add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda)
add XArm6 URDF with optimized collision meshes and example (XArm gripper needs more work) python3 -m pybullet_envs.examples.xarm
This commit is contained in:
Erwin Coumans
27
examples/pybullet/gym/pybullet_data/xarm/LICENSE
Normal file
27
examples/pybullet/gym/pybullet_data/xarm/LICENSE
Normal file
@@ -0,0 +1,27 @@
|
||||
Copyright (c) 2018, UFACTORY Inc.
|
||||
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification,
|
||||
are permitted provided that the following conditions are met:
|
||||
|
||||
* Redistributions of source code must retain the above copyright notice,
|
||||
this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright notice,
|
||||
this list of conditions and the following disclaimer in the documentation
|
||||
and/or other materials provided with the distribution.
|
||||
* Neither the name of the copyright holder nor the names of its contributors
|
||||
may be used to endorse or promote products derived from this software
|
||||
without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
|
||||
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
|
||||
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
|
||||
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
|
||||
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
|
||||
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
|
||||
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
|
||||
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
314
examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf
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314
examples/pybullet/gym/pybullet_data/xarm/xarm6.urdf
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@@ -0,0 +1,314 @@
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||||
<?xml version="1.0" encoding="utf-8"?>
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||||
<!-- =================================================================================== -->
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||||
<!-- | This document was autogenerated by xacro from src/xarm_ros/xarm_description/urdf/xarm6_robot.urdf.xacro | -->
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||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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||||
<!-- =================================================================================== -->
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||||
<robot name="xarm6" xmlns:xacro="http://ros.org/wiki/xacro">
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<!--
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Author: Jason Peng <jason@ufactory.cc>
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Contributers:
|
||||
-->
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||||
<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/xarm</robotNamespace>
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<!-- <controlPeriod>0.0001</controlPeriod> -->
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||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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||||
<legacyModeNS>true</legacyModeNS>
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||||
</plugin>
|
||||
</gazebo>
|
||||
<link name="base"/>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base"/>
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||||
<child link="link_base"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<!-- added tool0 to comply with ROS industrial-->
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<link name="tool0"/>
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<joint name="tool_joint" type="fixed">
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<parent link="link6"/>
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<child link="tool0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
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</joint>
|
||||
<material name="Black">
|
||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="Red">
|
||||
<color rgba="0.8 0.0 0.0 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"/>
|
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</material>
|
||||
<link name="link_base">
|
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<visual>
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<geometry>
|
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<mesh filename="meshes/xarm6/visual/base.stl"/>
|
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</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<material name="White"/>
|
||||
</visual>
|
||||
<collision>
|
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<geometry>
|
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<mesh filename="meshes/xarm6/visual/base.stl"/>
|
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</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
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</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>
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<link name="link1">
|
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<visual>
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<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
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<material name="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
||||
</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>
|
||||
<joint name="joint1" type="revolute">
|
||||
<parent link="link_base"/>
|
||||
<child link="link1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.267"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<link name="link2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link2.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link2.stl"/>
|
||||
</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>
|
||||
<joint name="joint2" type="revolute">
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50.0" lower="-2.18" upper="2.18" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<link name="link3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link3.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link3.stl"/>
|
||||
</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>
|
||||
<joint name="joint3" type="revolute">
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-4.01" upper="0.11" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<link name="link4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
||||
</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>
|
||||
<joint name="joint4" type="revolute">
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<link name="link5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
||||
</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>
|
||||
<joint name="joint5" type="revolute">
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-1.75" upper="3.14159265359" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<link name="link6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="Silver"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
||||
</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>
|
||||
<joint name="joint6" type="revolute">
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<transmission name="tran1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint1">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor1">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>100</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor2">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor5">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor6">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo reference="link_base">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link1">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link2">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link3">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link4">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link5">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link6">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
308
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
Normal file
308
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot.urdf
Normal file
@@ -0,0 +1,308 @@
|
||||
<?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">
|
||||
<!--
|
||||
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="0.8 0.0 0.0 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="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
|
||||
</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>
|
||||
<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="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
||||
</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>
|
||||
<joint name="joint1" type="revolute">
|
||||
<parent link="link_base"/>
|
||||
<child link="link1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.267"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
||||
</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>
|
||||
<joint name="joint2" type="revolute">
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
||||
</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>
|
||||
<joint name="joint3" type="revolute">
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
||||
</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>
|
||||
<joint name="joint4" type="revolute">
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
||||
</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>
|
||||
<joint name="joint5" type="revolute">
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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/visual/link6.stl"/>
|
||||
</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>
|
||||
<joint name="joint6" type="revolute">
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<transmission name="tran1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint1">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor1">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>100</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor2">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor5">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor6">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo reference="link_base">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link1">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link2">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link3">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link4">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link5">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link6">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
554
examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf
Normal file
554
examples/pybullet/gym/pybullet_data/xarm/xarm6_with_gripper.urdf
Normal file
@@ -0,0 +1,554 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from xarm6_with_gripper.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="xarm6_with_gripper">
|
||||
<!-- <xacro:load_gripper attach_to="$(arg prefix)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="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="0.8 0.0 0.0 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="White"/>
|
||||
</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>
|
||||
<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="White"/>
|
||||
</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>
|
||||
<joint name="joint1" type="revolute">
|
||||
<parent link="link_base"/>
|
||||
<child link="link1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.267"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd2.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>
|
||||
<joint name="joint2" type="revolute">
|
||||
<parent link="link1"/>
|
||||
<child link="link2"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</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>
|
||||
<joint name="joint3" type="revolute">
|
||||
<parent link="link2"/>
|
||||
<child link="link3"/>
|
||||
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</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>
|
||||
<joint name="joint4" type="revolute">
|
||||
<parent link="link3"/>
|
||||
<child link="link4"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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="White"/>
|
||||
</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>
|
||||
<joint name="joint5" type="revolute">
|
||||
<parent link="link4"/>
|
||||
<child link="link5"/>
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<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/visual/link6.stl"/>
|
||||
</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>
|
||||
<joint name="joint6" type="revolute">
|
||||
<parent link="link5"/>
|
||||
<child link="link6"/>
|
||||
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
||||
<dynamics damping="1.0" friction="1.0"/>
|
||||
</joint>
|
||||
<transmission name="tran1">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint1">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor1">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>100</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran2">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint2">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor2">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran3">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran4">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint4">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor3">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran5">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint5">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor5">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="tran6">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="joint6">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="motor6">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>reduction</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo reference="link_base">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link1">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link2">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link3">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link4">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link5">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="link6">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<!-- gazebo plugin -->
|
||||
<!-- <xacro:gazebo_ros_control_plugin namespace="${ns}"/> -->
|
||||
<joint name="gripper_fix" type="fixed">
|
||||
<parent link="link6"/>
|
||||
<child link="xarm_gripper_base_link"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
<link name="xarm_gripper_base_link">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.00065489 -0.0018497 0.048028"/>
|
||||
<mass value="0.54156"/>
|
||||
<inertia ixx="0.00047106" ixy="3.9292E-07" ixz="2.6537E-06" iyy="0.00033072" iyz="-1.0975E-05" izz="0.00025642"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
<!-- <material
|
||||
name="">
|
||||
<color
|
||||
rgba="0.89804 0.91765 0.92941 1" />
|
||||
</material> -->
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/base_link.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="left_outer_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.9948E-14 0.021559 0.015181"/>
|
||||
<mass value="0.033618"/>
|
||||
<inertia ixx="1.9111E-05" ixy="-1.8803E-17" ixz="-1.1002E-17" iyy="6.6256E-06" iyz="-7.3008E-06" izz="1.3185E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/left_outer_knuckle.STL"/>
|
||||
</geometry>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/left_outer_knuckle.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="drive_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.035 0.059098"/>
|
||||
<parent link="xarm_gripper_base_link"/>
|
||||
<child link="left_outer_knuckle"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
||||
</joint>
|
||||
<link name="left_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-2.4536E-14 -0.016413 0.029258"/>
|
||||
<mass value="0.048304"/>
|
||||
<inertia ixx="1.7493E-05" ixy="-4.2156E-19" ixz="6.9164E-18" iyy="1.7225E-05" iyz="4.6433E-06" izz="5.1466E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/left_finger.STL"/>
|
||||
</geometry>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/left_finger.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_finger_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.035465 0.042039"/>
|
||||
<parent link="left_outer_knuckle"/>
|
||||
<child link="left_finger"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
||||
<mimic joint="drive_joint" multiplier="1" offset="0"/>
|
||||
</joint>
|
||||
<link name="left_inner_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.86600784687907E-06 0.0220467847633621 0.0261334672830885"/>
|
||||
<mass value="0.0230125781256706"/>
|
||||
<inertia ixx="6.09490024271906E-06" ixy="6.06651326160071E-11" ixz="7.19102670500635E-11" iyy="6.01955084375188E-06" iyz="-2.75316812991721E-06" izz="5.07862004479903E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/left_inner_knuckle.STL"/>
|
||||
</geometry>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/left_inner_knuckle.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_inner_knuckle_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0.074098"/>
|
||||
<parent link="xarm_gripper_base_link"/>
|
||||
<child link="left_inner_knuckle"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
||||
<mimic joint="drive_joint" multiplier="1" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_outer_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-3.1669E-14 -0.021559 0.015181"/>
|
||||
<mass value="0.033618"/>
|
||||
<inertia ixx="1.9111E-05" ixy="-1.8789E-17" ixz="1.0986E-17" iyy="6.6256E-06" iyz="7.3008E-06" izz="1.3185E-05"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/right_outer_knuckle.STL"/>
|
||||
</geometry>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/right_outer_knuckle.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_outer_knuckle_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.035 0.059098"/>
|
||||
<parent link="xarm_gripper_base_link"/>
|
||||
<child link="right_outer_knuckle"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
||||
<mimic joint="drive_joint" multiplier="1" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_finger">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="2.5618E-14 0.016413 0.029258"/>
|
||||
<mass value="0.048304"/>
|
||||
<inertia ixx="1.7493E-05" ixy="-5.0014E-19" ixz="-7.5079E-18" iyy="1.7225E-05" iyz="-4.6435E-06" izz="5.1466E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/right_finger.STL"/>
|
||||
</geometry>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/right_finger.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_finger_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.035465 0.042039"/>
|
||||
<parent link="right_outer_knuckle"/>
|
||||
<child link="right_finger"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
||||
<mimic joint="drive_joint" multiplier="1" offset="0"/>
|
||||
</joint>
|
||||
<link name="right_inner_knuckle">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="1.866E-06 -0.022047 0.026133"/>
|
||||
<mass value="0.023013"/>
|
||||
<inertia ixx="6.0949E-06" ixy="-6.0665E-11" ixz="7.191E-11" iyy="6.0197E-06" iyz="2.7531E-06" izz="5.0784E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/right_inner_knuckle.STL"/>
|
||||
</geometry>
|
||||
<material name="Silver">
|
||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="package://xarm_gripper/meshes/right_inner_knuckle.STL"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_inner_knuckle_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 -0.02 0.074098"/>
|
||||
<parent link="xarm_gripper_base_link"/>
|
||||
<child link="right_inner_knuckle"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="50" lower="0" upper="0.85" velocity="2"/>
|
||||
<mimic joint="drive_joint" multiplier="1" offset="0"/>
|
||||
</joint>
|
||||
<transmission name="drive_joint_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="drive_joint">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="drive_joint_motor">
|
||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<gazebo reference="xarm_gripper_base_link">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="left_outer_knuckle">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="left_finger">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="left_inner_knuckle">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="right_outer_knuckle">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="right_finger">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
<gazebo reference="right_inner_knuckle">
|
||||
<selfCollide>true</selfCollide>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 500
|
||||
Ka 0.8 0.8 0.8
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
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d 1
|
||||
illum 2
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@@ -0,0 +1,687 @@
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||||
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||||
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||||
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@@ -0,0 +1,10 @@
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||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
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||||
|
||||
newmtl None
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||||
Ns 500
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Ka 0.8 0.8 0.8
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||||
Kd 0.8 0.8 0.8
|
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d 1
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illum 2
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@@ -0,0 +1,378 @@
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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o convex_1
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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# Blender MTL File: 'None'
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newmtl Default_OBJ
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illum 2
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# www.blender.org
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usemtl Default_OBJ
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s off
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|
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|
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|
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||||
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||||
vn -0.6451 -0.4081 0.6460
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||||
usemtl Default_OBJ
|
||||
s off
|
||||
f 129//219 130//219 131//219
|
||||
f 132//220 133//220 134//220
|
||||
f 134//220 133//220 135//220
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 500
|
||||
Ka 0.8 0.8 0.8
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
@@ -0,0 +1,567 @@
|
||||
o convex_0
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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|
||||
v 0.072212 0.124265 0.090188
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 500
|
||||
Ka 0.8 0.8 0.8
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
@@ -0,0 +1,891 @@
|
||||
o convex_0
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
o convex_1
|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
o convex_2
|
||||
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|
||||
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||||
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|
||||
v -0.017534 0.082737 -0.071985
|
||||
v 0.005961 0.082737 0.022916
|
||||
v 0.028510 0.081795 -0.012786
|
||||
v -0.037265 0.075214 -0.014659
|
||||
v 0.024754 0.079912 -0.071985
|
||||
v -0.026930 0.082734 -0.051298
|
||||
v -0.032571 0.067704 0.018223
|
||||
v -0.019411 0.054546 0.033270
|
||||
v 0.032273 0.054546 0.020107
|
||||
v -0.010954 0.086496 -0.002443
|
||||
v 0.015358 0.084617 0.009763
|
||||
v -0.011893 0.063006 0.036090
|
||||
v 0.036967 0.074276 -0.016554
|
||||
v -0.004374 0.054546 -0.038145
|
||||
v 0.021930 0.067701 0.029503
|
||||
v -0.008130 0.081792 0.024810
|
||||
v -0.024113 0.080857 0.012594
|
||||
v 0.029449 0.071455 0.019159
|
||||
v -0.038212 0.065825 -0.071985
|
||||
v -0.004374 0.086496 -0.056938
|
||||
v -0.035388 0.078036 -0.045669
|
||||
v -0.026930 0.082734 -0.009966
|
||||
v -0.021289 0.074276 0.026683
|
||||
v -0.001557 0.076153 0.032334
|
||||
v 0.005961 0.063942 0.037027
|
||||
v 0.034151 0.062065 0.016350
|
||||
v 0.037914 0.054546 -0.004326
|
||||
v 0.018174 0.056422 -0.071985
|
||||
f 162 135 192
|
||||
f 134 131 137
|
||||
f 132 135 142
|
||||
f 135 132 143
|
||||
f 135 143 147
|
||||
f 131 134 149
|
||||
f 134 148 149
|
||||
f 148 132 149
|
||||
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|
||||
f 133 143 156
|
||||
f 151 133 156
|
||||
f 141 151 156
|
||||
f 155 140 158
|
||||
f 132 142 159
|
||||
f 142 149 159
|
||||
f 131 149 162
|
||||
f 147 143 163
|
||||
f 142 135 164
|
||||
f 149 142 164
|
||||
f 143 132 165
|
||||
f 139 143 165
|
||||
f 132 152 165
|
||||
f 133 151 167
|
||||
f 158 140 167
|
||||
f 160 133 167
|
||||
f 140 160 167
|
||||
f 129 144 168
|
||||
f 148 129 168
|
||||
f 132 148 168
|
||||
f 143 133 169
|
||||
f 133 160 169
|
||||
f 160 138 169
|
||||
f 138 163 169
|
||||
f 163 143 169
|
||||
f 161 139 170
|
||||
f 139 165 170
|
||||
f 165 152 170
|
||||
f 129 148 171
|
||||
f 148 134 171
|
||||
f 134 150 171
|
||||
f 134 137 172
|
||||
f 150 134 172
|
||||
f 154 131 173
|
||||
f 146 154 173
|
||||
f 153 141 174
|
||||
f 141 156 174
|
||||
f 139 161 174
|
||||
f 151 141 175
|
||||
f 136 158 175
|
||||
f 141 166 175
|
||||
f 166 136 175
|
||||
f 167 151 175
|
||||
f 158 167 175
|
||||
f 172 137 176
|
||||
f 150 172 176
|
||||
f 130 138 177
|
||||
f 155 130 177
|
||||
f 140 155 177
|
||||
f 138 160 177
|
||||
f 160 140 177
|
||||
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|
||||
f 162 149 178
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 155 158 182
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 156 143 184
|
||||
f 139 174 184
|
||||
f 174 156 184
|
||||
f 152 132 185
|
||||
f 168 144 185
|
||||
f 132 168 185
|
||||
f 144 170 185
|
||||
f 170 152 185
|
||||
f 170 144 186
|
||||
f 161 170 186
|
||||
f 153 174 186
|
||||
f 174 161 186
|
||||
f 144 181 186
|
||||
f 181 153 186
|
||||
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|
||||
f 171 150 187
|
||||
f 176 145 187
|
||||
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|
||||
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|
||||
f 145 181 187
|
||||
f 157 136 188
|
||||
f 136 166 188
|
||||
f 145 176 188
|
||||
f 180 145 188
|
||||
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|
||||
f 137 154 189
|
||||
f 176 137 189
|
||||
f 154 179 189
|
||||
f 179 157 189
|
||||
f 157 188 189
|
||||
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|
||||
f 131 130 190
|
||||
f 130 155 190
|
||||
f 173 131 190
|
||||
f 146 173 190
|
||||
f 155 182 190
|
||||
f 182 146 190
|
||||
f 130 131 191
|
||||
f 138 130 191
|
||||
f 131 162 191
|
||||
f 162 147 191
|
||||
f 163 138 191
|
||||
f 147 163 191
|
||||
f 135 147 192
|
||||
f 147 162 192
|
||||
o convex_3
|
||||
v -0.013768 -0.041316 -0.170663
|
||||
v 0.041667 0.020709 -0.120867
|
||||
v 0.042613 0.009430 -0.130260
|
||||
v -0.037266 0.020709 -0.173480
|
||||
v -0.039150 0.019764 -0.116158
|
||||
v 0.039792 0.016949 -0.173480
|
||||
v 0.017231 -0.037550 -0.137774
|
||||
v 0.036033 -0.024394 -0.173480
|
||||
v -0.037266 -0.021573 -0.140597
|
||||
v -0.041963 -0.010307 -0.173480
|
||||
v -0.000617 -0.033797 -0.131197
|
||||
v 0.013472 0.020709 -0.110518
|
||||
v 0.013472 -0.041316 -0.173480
|
||||
v -0.012831 -0.039439 -0.137774
|
||||
v 0.033212 -0.019696 -0.133083
|
||||
v 0.037908 0.020709 -0.173480
|
||||
v -0.027874 -0.033790 -0.173480
|
||||
v -0.041963 0.020709 -0.119924
|
||||
v 0.042613 -0.008430 -0.147167
|
||||
v -0.016589 0.019764 -0.110518
|
||||
v -0.028811 -0.020641 -0.130260
|
||||
v 0.033212 -0.028154 -0.143401
|
||||
v 0.035087 0.019764 -0.114284
|
||||
v 0.001258 -0.043199 -0.142464
|
||||
v 0.042613 0.006609 -0.173480
|
||||
v 0.015356 -0.027216 -0.129317
|
||||
v -0.042909 0.005664 -0.173480
|
||||
v -0.042909 -0.006553 -0.143401
|
||||
v -0.025990 -0.034735 -0.142470
|
||||
v 0.020990 -0.038495 -0.147161
|
||||
v -0.016589 -0.029099 -0.130266
|
||||
v 0.027570 -0.033790 -0.173480
|
||||
v 0.039792 -0.007485 -0.132140
|
||||
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|
||||
v -0.036329 -0.024401 -0.170657
|
||||
v -0.004375 -0.043199 -0.173480
|
||||
v 0.002196 -0.023456 -0.126500
|
||||
v -0.014714 -0.041316 -0.148110
|
||||
v 0.039792 -0.017820 -0.144350
|
||||
v -0.039150 -0.007492 -0.131197
|
||||
v -0.032570 0.019764 -0.113341
|
||||
v 0.026632 -0.020641 -0.129317
|
||||
v -0.040088 0.016943 -0.173480
|
||||
v -0.042909 0.016943 -0.125557
|
||||
v -0.033508 -0.028154 -0.145287
|
||||
v 0.013472 0.019764 -0.110518
|
||||
v 0.011597 -0.042254 -0.148110
|
||||
v -0.041963 -0.012183 -0.144344
|
||||
v 0.039792 0.018826 -0.117101
|
||||
v -0.026928 -0.028154 -0.134020
|
||||
v 0.005955 -0.038488 -0.134963
|
||||
v 0.028507 0.019764 -0.112398
|
||||
v 0.025694 -0.030975 -0.135894
|
||||
v -0.041963 0.000966 -0.130260
|
||||
v 0.004071 -0.043199 -0.170663
|
||||
v 0.039792 -0.016875 -0.173480
|
||||
v -0.009072 -0.022518 -0.126500
|
||||
v 0.041667 0.000028 -0.130260
|
||||
v 0.027570 -0.033790 -0.144344
|
||||
v -0.009072 0.018826 -0.110518
|
||||
v -0.041963 0.020709 -0.131197
|
||||
v -0.020348 -0.038488 -0.173480
|
||||
v -0.040088 -0.016875 -0.173480
|
||||
v 0.009713 -0.022511 -0.126500
|
||||
f 244 238 256
|
||||
f 196 198 200
|
||||
f 196 200 202
|
||||
f 194 196 204
|
||||
f 202 200 205
|
||||
f 196 194 208
|
||||
f 194 198 208
|
||||
f 198 196 208
|
||||
f 202 205 209
|
||||
f 204 196 210
|
||||
f 204 210 212
|
||||
f 194 204 215
|
||||
f 194 195 217
|
||||
f 198 194 217
|
||||
f 200 198 217
|
||||
f 195 211 217
|
||||
f 196 202 219
|
||||
f 219 202 220
|
||||
f 206 203 223
|
||||
f 205 200 224
|
||||
f 200 214 224
|
||||
f 222 205 224
|
||||
f 200 217 226
|
||||
f 217 211 226
|
||||
f 209 205 228
|
||||
f 216 206 230
|
||||
f 206 221 230
|
||||
f 193 228 230
|
||||
f 228 216 230
|
||||
f 214 200 231
|
||||
f 207 214 231
|
||||
f 225 207 231
|
||||
f 213 197 232
|
||||
f 210 197 233
|
||||
f 212 210 233
|
||||
f 197 213 233
|
||||
f 223 212 233
|
||||
f 213 223 233
|
||||
f 196 219 235
|
||||
f 219 220 236
|
||||
f 221 201 237
|
||||
f 209 221 237
|
||||
f 201 227 237
|
||||
f 227 209 237
|
||||
f 204 212 238
|
||||
f 199 216 239
|
||||
f 205 222 239
|
||||
f 222 199 239
|
||||
f 220 202 240
|
||||
f 227 201 240
|
||||
f 194 215 241
|
||||
f 207 225 241
|
||||
f 234 207 241
|
||||
f 215 234 241
|
||||
f 221 206 242
|
||||
f 201 221 242
|
||||
f 206 223 242
|
||||
f 223 213 242
|
||||
f 213 232 242
|
||||
f 232 201 242
|
||||
f 203 206 243
|
||||
f 216 199 243
|
||||
f 206 216 243
|
||||
f 199 218 243
|
||||
f 218 203 243
|
||||
f 215 204 244
|
||||
f 234 215 244
|
||||
f 218 234 244
|
||||
f 204 238 244
|
||||
f 214 207 245
|
||||
f 218 199 245
|
||||
f 207 234 245
|
||||
f 234 218 245
|
||||
f 197 210 246
|
||||
f 232 197 246
|
||||
f 201 232 246
|
||||
f 236 220 246
|
||||
f 210 236 246
|
||||
f 220 240 246
|
||||
f 240 201 246
|
||||
f 228 205 247
|
||||
f 216 228 247
|
||||
f 239 216 247
|
||||
f 205 239 247
|
||||
f 200 226 248
|
||||
f 226 211 248
|
||||
f 231 200 248
|
||||
f 211 231 248
|
||||
f 223 203 249
|
||||
f 212 223 249
|
||||
f 203 229 249
|
||||
f 195 194 250
|
||||
f 211 195 250
|
||||
f 231 211 250
|
||||
f 225 231 250
|
||||
f 194 241 250
|
||||
f 241 225 250
|
||||
f 199 222 251
|
||||
f 224 214 251
|
||||
f 222 224 251
|
||||
f 214 245 251
|
||||
f 245 199 251
|
||||
f 238 212 252
|
||||
f 229 238 252
|
||||
f 212 249 252
|
||||
f 249 229 252
|
||||
f 210 196 253
|
||||
f 196 235 253
|
||||
f 235 219 253
|
||||
f 219 236 253
|
||||
f 236 210 253
|
||||
f 221 209 254
|
||||
f 228 193 254
|
||||
f 209 228 254
|
||||
f 193 230 254
|
||||
f 230 221 254
|
||||
f 202 209 255
|
||||
f 209 227 255
|
||||
f 240 202 255
|
||||
f 227 240 255
|
||||
f 203 218 256
|
||||
f 229 203 256
|
||||
f 238 229 256
|
||||
f 218 244 256
|
||||
o convex_4
|
||||
v 0.003134 0.042321 -0.093601
|
||||
v -0.037271 0.020711 -0.173486
|
||||
v -0.041971 0.020711 -0.130259
|
||||
v 0.041673 0.020711 -0.120868
|
||||
v 0.006900 0.042321 -0.173478
|
||||
v -0.039146 0.042321 -0.115222
|
||||
v 0.036973 0.020711 -0.173478
|
||||
v 0.038848 0.042321 -0.111461
|
||||
v -0.026931 0.020711 -0.111469
|
||||
v -0.021289 0.037624 -0.173486
|
||||
v -0.038205 0.041381 -0.102062
|
||||
v 0.036973 0.020711 -0.114284
|
||||
v 0.022874 0.036683 -0.173478
|
||||
v 0.035090 0.041381 -0.100185
|
||||
v 0.008775 0.020711 -0.109584
|
||||
v -0.007190 0.042321 -0.173478
|
||||
v -0.041971 0.020711 -0.118983
|
||||
v -0.011898 0.041381 -0.094555
|
||||
v -0.034447 0.026351 -0.173486
|
||||
v 0.035090 0.025410 -0.173478
|
||||
v 0.019116 0.041381 -0.095486
|
||||
v -0.041971 0.029169 -0.121798
|
||||
v -0.030689 0.042321 -0.098308
|
||||
v 0.012533 0.041381 -0.173478
|
||||
v 0.037907 0.042321 -0.102070
|
||||
v 0.040731 0.031987 -0.118983
|
||||
v -0.026931 0.033865 -0.173486
|
||||
v -0.036330 0.020711 -0.114292
|
||||
v 0.036973 0.042321 -0.118045
|
||||
v -0.007190 0.020711 -0.109584
|
||||
v 0.003134 0.041381 -0.093601
|
||||
v 0.019116 0.020711 -0.110523
|
||||
v -0.011898 0.041381 -0.173486
|
||||
v -0.030689 0.041381 -0.098308
|
||||
v -0.040088 0.041381 -0.107708
|
||||
v 0.026632 0.033865 -0.173478
|
||||
v 0.041673 0.022592 -0.126498
|
||||
v -0.037271 0.021652 -0.173486
|
||||
v 0.028516 0.041381 -0.097362
|
||||
v 0.036973 0.021652 -0.173478
|
||||
v 0.039790 0.020711 -0.116168
|
||||
v -0.038205 0.042321 -0.118045
|
||||
v 0.038848 0.042321 -0.104885
|
||||
v -0.018473 0.041381 -0.095486
|
||||
v -0.040088 0.041381 -0.111469
|
||||
v 0.029449 0.020711 -0.112399
|
||||
f 295 277 302
|
||||
f 259 258 260
|
||||
f 257 261 262
|
||||
f 260 258 263
|
||||
f 261 257 264
|
||||
f 259 260 265
|
||||
f 265 260 268
|
||||
f 265 268 271
|
||||
f 262 261 272
|
||||
f 259 265 273
|
||||
f 266 258 275
|
||||
f 259 273 278
|
||||
f 257 262 279
|
||||
f 262 267 279
|
||||
f 274 257 279
|
||||
f 264 257 281
|
||||
f 266 275 283
|
||||
f 273 265 284
|
||||
f 267 273 284
|
||||
f 261 264 285
|
||||
f 264 276 285
|
||||
f 280 261 285
|
||||
f 269 280 285
|
||||
f 265 271 286
|
||||
f 274 265 286
|
||||
f 274 286 287
|
||||
f 257 274 287
|
||||
f 277 257 287
|
||||
f 286 271 287
|
||||
f 287 271 288
|
||||
f 271 268 288
|
||||
f 277 287 288
|
||||
f 263 258 289
|
||||
f 258 266 289
|
||||
f 272 261 289
|
||||
f 261 280 289
|
||||
f 280 269 289
|
||||
f 279 267 290
|
||||
f 284 265 290
|
||||
f 267 284 290
|
||||
f 267 262 291
|
||||
f 273 267 291
|
||||
f 278 273 291
|
||||
f 285 276 292
|
||||
f 269 285 292
|
||||
f 276 289 292
|
||||
f 289 269 292
|
||||
f 260 263 293
|
||||
f 282 260 293
|
||||
f 258 259 294
|
||||
f 275 258 294
|
||||
f 262 275 294
|
||||
f 259 278 294
|
||||
f 268 270 295
|
||||
f 257 277 295
|
||||
f 281 257 295
|
||||
f 270 281 295
|
||||
f 276 264 296
|
||||
f 264 282 296
|
||||
f 263 289 296
|
||||
f 289 276 296
|
||||
f 293 263 296
|
||||
f 282 293 296
|
||||
f 268 260 297
|
||||
f 270 268 297
|
||||
f 260 281 297
|
||||
f 281 270 297
|
||||
f 262 272 298
|
||||
f 275 262 298
|
||||
f 266 283 298
|
||||
f 283 275 298
|
||||
f 289 266 298
|
||||
f 272 289 298
|
||||
f 264 281 299
|
||||
f 281 260 299
|
||||
f 260 282 299
|
||||
f 282 264 299
|
||||
f 265 274 300
|
||||
f 274 279 300
|
||||
f 290 265 300
|
||||
f 279 290 300
|
||||
f 291 262 301
|
||||
f 278 291 301
|
||||
f 262 294 301
|
||||
f 294 278 301
|
||||
f 288 268 302
|
||||
f 277 288 302
|
||||
f 268 295 302
|
||||
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 500
|
||||
Ka 0.8 0.8 0.8
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
@@ -0,0 +1,378 @@
|
||||
o convex_0
|
||||
v 0.035731 0.022973 -0.005213
|
||||
v -0.037949 -0.006120 0.012987
|
||||
v -0.037949 -0.006120 0.032989
|
||||
v 0.035731 -0.033410 0.023895
|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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Reference in New Issue
Block a user