Merge remote-tracking branch 'origin/master'
merge origin/master
This commit is contained in:
Xuchen Han
@@ -199,7 +199,6 @@ project "App_BulletExampleBrowser"
|
||||
"../RigidBody/RigidBodySoftContact.cpp",
|
||||
"../ThirdPartyLibs/stb_image/stb_image.cpp",
|
||||
"../ThirdPartyLibs/Wavefront/tiny_obj_loader.*",
|
||||
"../ThirdPartyLibs/BussIK/*",
|
||||
"../GyroscopicDemo/GyroscopicSetup.cpp",
|
||||
"../GyroscopicDemo/GyroscopicSetup.h",
|
||||
"../ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
|
||||
|
||||
@@ -3171,6 +3171,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetLinearDamping(b3SharedMemoryCommandHand
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
|
||||
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
|
||||
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
|
||||
command->m_changeDynamicsInfoArgs.m_linearDamping = linearDamping;
|
||||
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_LINEAR_DAMPING;
|
||||
return 0;
|
||||
@@ -3181,6 +3182,7 @@ B3_SHARED_API int b3ChangeDynamicsInfoSetAngularDamping(b3SharedMemoryCommandHan
|
||||
struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
|
||||
b3Assert(command->m_type == CMD_CHANGE_DYNAMICS_INFO);
|
||||
command->m_changeDynamicsInfoArgs.m_bodyUniqueId = bodyUniqueId;
|
||||
command->m_changeDynamicsInfoArgs.m_linkIndex = -1;
|
||||
command->m_changeDynamicsInfoArgs.m_angularDamping = angularDamping;
|
||||
command->m_updateFlags |= CHANGE_DYNAMICS_INFO_SET_ANGULAR_DAMPING;
|
||||
return 0;
|
||||
|
||||
@@ -72,8 +72,6 @@ myfiles =
|
||||
"plugins/collisionFilterPlugin/collisionFilterPlugin.cpp",
|
||||
"plugins/pdControlPlugin/pdControlPlugin.cpp",
|
||||
"plugins/pdControlPlugin/pdControlPlugin.h",
|
||||
"../OpenGLWindow/SimpleCamera.cpp",
|
||||
"../OpenGLWindow/SimpleCamera.h",
|
||||
"../Importers/ImportURDFDemo/ConvertRigidBodies2MultiBody.h",
|
||||
"../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
|
||||
"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
|
||||
@@ -115,6 +113,8 @@ myfiles =
|
||||
|
||||
files {
|
||||
myfiles,
|
||||
"../OpenGLWindow/SimpleCamera.cpp",
|
||||
"../OpenGLWindow/SimpleCamera.h",
|
||||
"main.cpp",
|
||||
}
|
||||
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large
Load Diff
13
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl
Normal file
13
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.mtl
Normal file
@@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None.003
|
||||
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 laikago_tex.jpg
|
||||
24050
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj
Normal file
24050
examples/pybullet/gym/pybullet_data/laikago/chassis_zup.obj
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,598 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="plane">
|
||||
<link name="chassis">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="13.715"/>
|
||||
<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="chassis_zup.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>
|
||||
<mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="FR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<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="hip_motor_mirror.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FR_hip_motor"/>
|
||||
<origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<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="upper_leg_mirror.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_hip_motor"/>
|
||||
<child link="FR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FR_upper_leg"/>
|
||||
<child link="FR_lower_leg"/>
|
||||
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<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="hip_motor.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="FL_hip_motor"/>
|
||||
<origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
|
||||
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="FL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<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="upper_leg_left.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_hip_motor"/>
|
||||
<child link="FL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="FL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="FL_upper_leg"/>
|
||||
<child link="FL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
<link name="RR_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<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="hip_motor_mirror.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RR_hip_motor"/>
|
||||
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
|
||||
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<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="upper_leg_mirror2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_hip_motor"/>
|
||||
<child link="RR_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RR_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RR_upper_leg"/>
|
||||
<child link="RR_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_hip_motor">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-.02 0 0"/>
|
||||
<mass value="1.095"/>
|
||||
<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="hip_motor.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="hip_motor.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="RL_hip_motor"/>
|
||||
|
||||
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="RL_upper_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
|
||||
<mass value="1.527"/>
|
||||
<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="upper_leg_left2.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_hip_motor"/>
|
||||
<child link="RL_upper_leg"/>
|
||||
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="RL_lower_leg">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
|
||||
<mass value="0.241"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg3.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="RL_upper_leg"/>
|
||||
<child link="RL_lower_leg"/>
|
||||
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping=".0" friction=".0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeRL">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoeRL" type="fixed">
|
||||
<parent link="RL_lower_leg"/>
|
||||
<child link="toeRL"/>
|
||||
<origin xyz="0 -0.25 -0.022"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeRR">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoeRR" type="fixed">
|
||||
<parent link="RR_lower_leg"/>
|
||||
<child link="toeRR"/>
|
||||
<origin xyz="0 -0.25 -0.022"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeFL">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoeFL" type="fixed">
|
||||
<parent link="FL_lower_leg"/>
|
||||
<child link="toeFL"/>
|
||||
<origin xyz="0 -0.25 -0.022"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="toeFR">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<stiffness value="30000.0"/>
|
||||
<damping value="1000.0"/>
|
||||
<spinning_friction value="0.1"/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.0"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="jtoeFR" type="fixed">
|
||||
<parent link="FR_lower_leg"/>
|
||||
<child link="toeFR"/>
|
||||
<origin xyz="0 -0.25 -0.022"/>
|
||||
<dynamics damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/base.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/base.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_base">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link_base"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/base_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/base_com.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_base">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link_base"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 -0.09103"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link1.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link1.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link1">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
|
||||
<mass value="2.16"/>
|
||||
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link1_com.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link1">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.002 -0.02692 0.01332"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.002 -0.02692 0.01332"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="2.16"/>
|
||||
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link2.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link2.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link2">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link2"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Yellow"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
|
||||
<mass value="1.71"/>
|
||||
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link2_com.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link2">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link2"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.03531 0.21398 -0.03386"/>
|
||||
<material name="Yellow"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.03531 0.21398 -0.03386"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.71"/>
|
||||
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link3.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link3.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link3">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link3"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
|
||||
<mass value="1.384"/>
|
||||
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link3_com.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link3">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link3"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.06781 -0.10749 -0.01457"/>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.06781 -0.10749 -0.01457"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.384"/>
|
||||
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link4.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link4.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link4">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link4"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
|
||||
<mass value="1.115"/>
|
||||
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link4_com.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link4">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link4"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
|
||||
<material name="Green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.00021 -0.02578 0.02538"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.115"/>
|
||||
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link5.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link5.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link5">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
|
||||
<mass value="1.275"/>
|
||||
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
69
examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf
Normal file
69
examples/pybullet/gym/pybullet_data/xarm/link5_com.urdf
Normal file
@@ -0,0 +1,69 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link5">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
|
||||
<material name="Red"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="-0.05428 -0.01781 -0.00543"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.275"/>
|
||||
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link6.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link6.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link6">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link6"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
|
||||
<mass value="0.1096"/>
|
||||
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
70
examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf
Normal file
70
examples/pybullet/gym/pybullet_data/xarm/link6_com.urdf
Normal file
@@ -0,0 +1,70 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_link6">
|
||||
<!--
|
||||
Author: Jason Peng <jason@ufactory.cc>
|
||||
Contributers:
|
||||
-->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/xarm</robotNamespace>
|
||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
<legacyModeNS>true</legacyModeNS>
|
||||
<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="world"/>
|
||||
<joint name="world_joint" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="link6"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||
</material>
|
||||
<material name="Green">
|
||||
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||
</material>
|
||||
<material name="Yellow">
|
||||
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||
</material>
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
|
||||
<material name="Silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 -0.00064 0.00952"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.1096"/>
|
||||
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -5,7 +5,7 @@ parentdir = os.path.dirname(os.path.dirname(currentdir))
|
||||
os.sys.path.insert(0, parentdir)
|
||||
|
||||
from pybullet_utils import bullet_client
|
||||
import panda_sim
|
||||
from pybullet_envs.examples import panda_sim
|
||||
|
||||
|
||||
import time
|
||||
|
||||
@@ -3,7 +3,7 @@ import pybullet_data as pd
|
||||
import math
|
||||
import time
|
||||
import numpy as np
|
||||
import panda_sim
|
||||
from pybullet_envs.examples import panda_sim
|
||||
|
||||
p.connect(p.GUI)
|
||||
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
|
||||
@@ -18,4 +18,4 @@ while (1):
|
||||
panda.step()
|
||||
p.stepSimulation()
|
||||
time.sleep(timeStep)
|
||||
|
||||
|
||||
|
||||
@@ -1,7 +1,7 @@
|
||||
import pybullet as p
|
||||
import pybullet_data as pd
|
||||
import time
|
||||
p.connect(p.GUI)
|
||||
p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0")
|
||||
p.setAdditionalSearchPath(pd.getDataPath())
|
||||
|
||||
|
||||
@@ -14,7 +14,30 @@ table_pos = [0,0,-0.625]
|
||||
table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
|
||||
xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
|
||||
|
||||
jointIds = []
|
||||
paramIds = []
|
||||
|
||||
for j in range(p.getNumJoints(xarm)):
|
||||
p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0)
|
||||
info = p.getJointInfo(xarm, j)
|
||||
#print(info)
|
||||
jointName = info[1]
|
||||
jointType = info[2]
|
||||
if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
|
||||
jointIds.append(j)
|
||||
paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0))
|
||||
|
||||
skip_cam_frames = 10
|
||||
|
||||
while (1):
|
||||
p.stepSimulation()
|
||||
for i in range(len(paramIds)):
|
||||
c = paramIds[i]
|
||||
targetPos = p.readUserDebugParameter(c)
|
||||
p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
|
||||
skip_cam_frames -= 1
|
||||
if (skip_cam_frames<0):
|
||||
p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL )
|
||||
skip_cam_frames = 10
|
||||
time.sleep(1./240.)
|
||||
|
||||
|
||||
@@ -109,8 +109,6 @@ if not _OPTIONS["no-enet"] then
|
||||
"../../examples/SharedMemory/plugins/tinyRendererPlugin/tinyRendererPlugin.h",
|
||||
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp",
|
||||
"../../examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.h",
|
||||
"../../examples/OpenGLWindow/SimpleCamera.cpp",
|
||||
"../../examples/OpenGLWindow/SimpleCamera.h",
|
||||
"../../examples/TinyRenderer/geometry.cpp",
|
||||
"../../examples/TinyRenderer/model.cpp",
|
||||
"../../examples/TinyRenderer/tgaimage.cpp",
|
||||
@@ -157,8 +155,6 @@ if not _OPTIONS["no-enet"] then
|
||||
"../../examples/SharedMemory/PosixSharedMemory.h",
|
||||
"../../examples/SharedMemory/SharedMemoryCommands.h",
|
||||
"../../examples/SharedMemory/SharedMemoryPublic.h",
|
||||
"../../examples/Utils/b3ResourcePath.cpp",
|
||||
"../../examples/Utils/b3ResourcePath.h",
|
||||
"../../examples/Utils/RobotLoggingUtil.cpp",
|
||||
"../../examples/Utils/RobotLoggingUtil.h",
|
||||
"../../examples/ThirdPartyLibs/tinyxml2/tinyxml2.cpp",
|
||||
|
||||
Reference in New Issue
Block a user