +1,26 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="10 10 0.001"/>
</geometry>
</collision>
</link>
</robot>