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add Franka Panda URDF and example (python3 -m pybullet_envs.examples.loadpanda)

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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
2019-12-08 00:38:49 -08:00
parent 146a751eb4
commit 4cfd30f19c
66 changed files with 303581 additions and 0 deletions
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239
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/finger.obj Normal file
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.0.1262)
mtllib finger.stl.obj.mtl
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vn 0.00408502 -0.00870048 0.999954
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vn 0.006542 -0.999267 0.0377181
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vn 0.798906 -0.0450007 0.59977
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# Mesh '<STL_BINARY>' with 32 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//2 3//3
f 4//4 5//5 6//6
f 7//7 8//8 9//9
f 10//10 11//11 12//12
f 13//13 14//14 15//15
f 16//16 17//17 18//18
f 19//19 20//20 21//21
f 22//22 23//23 24//24
f 25//25 26//26 27//27
f 28//28 29//29 30//30
f 31//31 32//32 33//33
f 34//34 35//35 36//36
f 37//37 38//38 39//39
f 40//40 41//41 42//42
f 43//43 44//44 45//45
f 46//46 47//47 48//48
f 49//49 50//50 51//51
f 52//52 53//53 54//54
f 55//55 56//56 57//57
f 58//58 59//59 60//60
f 61//61 62//62 63//63
f 64//64 65//65 66//66
f 67//67 68//68 69//69
f 70//70 71//71 72//72
f 73//73 74//74 75//75
f 76//76 77//77 78//78
f 79//79 80//80 81//81
f 82//82 83//83 84//84
f 85//85 86//86 87//87
f 88//88 89//89 90//90
f 91//91 92//92 93//93
f 94//94 95//95 96//96

517
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/hand.obj Normal file
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib hand.obj.mtl
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# 0 UV coordinates
# 200 vertex normals
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vn -0.346496 -0.193469 -0.917884
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# Mesh '<STL_BINARY>' with 200 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 5//2 6//2
f 7//3 6//3 8//3
f 9//4 10//4 11//4
f 10//5 3//5 11//5
f 12//6 1//6 3//6
f 13//7 6//7 14//7
f 8//8 6//8 5//8
f 4//9 6//9 13//9
f 15//10 16//10 17//10
f 18//11 19//11 13//11
f 20//12 7//12 8//12
f 21//13 6//13 7//13
f 22//14 23//14 24//14
f 25//15 26//15 27//15
f 28//16 10//16 9//16
f 2//17 29//17 3//17
f 29//18 11//18 3//18
f 30//19 16//19 15//19
f 31//20 32//20 33//20
f 34//21 35//21 36//21
f 37//22 3//22 38//22
f 6//23 39//23 40//23
f 25//24 8//24 5//24
f 41//25 42//25 16//25
f 18//26 14//26 43//26
f 22//27 24//27 44//27
f 44//28 45//28 22//28
f 46//29 22//29 45//29
f 45//30 47//30 46//30
f 20//31 8//31 48//31
f 9//32 11//32 15//32
f 36//33 10//33 49//33
f 50//34 28//34 9//34
f 10//35 36//35 35//35
f 12//36 37//36 32//36
f 37//37 12//37 3//37
f 37//38 38//38 51//38
f 37//39 52//39 32//39
f 52//40 37//40 51//40
f 10//41 35//41 53//41
f 10//42 53//42 38//42
f 10//43 38//43 3//43
f 54//44 35//44 34//44
f 55//45 56//45 57//45
f 56//46 55//46 58//46
f 57//47 54//47 34//47
f 39//48 6//48 21//48
f 59//49 18//49 43//49
f 40//50 39//50 43//50
f 14//51 40//51 43//51
f 14//52 6//52 40//52
f 60//53 25//53 5//53
f 59//54 61//54 17//54
f 42//55 60//55 5//55
f 16//56 42//56 17//56
f 62//57 22//57 46//57
f 22//58 62//58 23//58
f 1//59 46//59 63//59
f 47//60 63//60 46//60
f 25//61 64//61 8//61
f 64//62 25//62 27//62
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f 66//65 36//65 49//65
f 63//66 2//66 1//66
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f 32//69 69//69 12//69
f 70//70 71//70 67//70
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f 72//72 73//72 74//72
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f 55//75 79//75 58//75
f 4//76 42//76 5//76
f 50//77 15//77 17//77
f 59//78 17//78 18//78
f 7//79 20//79 77//79
f 24//80 26//80 44//80
f 27//81 26//81 24//81
f 45//82 80//82 47//82
f 41//83 16//83 81//83
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f 33//86 84//86 83//86
f 49//87 28//87 61//87
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f 61//89 50//89 17//89
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f 85//93 80//93 30//93
f 9//94 15//94 50//94
f 85//95 15//95 11//95
f 11//96 29//96 85//96
f 83//97 62//97 68//97
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f 71//100 33//100 67//100
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f 21//106 79//106 55//106
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f 39//109 21//109 55//109
f 91//110 82//110 70//110
f 84//111 23//111 83//111
f 28//112 49//112 10//112
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f 31//114 33//114 68//114
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f 51//116 86//116 52//116
f 69//117 32//117 31//117
f 46//118 94//118 68//118
f 94//119 31//119 68//119
f 94//120 12//120 69//120
f 76//121 75//121 72//121
f 90//122 53//122 89//122
f 86//123 51//123 88//123
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f 14//128 18//128 13//128
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f 48//179 99//179 20//179
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f 98//181 96//181 20//181
f 96//182 91//182 75//182
f 84//183 101//183 23//183
f 27//184 24//184 101//184
f 89//185 57//185 74//185
f 77//186 76//186 79//186
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f 79//188 7//188 77//188
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f 48//191 100//191 99//191
f 100//192 48//192 102//192
f 75//193 91//193 70//193
f 84//194 102//194 101//194
f 24//195 23//195 101//195
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f 25//197 60//197 97//197
f 82//198 100//198 71//198
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f 100//200 82//200 99//200

517
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link0.obj Normal file
View File

@@ -0,0 +1,517 @@
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib link0.obj.mtl
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# Mesh '<STL_BINARY>' with 200 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 2//2 1//2
f 3//3 5//3 1//3
f 6//4 7//4 8//4
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f 2//9 13//9 3//9
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f 15//20 27//20 14//20
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766
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link1.obj Normal file
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib link1.obj.mtl
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vn -0.981072 -0.185767 -0.0546607
vn 0.528868 -0.783331 -0.326637
vn 0.76126 -0.596911 -0.253339
vn -0.0976147 -0.175332 0.979658
vn -0.184681 -0.181747 0.965847
vn -0.996976 -0.0737305 -0.0245498
vn -0.677032 -0.147522 0.721016
vn -0.43119 -0.89423 -0.120114
vn -0.461114 -0.885017 0.0641761
vn -0.468947 -0.867402 -0.166441
vn -0.255083 -0.922507 -0.289679
vn -0.981837 0.189678 -0.00422814
vn -0.51319 0.836727 0.191113
vn 0.986535 -0.157288 -0.0448239
vn 0.717862 0.696158 -0.00611324
vn 0.963213 -0.252295 -0.0925606
vn 0.701656 -0.712374 0.0142301
vn 0.968635 -0.172429 0.178924
vn 0.968015 0.250892 -0.00050001
vn 0.746363 0.657021 0.106136
vn 0.591624 0.806202 0.00444014
vn 0.386054 -0.922271 0.0194456
vn 0.184372 -0.981904 -0.0432497
vn 0.193118 -0.980908 -0.0228919
vn -0.0535693 -0.998526 0.00870019
vn 0.0154024 -0.993303 0.114505
vn 0.198601 -0.958657 0.203801
vn 0.166041 -0.938695 0.302128
vn -0.0584117 -0.906727 0.417653
vn 0.104514 -0.751122 0.651838
vn -0.233703 -0.690163 0.684878
vn 0.0532791 -0.873125 0.484577
vn -0.178006 -0.81394 0.553006
vn -0.163124 -0.817316 0.552617
vn -0.364894 -0.847384 0.385737
vn -0.394551 -0.816709 0.42109
vn -0.568129 -0.762588 0.309336
vn -0.554476 -0.789718 0.262492
vn -0.293034 -0.873266 0.38928
vn -0.410033 -0.865624 0.287345
vn -0.38342 -0.899723 0.208539
vn -0.967494 -0.219881 0.12493
vn -0.62208 -0.722744 -0.301096
vn 0.34824 -0.866966 -0.35651
vn 0.8109 -0.540366 -0.224602
vn 0.341781 -0.922707 -0.178317
vn -0.425833 -0.235152 0.87371
vn -0.349712 -0.209894 0.913042
vn -0.476989 -0.157443 0.864693
vn -0.477162 -0.0113007 0.878743
vn -0.02067 -0.189617 0.98164
vn -0.987935 -0.00823022 0.154652
vn -0.933181 -0.00413105 0.359383
vn -0.206465 -0.963538 0.170196
vn -0.208502 -0.970426 0.121654
vn -0.291233 -0.956137 0.0313755
vn -0.882147 -0.433791 -0.18342
vn -0.124351 0.992237 -0.00178562
vn -0.0854882 0.953085 0.290381
vn -0.0977412 0.952515 0.288377
vn -0.220749 0.936751 0.2716
vn -0.373142 0.92776 0.00502103
vn 0.887469 0.460863 -0.00194329
vn 0.874364 0.482212 0.0543953
vn 0.896267 -0.000458288 0.443516
vn 0.888218 -0.169587 0.426977
vn 0.978304 -0.197576 -0.0623222
vn 0.699731 -0.714288 0.01298
vn 0.67653 -0.725018 -0.129058
vn 0.647609 -0.744923 -0.16029
vn 0.613755 -0.787586 0.0548847
vn 0.761852 0.647734 0.00466989
vn 0.416711 0.909022 0.00554902
vn 0.40262 0.887314 0.224879
vn 0.314743 0.949168 -0.00399641
vn 0.117807 0.993033 -0.00260596
vn 0.319667 -0.946831 0.0363796
vn 0.258556 -0.948787 0.181528
vn 0.462369 -0.820646 0.335789
vn -0.237803 -0.773231 0.587847
vn -0.390173 -0.692432 0.60688
vn -0.474985 -0.657881 0.58445
vn -0.183631 -0.240805 0.953044
vn -0.0090987 -0.618751 0.785534
vn -0.0082325 -0.227297 0.973791
vn -0.0250647 -0.75993 0.649521
vn -0.332199 -0.751566 0.569906
vn -0.0293358 -0.953268 0.300698
vn -0.7018 -0.688037 0.18461
vn -0.543336 -0.775603 -0.321289
vn -0.599317 -0.738302 -0.309401
vn -0.632194 -0.772668 0.0575707
vn 0.504183 -0.797872 -0.330453
vn 0.797002 -0.00430302 0.603961
vn 0.728258 0.0100524 0.685229
vn 0.829049 -0.208067 0.519024
vn 0.058105 0.00463791 0.9983
vn 0.0673219 0.00275692 0.997727
vn 0.0762556 -0.169796 0.982525
vn 0.521907 -0.00725495 0.852971
vn 0.515977 -0.204263 0.831892
vn 0.470032 -0.638791 0.60911
vn -0.981757 -0.13482 0.134079
vn -0.986924 -0.15503 -0.044111
vn -0.521773 -0.703119 0.483091
vn -0.00162226 -0.928713 -0.370795
vn -0.437542 -0.893871 0.097737
vn -0.220227 -0.918757 0.327697
vn -0.467802 -0.871073 -0.149643
vn -0.804257 -0.548951 -0.227646
vn -0.949803 -0.293391 -0.108607
vn -0.713939 -0.684883 -0.145692
vn -0.729174 -0.185162 0.658802
vn -0.0748226 0.997186 0.00466723
vn -0.211211 0.977437 0.00257234
vn -0.225456 0.935986 0.270368
vn -0.532147 0.846649 0.00215601
vn -0.363853 0.901034 0.23611
vn -0.380383 0.895103 0.232593
vn 0.8957 -0.000702915 0.444659
vn 0.911139 -0.207014 0.356329
vn 0.914793 -0.183437 0.359867
vn 0.964231 -0.203694 0.169612
vn 0.643586 0.750743 0.148939
vn 0.951402 -0.288302 -0.10824
vn 0.979524 -0.155564 0.127796
vn 0.968849 -0.225342 0.102726
vn 0.748547 -0.658008 0.0818713
vn 0.522947 0.85235 -0.00510958
vn 0.574362 0.800745 0.170046
vn 0.122396 -0.985291 0.119256
vn 0.0839426 -0.99285 -0.0848709
vn 0.406023 -0.865743 0.292634
vn 0.116049 -0.868422 0.482053
vn -0.337146 -0.62853 0.700915
vn 0.284131 -0.762578 0.581157
vn 0.276534 -0.760464 0.587557
vn 0.141762 -0.221011 0.964913
vn -0.144876 -0.653575 0.742866
vn -0.0465608 -0.786802 0.615447
vn -0.615212 -0.231045 0.753745
vn -0.498645 -0.755047 0.425743
vn -0.655121 -0.679414 0.330474
vn -0.705467 -0.648861 0.285124
vn -0.79187 -0.603147 0.0956809
vn -0.751734 -0.65734 -0.0529192
vn -0.654975 -0.735406 -0.173742
vn 0.434822 -0.889044 0.143288
vn 0.714389 -0.191004 0.673176
vn 0.712051 -0.196656 0.674025
vn 0.282073 -0.664743 0.691775
vn 0.519194 -0.179861 0.835516
vn 0.672205 -0.00413708 0.740353
vn 0.46445 -0.798529 0.382933
vn 0.429269 -0.788872 0.439782
vn 0.467029 -0.674853 0.571365
vn -0.217988 -0.220488 0.950719
vn -0.549193 -0.19062 0.813665
vn -0.907194 -0.192042 0.374324
vn -0.932201 -0.166481 0.321379
vn -0.857691 -0.190156 0.477711
vn -0.725858 -0.20189 0.657549
vn -0.966844 -0.164128 0.195638
vn 0.100177 -0.966949 -0.234464
vn -0.283695 -0.956998 -0.060591
vn -0.240941 -0.945622 0.218509
vn -0.619545 0.784956 -0.00285968
vn -0.937198 0.347581 0.0290976
vn -0.300075 0.953912 -0.00249058
vn 0.883947 0.467587 -0.000394642
vn 0.929752 -0.22776 0.289287
vn 0.660935 -0.701067 0.267715
vn 0.658486 -0.669121 0.34449
vn 0.27921 0.924454 0.259666
vn 0.391463 -0.892228 0.225135
vn 0.244302 -0.882143 0.402668
vn 0.171053 -0.792922 0.584821
vn -0.548799 -0.204998 0.81043
vn 0.431331 -0.719165 0.544753
vn 0.310681 -0.827672 0.467372
vn 0.188651 -0.238977 0.952523
vn -0.0646347 -0.689197 0.721685
vn -0.657555 -0.604155 0.450132
vn -0.588449 -0.803198 -0.0927366
vn -0.600846 -0.799046 0.0225906
vn 0.380618 -0.897923 -0.221052
vn 0.535659 -0.842197 -0.0614333
vn 0.398298 -0.917252 -0.00287295
vn 0.49184 -0.841328 -0.22419
vn 0.583948 -0.782201 0.217178
vn 0.78215 -0.172891 0.598624
vn 0.77157 -0.23018 0.59304
vn 0.520492 -0.179049 0.834883
vn 0.66236 -0.162763 0.731291
vn 0.5861 -0.236419 0.774979
vn -0.836818 -0.168404 0.520938
vn -0.17234 -0.956405 -0.235771
vn -0.357748 -0.925848 -0.121741
vn -0.484428 0.874825 -0.00312875
vn -0.777706 0.628628 0.000684221
vn -0.869286 0.49097 0.0573582
vn 0.723466 -0.654252 0.220342
vn 0.987866 -0.00501397 0.155229
vn -0.0555007 -0.996918 0.0554383
vn -0.212112 -0.972889 -0.0921686
vn 0.0490124 -0.987844 -0.147522
vn 0.311897 -0.163507 0.935941
vn 0.167702 -0.657357 0.734682
vn 0.16048 -0.641372 0.750258
vn -0.792156 -0.227205 0.566451
vn 0.552106 -0.822562 -0.136271
vn 0.574021 -0.804611 0.151993
vn 0.383304 -0.229382 0.894685
vn 0.319927 -0.211421 0.923552
vn -0.107213 -0.965019 -0.239255
vn 0.248657 -0.951015 -0.183686
vn 0.199104 -0.949536 -0.242362
vn -0.668137 0.744033 0.00289478
vn -0.649445 0.746612 0.144191
vn -0.763823 0.645421 -0.0025081
vn -0.762794 0.638883 0.0998648
vn -0.896187 0.443649 -0.00491388
vn 0.864259 -0.229175 0.447811
vn 0.833448 -0.189422 0.519118
vn 0.598107 -0.678476 0.426543
vn 0.597529 -0.653861 0.464139
vn 0.972839 0.0036151 0.231454
vn 0.954947 -0.00312198 0.29676
vn -0.0988836 -0.993641 -0.0538403
vn 0.2008 -0.89594 0.396196
vn 0.280693 -0.662524 0.694459
vn 0.297238 -0.173219 0.93896
vn -0.940751 0.339072 0.00429645
vn -0.0443691 -0.987648 -0.150274
vn 0.152119 -0.187179 0.970476
vn -0.875051 0.484031 0.000878792
vn 3.36252e-05 3.85133e-05 -1
vn 9.22556e-06 -1.65946e-05 -1
vn 8.39064e-06 -1.50979e-05 -1
vn 5.95889e-06 -1.04781e-05 -1
vn 0 -1.03124e-07 -1
vn 1.96831e-06 6.97027e-07 -1
vn 4.24668e-06 6.71906e-07 -1
vn 7.50599e-07 -8.35544e-07 -1
vn -1.69719e-06 5.76635e-06 -1
vn 0.000141745 0.000539471 -1
vn -8.05578e-05 -1.995e-05 -1
vn -5.26382e-05 3.61721e-05 -1
vn 0.000145371 -0.000104168 -1
vn -2.3275e-07 3.28855e-05 -1
vn -0.000111292 -0.000209832 -1
vn 0.000425521 2.71983e-06 -1
vn -5.49084e-05 9.02892e-05 -1
vn -6.38801e-05 8.97751e-05 -1
vn -3.11318e-05 -0.000269269 -1
vn -0.000377677 0.000146986 -1
# Mesh '<STL_BINARY>' with 300 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 5//2 6//2
f 7//3 8//3 9//3
f 10//4 11//4 12//4
f 13//5 14//5 15//5
f 16//6 17//6 18//6
f 19//7 20//7 21//7
f 22//8 23//8 24//8
f 25//9 15//9 14//9
f 26//10 27//10 14//10
f 28//11 29//11 30//11
f 31//12 32//12 33//12
f 11//13 34//13 12//13
f 35//14 13//14 15//14
f 36//15 37//15 5//15
f 38//16 37//16 36//16
f 20//17 39//17 21//17
f 40//18 29//18 28//18
f 34//19 41//19 42//19
f 34//20 42//20 12//20
f 16//21 18//21 42//21
f 41//22 16//22 42//22
f 43//23 5//23 4//23
f 43//24 36//24 5//24
f 4//25 15//25 25//25
f 20//26 44//26 45//26
f 45//27 46//27 20//27
f 47//28 48//28 45//28
f 49//29 45//29 48//29
f 50//30 51//30 52//30
f 53//31 9//31 54//31
f 27//32 25//32 14//32
f 53//33 7//33 9//33
f 27//34 55//34 25//34
f 27//35 26//35 56//35
f 57//36 58//36 59//36
f 60//37 61//37 62//37
f 63//38 64//38 60//38
f 19//39 65//39 43//39
f 65//40 19//40 21//40
f 32//41 66//41 33//41
f 67//42 66//42 32//42
f 68//43 31//43 69//43
f 30//44 70//44 69//44
f 23//45 10//45 24//45
f 22//46 24//46 71//46
f 6//47 5//47 58//47
f 58//48 5//48 37//48
f 70//49 49//49 48//49
f 72//50 65//50 21//50
f 73//51 16//51 74//51
f 73//52 74//52 32//52
f 16//53 75//53 17//53
f 16//54 41//54 76//54
f 77//55 48//55 47//55
f 44//56 20//56 78//56
f 53//57 54//57 79//57
f 80//58 81//58 82//58
f 83//59 71//59 53//59
f 84//60 85//60 86//60
f 1//61 3//61 79//61
f 87//62 8//62 7//62
f 82//63 9//63 88//63
f 82//64 81//64 52//64
f 89//65 90//65 91//65
f 92//66 93//66 89//66
f 92//67 89//67 94//67
f 95//68 92//68 61//68
f 61//69 92//69 62//69
f 94//70 96//70 62//70
f 63//71 62//71 96//71
f 97//72 64//72 63//72
f 98//73 99//73 100//73
f 101//74 102//74 103//74
f 97//75 63//75 99//75
f 64//76 101//76 104//76
f 97//77 101//77 64//77
f 104//78 105//78 106//78
f 104//79 107//79 105//79
f 105//80 108//80 33//80
f 105//81 33//81 66//81
f 106//82 64//82 104//82
f 105//83 66//83 106//83
f 106//84 66//84 67//84
f 69//85 28//85 30//85
f 109//86 110//86 75//86
f 11//87 10//87 111//87
f 86//88 22//88 71//88
f 11//89 112//89 89//89
f 113//90 102//90 38//90
f 37//91 38//91 102//91
f 65//92 38//92 36//92
f 65//93 36//93 43//93
f 114//94 6//94 58//94
f 45//95 49//95 46//95
f 39//96 20//96 46//96
f 61//97 60//97 67//97
f 95//98 61//98 67//98
f 95//99 67//99 74//99
f 115//100 70//100 110//100
f 55//101 116//101 117//101
f 25//102 43//102 4//102
f 117//103 43//103 25//103
f 117//104 19//104 43//104
f 78//105 118//105 119//105
f 80//106 8//106 87//106
f 8//107 88//107 9//107
f 2//108 51//108 50//108
f 120//109 121//109 2//109
f 83//110 53//110 79//110
f 84//111 86//111 83//111
f 22//112 86//112 85//112
f 22//113 85//113 23//113
f 90//114 85//114 84//114
f 88//115 80//115 82//115
f 122//116 26//116 52//116
f 26//117 50//117 52//117
f 122//118 56//118 26//118
f 55//119 27//119 56//119
f 94//120 89//120 91//120
f 96//121 94//121 91//121
f 123//122 124//122 125//122
f 103//123 104//123 101//123
f 103//124 113//124 107//124
f 113//125 126//125 107//125
f 58//126 102//126 59//126
f 57//127 59//127 98//127
f 58//128 57//128 114//128
f 101//129 99//129 98//129
f 107//130 104//130 103//130
f 60//131 62//131 63//131
f 33//132 28//132 31//132
f 75//133 18//133 17//133
f 75//134 110//134 18//134
f 68//135 32//135 31//135
f 111//136 10//136 23//136
f 127//137 120//137 50//137
f 127//138 50//138 14//138
f 128//139 129//139 121//139
f 6//140 15//140 4//140
f 6//141 35//141 15//141
f 35//142 6//142 114//142
f 13//143 130//143 14//143
f 131//144 132//144 133//144
f 134//145 135//145 133//145
f 46//146 49//146 30//146
f 30//147 49//147 70//147
f 126//148 108//148 107//148
f 136//149 41//149 34//149
f 74//150 67//150 32//150
f 106//151 60//151 64//151
f 75//152 16//152 73//152
f 109//153 115//153 110//153
f 115//154 69//154 70//154
f 115//155 109//155 68//155
f 137//156 72//156 21//156
f 25//157 55//157 117//157
f 118//158 117//158 116//158
f 19//159 117//159 118//159
f 78//160 138//160 44//160
f 78//161 19//161 118//161
f 20//162 19//162 78//162
f 120//163 2//163 50//163
f 3//164 121//164 139//164
f 2//165 121//165 3//165
f 140//166 79//166 3//166
f 82//167 51//167 9//167
f 83//168 86//168 71//168
f 1//169 79//169 54//169
f 140//170 83//170 79//170
f 83//171 140//171 84//171
f 81//172 122//172 52//172
f 51//173 82//173 52//173
f 62//174 92//174 94//174
f 92//175 141//175 93//175
f 96//176 124//176 123//176
f 99//177 63//177 142//177
f 113//178 103//178 102//178
f 142//179 143//179 134//179
f 134//180 100//180 142//180
f 114//181 57//181 144//181
f 101//182 59//182 102//182
f 97//183 99//183 101//183
f 126//184 113//184 72//184
f 108//185 105//185 107//185
f 40//186 33//186 108//186
f 33//187 40//187 28//187
f 31//188 28//188 69//188
f 69//189 115//189 68//189
f 75//190 68//190 109//190
f 90//191 124//191 91//191
f 127//192 131//192 128//192
f 131//193 135//193 128//193
f 100//194 134//194 133//194
f 131//195 130//195 13//195
f 130//196 127//196 14//196
f 123//197 125//197 145//197
f 123//198 145//198 143//198
f 134//199 145//199 135//199
f 58//200 37//200 102//200
f 72//201 38//201 65//201
f 29//202 40//202 39//202
f 39//203 46//203 29//203
f 137//204 39//204 40//204
f 137//205 126//205 72//205
f 46//206 30//206 29//206
f 136//207 34//207 93//207
f 76//208 95//208 74//208
f 106//209 67//209 60//209
f 138//210 146//210 44//210
f 147//211 47//211 45//211
f 118//212 116//212 119//212
f 80//213 88//213 8//213
f 3//214 139//214 140//214
f 125//215 84//215 139//215
f 129//216 125//216 139//216
f 26//217 14//217 50//217
f 96//218 91//218 124//218
f 142//219 96//219 123//219
f 100//220 99//220 142//220
f 72//221 113//221 38//221
f 143//222 145//222 134//222
f 142//223 123//223 143//223
f 144//224 57//224 148//224
f 101//225 98//225 59//225
f 126//226 40//226 108//226
f 73//227 68//227 75//227
f 73//228 32//228 68//228
f 11//229 111//229 112//229
f 90//230 112//230 85//230
f 112//231 90//231 89//231
f 112//232 111//232 23//232
f 124//233 84//233 125//233
f 127//234 128//234 120//234
f 129//235 128//235 135//235
f 13//236 132//236 131//236
f 130//237 131//237 127//237
f 131//238 133//238 135//238
f 137//239 21//239 39//239
f 41//240 149//240 76//240
f 74//241 16//241 76//241
f 119//242 138//242 78//242
f 150//243 151//243 152//243
f 152//244 147//244 45//244
f 140//245 139//245 84//245
f 1//246 54//246 9//246
f 141//247 92//247 95//247
f 76//248 149//248 95//248
f 136//249 93//249 141//249
f 132//250 13//250 35//250
f 148//251 98//251 100//251
f 148//252 57//252 98//252
f 40//253 126//253 137//253
f 112//254 23//254 85//254
f 90//255 84//255 124//255
f 148//256 133//256 132//256
f 144//257 148//257 132//257
f 136//258 149//258 41//258
f 93//259 11//259 89//259
f 11//260 93//260 34//260
f 44//261 146//261 150//261
f 44//262 150//262 45//262
f 146//263 151//263 150//263
f 45//264 150//264 152//264
f 147//265 151//265 77//265
f 129//266 139//266 121//266
f 128//267 121//267 120//267
f 145//268 125//268 129//268
f 129//269 135//269 145//269
f 1//270 9//270 51//270
f 51//271 2//271 1//271
f 95//272 149//272 141//272
f 142//273 63//273 96//273
f 100//274 133//274 148//274
f 132//275 35//275 144//275
f 77//276 47//276 147//276
f 136//277 141//277 149//277
f 144//278 35//278 114//278
f 147//279 152//279 151//279
f 71//280 24//280 151//280
f 151//281 56//281 122//281
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examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link2.obj Normal file
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# Mesh '<STL_BINARY>' with 300 faces
g <STL_BINARY>
usemtl DefaultMaterial
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f 1//2 4//2 2//2
f 5//3 6//3 1//3
f 6//4 7//4 1//4
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767
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link3.obj Normal file
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# File produced by Open Asset Import Library (http://www.assimp.sf.net)
# (assimp v3.1.187496374)
mtllib link3.obj.mtl
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vn 0.36136 0.043554 0.931409
vn 0.61172 0.776228 -0.152542
vn 0.355409 0.934711 -0.000297491
vn 0.505882 0.78885 0.348997
vn 0.722391 0.193125 0.663969
vn 0.729036 0.347887 0.589475
vn 0.951401 0.307238 -0.0209737
vn 0.893006 0.443514 0.0763905
vn 0.688893 0.72198 0.0645832
vn 0.93599 0.241914 0.255735
vn -0.0372388 0.989744 -0.137914
vn 0.0688418 0.92062 -0.384344
vn 0.095551 0.930167 -0.354483
vn 0.340499 0.645652 -0.683516
vn 0.837924 0.197375 -0.508848
vn 0.850234 0.0447615 -0.524498
vn 0.219382 -0.94809 0.23021
vn 0.987113 0.0453862 -0.15345
vn 0.0655441 0.993935 0.088302
vn 0.21837 0.970012 0.106735
vn 0.273566 0.961677 0.0184036
vn 0.0260446 0.993459 0.111183
vn -0.00285285 0.770965 0.636872
vn 0.170168 0.220984 0.960317
vn -0.00777008 0.395442 0.918458
vn -0.0425883 -0.880527 0.472078
vn -0.191748 -0.803264 0.563915
vn -0.19091 -0.803742 0.563517
vn -0.901377 -0.431063 0.0412731
vn -0.266737 -0.960638 0.077632
vn -0.940168 -0.270299 0.207418
vn -0.923721 -0.308024 0.227728
vn -0.227435 -0.973362 0.0289783
vn -0.0159845 -0.934676 0.355142
vn 0.0256441 -0.979376 0.200412
vn 0.0321195 -0.977874 0.206717
vn 0.103158 -0.97817 0.180393
vn -0.484507 -0.869094 0.0996396
vn -0.199867 -0.966637 0.160208
vn -0.604597 0.645338 0.466907
vn -0.389391 0.701599 0.59677
vn -0.410574 0.73038 0.54587
vn -0.237034 0.681993 0.691881
vn -0.380105 0.923626 0.0493417
vn -0.225004 0.928095 -0.296669
vn -0.159846 0.923156 -0.349618
vn -0.81576 0.577616 0.0299207
vn -0.83662 0.539033 0.0975193
vn -0.102539 0.168845 0.980294
vn -0.100555 0.0454355 0.993894
vn -0.0896979 0.0431475 0.995034
vn -0.627541 0.0396046 0.777576
vn -0.987242 0.148635 0.0571127
vn -0.976184 0.209125 0.0577224
vn 0.311023 0.38507 0.868899
vn 0.198203 0.729433 0.654709
vn 0.52672 0.199082 0.826397
vn 0.571041 0.230517 0.787892
vn 0.621506 0.754071 0.212383
vn 0.623186 0.770163 0.135974
vn 0.379448 0.921484 0.082979
vn 0.860201 0.346861 0.37382
vn 0.734037 0.393552 0.55345
vn -0.0178407 0.966274 -0.256896
vn 0.1441 -0.988376 0.0484652
vn 0.626754 -0.716641 -0.305949
vn 0.904694 0.033499 -0.424742
vn 0.361994 -0.931061 0.0456714
vn 0.179201 0.0463223 0.982721
vn 0.277165 0.0371607 0.960103
vn 0.615279 0.0362916 0.787474
vn 0.755391 0.0391094 0.654106
vn 0.902631 0.0497054 0.427535
vn 0.998472 0.0339109 0.043638
vn 0.280071 0.933251 0.224951
vn 0.31357 0.925123 0.21406
vn -0.684748 0.209793 0.697931
vn -0.900233 -0.430173 0.0673164
vn -0.579127 -0.814831 0.0257249
vn -0.175665 -0.979235 0.101199
vn -0.43901 -0.896717 0.0562968
vn -0.593905 -0.798266 0.100238
vn -0.771694 -0.63457 0.0425427
vn -0.999952 0.00182509 0.00966131
vn -0.968253 -0.249563 0.0142978
vn -0.994748 -0.0262751 0.0989231
vn -0.86847 -0.449997 0.207997
vn -0.858971 0.18675 0.476753
vn -0.831433 0.305556 0.464063
vn -0.43428 -0.885924 0.16291
vn -0.421 -0.894373 0.15118
vn -0.302637 -0.929282 0.211766
vn -0.194179 -0.961461 0.194648
vn -0.21287 -0.955021 0.206448
vn -0.157033 -0.977868 0.13826
vn -0.357941 0.929189 -0.0921217
vn -0.979499 0.146518 0.138254
vn -0.965424 0.227908 0.12655
vn -0.93498 0.291376 0.202268
vn -0.859946 0.472739 0.192382
vn -0.904463 0.366138 0.218838
vn -0.745379 0.545784 0.382792
vn -0.919801 0.369653 0.131619
vn -0.940918 0.309133 0.138239
vn -0.952637 0.30243 0.0319315
vn -0.685479 0.715906 0.132656
vn -0.809391 0.584647 0.0554433
vn -0.899049 0.426162 0.100483
vn -0.801263 0.582871 0.135053
vn -0.812625 0.554457 0.179493
vn -0.798111 0.0271841 0.601897
vn -0.800706 0.12246 0.586408
vn -0.676367 0.172172 0.71616
vn -0.169519 -0.936355 0.307414
vn -0.405108 -0.852406 0.330593
vn 0.0846594 0.238439 0.967461
vn 0.912961 0.240773 0.329438
vn 0.150111 0.983105 -0.104743
vn 0.109259 0.990321 -0.0856007
vn -0.213968 0.969419 -0.120186
vn 0.173592 0.972766 -0.153594
vn 0.277036 0.935861 -0.217751
vn 0.378314 0.921007 -0.0928686
vn 0.232143 -0.972622 0.0107747
vn 0.391938 -0.919881 0.0142741
vn 0.948825 0.0327552 0.314098
vn 0.161761 0.927234 0.337744
vn 0.156134 0.924706 0.347191
vn 0.262345 0.797744 0.542937
vn -0.0168424 0.924567 0.380647
vn -0.0335358 0.741207 0.670438
vn -0.0243553 0.92665 0.375135
vn -0.334696 0.211256 0.918341
vn -0.269018 0.231564 0.934884
vn -0.351934 0.0420098 0.935081
vn -0.228949 0.329427 0.916002
vn -0.413335 -0.601802 0.683366
vn -0.895926 -0.441392 0.0499009
vn -0.432859 -0.899184 0.0640383
vn -0.339696 -0.930654 0.135978
vn -0.632442 -0.772506 0.0570166
vn -0.988782 -0.0961308 0.11432
vn -0.980604 -0.190778 0.0449353
vn -0.992859 0.0619128 0.101973
vn -0.818837 -0.558696 0.131777
vn -0.851157 -0.508257 0.131175
vn -0.950813 -0.259783 0.168724
vn -0.881386 -0.446785 0.15343
vn -0.0563581 -0.995776 0.0724821
vn 0.021684 -0.995103 0.096433
vn -0.475957 -0.86239 0.172477
vn -0.633981 0.77161 0.0518335
vn -0.657524 0.748586 0.085328
vn -0.847134 0.495041 0.193126
vn 0.065954 0.0355046 0.997191
vn -0.239675 -0.839829 0.487075
vn -0.424632 -0.760583 0.491123
vn -0.385842 -0.82322 0.416456
vn -0.617472 -0.754725 0.221626
vn 0.887396 0.183832 0.422769
vn -0.0897502 0.99066 -0.102657
vn 0.0701662 0.951668 -0.299006
vn -0.34204 0.93186 0.121021
vn -0.341756 0.924674 0.16787
vn -0.0650266 0.996365 0.0550291
vn -0.0334513 0.973643 0.22561
vn -0.233156 0.967937 0.0934625
vn -0.207773 0.972225 0.107745
vn -0.496739 0.0391305 0.867018
vn -0.527294 0.0434334 0.848572
vn -0.509316 0.233686 0.828244
vn -0.497226 0.226721 0.837475
vn -0.316815 0.0363428 0.947791
vn -0.299821 -0.950334 0.0835028
vn -0.668209 -0.729656 0.145252
vn -0.621964 -0.771785 0.13232
vn -0.982644 -0.0317279 0.18277
vn -0.934161 -0.326853 0.143219
vn -0.774959 -0.530592 0.34338
vn -0.621034 -0.129994 0.772929
vn -0.860911 -0.122315 0.493834
vn -0.871071 -0.130413 0.473527
vn -0.942765 -0.0527834 0.329252
vn -0.924231 0.138785 0.355718
vn -0.71287 0.670441 0.20573
vn -0.656421 0.749785 0.0832662
vn -0.628388 -0.0489681 0.776358
vn -0.668632 -0.593394 0.448123
vn -0.631414 -0.495718 0.596305
vn -0.691027 -0.700761 0.177242
vn 0.260873 -0.949876 0.172278
vn -0.246265 0.964418 -0.0961829
vn 0.0129747 0.985028 0.171905
vn -0.752925 -0.655778 0.0553095
vn -0.764361 -0.636413 0.103593
vn -0.975804 -0.203518 0.0799156
vn -0.998591 -0.0436733 0.0301563
vn -0.944154 -0.31377 0.100606
vn -0.969115 -0.0832359 0.232138
vn -0.982785 -0.111038 0.147664
vn -0.816025 -0.527714 0.23584
vn -0.708886 -0.18943 0.679409
vn -0.778972 -0.341238 0.526078
vn -0.671854 -0.373108 0.639846
vn -0.956587 0.199092 0.212845
vn 0.317957 -0.942823 0.0999454
vn 0.141915 -0.986507 0.0816334
vn -0.520526 -0.827345 0.211076
vn -0.231354 0.924665 0.302441
vn -0.228143 0.925533 0.302224
vn -0.532463 -0.685293 0.496847
vn -0.752665 -0.632672 0.182268
vn 0.151273 -0.984791 0.0854585
vn -0.616907 -0.659817 0.429032
vn -0.865565 -0.253073 0.432147
vn -0.723623 -0.338666 0.601395
vn -0.180329 0.957405 0.225514
vn 0.760732 0.224639 0.608953
vn -0.342905 -0.682197 0.645774
vn 5.79237e-05 2.76056e-05 -1
vn -3.81102e-06 -3.2864e-05 -1
vn -3.4974e-05 -8.3553e-05 -1
vn 7.16203e-05 0.000138931 -1
vn 1.58313e-05 -6.20828e-06 -1
vn -0.000495227 -0.000126386 -1
vn 7.36886e-05 0.000153226 -1
vn 0.00124776 -0.00174906 -0.999998
vn 0.00110945 -0.000927281 -0.999999
vn 0.000195874 -3.95433e-05 -1
vn 0.00430625 -0.00209649 -0.999989
vn 0.0030331 -0.00384581 -0.999988
vn -0.000280376 -8.16428e-05 -1
vn 0.000322017 0.0001511 -1
vn -0.000512111 0.000237019 -1
vn -0.00247326 0.00147071 -0.999996
vn -0.00469458 0.000393563 -0.999989
# Mesh '<STL_BINARY>' with 300 faces
g <STL_BINARY>
usemtl DefaultMaterial
f 1//1 2//1 3//1
f 4//2 5//2 6//2
f 7//3 8//3 9//3
f 9//4 8//4 10//4
f 11//5 12//5 13//5
f 14//6 15//6 16//6
f 17//7 16//7 18//7
f 16//8 19//8 18//8
f 20//9 5//9 4//9
f 21//10 22//10 23//10
f 23//11 24//11 21//11
f 25//12 21//12 24//12
f 26//13 27//13 28//13
f 26//14 29//14 30//14
f 11//15 31//15 32//15
f 33//16 34//16 35//16
f 36//17 34//17 14//17
f 12//18 4//18 6//18
f 37//19 9//19 20//19
f 38//20 39//20 8//20
f 37//21 20//21 40//21
f 41//22 42//22 43//22
f 11//23 44//23 4//23
f 19//24 16//24 15//24
f 14//25 16//25 45//25
f 46//26 47//26 48//26
f 13//27 49//27 50//27
f 51//28 52//28 53//28
f 54//29 3//29 55//29
f 55//30 3//30 2//30
f 44//31 56//31 4//31
f 56//32 20//32 4//32
f 47//33 46//33 57//33
f 58//34 59//34 60//34
f 58//35 61//35 62//35
f 35//36 63//36 33//36
f 51//37 53//37 64//37
f 64//38 35//38 65//38
f 64//39 65//39 51//39
f 66//40 13//40 12//40
f 66//41 49//41 13//41
f 10//42 67//42 5//42
f 1//43 3//43 68//43
f 31//44 69//44 68//44
f 31//45 68//45 32//45
f 11//46 32//46 44//46
f 12//47 11//47 4//47
f 14//48 34//48 15//48
f 45//49 48//49 36//49
f 16//50 46//50 45//50
f 40//51 20//51 56//51
f 56//52 55//52 40//52
f 54//53 55//53 56//53
f 10//54 5//54 20//54
f 41//55 70//55 42//55
f 71//56 72//56 42//56
f 73//57 57//57 74//57
f 50//58 47//58 57//58
f 75//59 76//59 73//59
f 77//60 58//60 60//60
f 61//61 58//61 78//61
f 79//62 7//62 80//62
f 7//63 30//63 80//63
f 81//64 82//64 83//64
f 33//65 15//65 34//65
f 84//66 6//66 5//66
f 85//67 86//67 84//67
f 53//68 52//68 87//68
f 48//69 65//69 36//69
f 65//70 88//70 51//70
f 12//71 6//71 66//71
f 89//72 66//72 6//72
f 6//73 84//73 89//73
f 89//74 49//74 66//74
f 38//75 90//75 91//75
f 8//76 39//76 10//76
f 39//77 67//77 10//77
f 20//78 9//78 10//78
f 54//79 56//79 44//79
f 3//80 54//80 44//80
f 74//81 46//81 16//81
f 13//82 31//82 11//82
f 90//83 92//83 93//83
f 93//84 92//84 86//84
f 86//85 85//85 93//85
f 90//86 94//86 92//86
f 95//87 63//87 96//87
f 63//88 97//88 33//88
f 63//89 95//89 98//89
f 99//90 17//90 18//90
f 100//91 17//91 101//91
f 101//92 17//92 99//92
f 102//93 103//93 104//93
f 70//94 105//94 71//94
f 106//95 107//95 108//95
f 108//96 109//96 106//96
f 70//97 71//97 42//97
f 110//98 16//98 17//98
f 74//99 110//99 73//99
f 16//100 110//100 74//100
f 76//101 57//101 73//101
f 111//102 112//102 113//102
f 105//103 73//103 114//103
f 77//104 78//104 58//104
f 96//105 77//105 115//105
f 96//106 78//106 77//106
f 95//107 96//107 115//107
f 116//108 80//108 61//108
f 7//109 79//109 38//109
f 8//110 7//110 38//110
f 28//111 29//111 26//111
f 28//112 117//112 118//112
f 97//113 98//113 119//113
f 97//114 119//114 99//114
f 97//115 99//115 18//115
f 120//116 121//116 21//116
f 122//117 123//117 124//117
f 123//118 122//118 27//118
f 63//119 35//119 64//119
f 64//120 125//120 63//120
f 36//121 35//121 34//121
f 36//122 65//122 35//122
f 52//123 89//123 87//123
f 89//124 84//124 87//124
f 84//125 86//125 87//125
f 88//126 89//126 52//126
f 51//127 88//127 52//127
f 91//128 39//128 38//128
f 43//129 126//129 41//129
f 3//130 32//130 68//130
f 44//131 32//131 3//131
f 50//132 126//132 69//132
f 33//133 97//133 19//133
f 19//134 15//134 33//134
f 45//135 36//135 14//135
f 45//136 46//136 48//136
f 49//137 48//137 47//137
f 50//138 31//138 13//138
f 86//139 92//139 53//139
f 53//140 87//140 86//140
f 60//141 120//141 77//141
f 127//142 128//142 102//142
f 129//143 72//143 111//143
f 105//144 70//144 75//144
f 111//145 72//145 71//145
f 130//146 111//146 113//146
f 129//147 127//147 104//147
f 131//148 124//148 123//148
f 131//149 103//149 102//149
f 132//150 82//150 124//150
f 133//151 109//151 108//151
f 134//152 135//152 60//152
f 134//153 60//153 59//153
f 113//154 114//154 136//154
f 113//155 112//155 114//155
f 136//156 114//156 137//156
f 114//157 73//157 110//157
f 137//158 114//158 110//158
f 105//159 75//159 73//159
f 80//160 116//160 79//160
f 81//161 122//161 82//161
f 81//162 27//162 122//162
f 134//163 138//163 81//163
f 59//164 117//164 138//164
f 59//165 138//165 134//165
f 58//166 62//166 59//166
f 117//167 27//167 138//167
f 27//168 81//168 138//168
f 26//169 123//169 27//169
f 61//170 118//170 139//170
f 29//171 28//171 118//171
f 27//172 117//172 28//172
f 117//173 139//173 118//173
f 139//174 117//174 62//174
f 140//175 121//175 135//175
f 60//176 135//176 121//176
f 121//177 120//177 60//177
f 110//178 17//178 137//178
f 136//179 137//179 141//179
f 63//180 98//180 97//180
f 89//181 88//181 49//181
f 93//182 85//182 91//182
f 93//183 91//183 90//183
f 79//184 142//184 38//184
f 91//185 85//185 67//185
f 5//186 67//186 85//186
f 85//187 84//187 5//187
f 126//188 43//188 69//188
f 69//189 31//189 50//189
f 49//190 47//190 50//190
f 53//191 143//191 125//191
f 53//192 92//192 143//192
f 53//193 125//193 64//193
f 125//194 143//194 96//194
f 96//195 63//195 125//195
f 96//196 143//196 144//196
f 115//197 145//197 119//197
f 115//198 119//198 98//198
f 145//199 101//199 119//199
f 95//200 115//200 98//200
f 101//201 21//201 25//201
f 104//202 127//202 102//202
f 112//203 111//203 71//203
f 112//204 105//204 114//204
f 130//205 129//205 111//205
f 132//206 146//206 82//206
f 102//207 132//207 131//207
f 122//208 124//208 82//208
f 127//209 147//209 133//209
f 127//210 133//210 128//210
f 108//211 107//211 146//211
f 133//212 108//212 128//212
f 75//213 70//213 41//213
f 41//214 76//214 75//214
f 113//215 136//215 148//215
f 30//216 29//216 80//216
f 118//217 61//217 80//217
f 117//218 59//218 62//218
f 97//219 18//219 19//219
f 137//220 17//220 100//220
f 141//221 100//221 25//221
f 137//222 100//222 141//222
f 149//223 148//223 141//223
f 88//224 48//224 49//224
f 142//225 90//225 38//225
f 91//226 67//226 39//226
f 150//227 116//227 61//227
f 150//228 61//228 78//228
f 94//229 90//229 142//229
f 143//230 94//230 144//230
f 116//231 150//231 142//231
f 142//232 150//232 94//232
f 145//233 21//233 101//233
f 21//234 145//234 120//234
f 115//235 77//235 120//235
f 120//236 145//236 115//236
f 99//237 119//237 101//237
f 71//238 105//238 112//238
f 148//239 147//239 130//239
f 148//240 130//240 113//240
f 83//241 82//241 107//241
f 108//242 146//242 128//242
f 149//243 151//243 109//243
f 22//244 21//244 140//244
f 135//245 152//245 140//245
f 135//246 106//246 152//246
f 135//247 83//247 106//247
f 83//248 135//248 134//248
f 62//249 61//249 139//249
f 80//250 29//250 118//250
f 121//251 140//251 21//251
f 151//252 149//252 24//252
f 151//253 24//253 23//253
f 147//254 148//254 149//254
f 46//255 74//255 57//255
f 79//256 116//256 142//256
f 92//257 94//257 143//257
f 130//258 127//258 129//258
f 130//259 147//259 127//259
f 132//260 102//260 146//260
f 124//261 131//261 132//261
f 146//262 102//262 128//262
f 106//263 83//263 107//263
f 146//264 107//264 82//264
f 149//265 109//265 133//265
f 140//266 152//266 22//266
f 152//267 109//267 151//267
f 22//268 151//268 23//268
f 134//269 81//269 83//269
f 57//270 126//270 50//270
f 126//271 76//271 41//271
f 141//272 148//272 136//272
f 96//273 150//273 78//273
f 150//274 96//274 144//274
f 141//275 25//275 24//275
f 133//276 147//276 149//276
f 126//277 57//277 76//277
f 149//278 141//278 24//278
f 152//279 106//279 109//279
f 151//280 22//280 152//280
f 144//281 94//281 150//281
f 65//282 48//282 88//282
f 25//283 100//283 101//283
f 7//284 2//284 1//284
f 7//285 40//285 55//285
f 7//286 55//286 2//286
f 7//287 37//287 40//287
f 7//288 1//288 68//288
f 7//289 69//289 43//289
f 7//290 9//290 37//290
f 7//291 123//291 26//291
f 129//292 104//292 7//292
f 42//293 72//293 7//293
f 104//294 103//294 7//294
f 7//295 26//295 30//295
f 7//296 43//296 42//296
f 7//297 68//297 69//297
f 103//298 131//298 7//298
f 131//299 123//299 7//299
f 72//300 129//300 7//300

2115
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link4.obj Normal file
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2115
examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link5.obj Normal file
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examples/pybullet/gym/pybullet_data/franka_panda/meshes/collision/link6.mtl Normal file
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@@ -0,0 +1,177 @@
# Blender MTL File: 'link2.blend'
# Material Count: 17
newmtl Face064_002_001_002_001.001
Ns -1.960784
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{"cat":"timing","pid":1,"tid":2,"ts":448933.800 ,"ph":"B","name":"eGUIHelperRegisterGraphicsShape121","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458192.800 ,"ph":"E","name":"eGUIHelperRegisterGraphicsShape121","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458194.800 ,"ph":"B","name":"updateGraphics122","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458194.900 ,"ph":"E","name":"updateGraphics122","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458379.200 ,"ph":"B","name":"mainThreadRelease123","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458380.100 ,"ph":"E","name":"mainThreadRelease123","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458375.600 ,"ph":"B","name":"eGUIHelperCreateRigidBodyGraphicsObject124","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458380.300 ,"ph":"E","name":"eGUIHelperCreateRigidBodyGraphicsObject124","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458381.700 ,"ph":"B","name":"mainThreadRelease125","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458382.600 ,"ph":"E","name":"mainThreadRelease125","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458381.000 ,"ph":"B","name":"eGUIHelperChangeGraphicsInstanceSpecularColor126","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":458382.700 ,"ph":"E","name":"eGUIHelperChangeGraphicsInstanceSpecularColor126","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":462195.000 ,"ph":"B","name":"updateGraphics127","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":462195.000 ,"ph":"E","name":"updateGraphics127","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":466195.000 ,"ph":"B","name":"updateGraphics128","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":466195.200 ,"ph":"E","name":"updateGraphics128","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468677.700 ,"ph":"B","name":"mainThreadRelease129","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468678.100 ,"ph":"E","name":"mainThreadRelease129","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468676.000 ,"ph":"B","name":"eGUIHelperAutogenerateGraphicsObjects130","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468678.100 ,"ph":"E","name":"eGUIHelperAutogenerateGraphicsObjects130","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468908.600 ,"ph":"B","name":"mainThreadRelease131","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468908.900 ,"ph":"E","name":"mainThreadRelease131","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468908.500 ,"ph":"B","name":"eGUIHelperSetVisualizerFlag132","args":{}},
{"cat":"timing","pid":1,"tid":2,"ts":468908.900 ,"ph":"E","name":"eGUIHelperSetVisualizerFlag132","args":{}}
],
"displayTimeUnit": "ns"}

323
examples/pybullet/gym/pybullet_data/franka_panda/panda.urdf Normal file
View File

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from panda_arm_hand.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value="2.9"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white">
<color rgba="1. 1. 1. 1."/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link0.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_link1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
<mass value="2.7"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link1.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link1.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="0 0 0" xyz="0 0 0.333"/>
<parent link="panda_link0"/>
<child link="panda_link1"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link2">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
<mass value="2.73"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link2.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link2.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
<origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link1"/>
<child link="panda_link2"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
</joint>
<link name="panda_link3">
<inertial>
<origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
<mass value="2.04"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link3.obj"/>
</geometry>
<material name="panda_red">
<color rgba="1. 1. 1. 1."/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link3.obj"/>
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
<parent link="panda_link2"/>
<child link="panda_link3"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
</joint>
<link name="panda_link4">
<inertial>
<origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
<mass value="2.08"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link4.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link4.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
<parent link="panda_link3"/>
<child link="panda_link4"/>
<axis xyz="0 0 1"/>
<limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
</joint>
<link name="panda_link5">
<inertial>
<origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
<mass value="3"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link5.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link5.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
<parent link="panda_link4"/>
<child link="panda_link5"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link6">
<inertial>
<origin rpy="0 0 0" xyz="0.04 0 0"/>
<mass value="1.3"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/link6.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link6.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
<parent link="panda_link5"/>
<child link="panda_link6"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
</joint>
<link name="panda_link7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.08"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/link7.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
<parent link="panda_link6"/>
<child link="panda_link7"/>
<axis xyz="0 0 1"/>
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
</joint>
<link name="panda_link8">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107"/>
<parent link="panda_link7"/>
<child link="panda_link8"/>
<axis xyz="0 0 0"/>
</joint>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8"/>
<child link="panda_hand"/>
<origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
</joint>
<link name="panda_hand">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.04"/>
<mass value=".81"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/hand.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/hand.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_leftfinger">
<inertial>
<origin rpy="0 0 0" xyz="0 0.01 0.02"/>
<mass value="0.1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<geometry>
<mesh filename="package://meshes/visual/finger.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<geometry>
<mesh filename="package://meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<link name="panda_rightfinger">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
<mass value="0.1"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://meshes/visual/finger.obj"/>
</geometry>
<material name="panda_white"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="package://meshes/collision/finger.obj"/>
</geometry>
<material name="panda_white"/>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_leftfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand"/>
<child link="panda_rightfinger"/>
<origin rpy="0 0 0" xyz="0 0 0.0584"/>
<axis xyz="0 -1 0"/>
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
<mimic joint="panda_finger_joint1"/>
</joint>
<link name="panda_grasptarget">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
</link>
<joint name="panda_grasptarget_hand" type="fixed">
<parent link="panda_hand"/>
<child link="panda_grasptarget"/>
<origin rpy="0 0 0" xyz="0 0 0.105"/>
</joint>
</robot>

27
examples/pybullet/gym/pybullet_data/xarm/LICENSE Normal file
View 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 Normal file
View File

@@ -0,0 +1,314 @@
<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from src/xarm_ros/xarm_description/urdf/xarm6_robot.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="xarm6" xmlns:xacro="http://ros.org/wiki/xacro">
<!--
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>
</plugin>
</gazebo>
<link name="base"/>
<joint name="base_joint" type="fixed">
<parent link="base"/>
<child link="link_base"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<!-- added tool0 to comply with ROS industrial-->
<link name="tool0"/>
<joint name="tool_joint" type="fixed">
<parent link="link6"/>
<child link="tool0"/>
<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="meshes/xarm6/visual/base.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="White"/>
</visual>
<collision>
<geometry>
<mesh filename="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="meshes/xarm6/visual/link1.stl"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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
View 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
View 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>

10
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base.mtl Normal file
View File

@@ -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

687
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/base_vhacd.obj Normal file
View File

@@ -0,0 +1,687 @@
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1.mtl Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link1_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2.mtl Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd.obj Normal file
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12
examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.mtl Normal file
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# Blender MTL File: 'None'
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link2_vhacd2.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3.mtl Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link3_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl None
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Kd 0.8 0.8 0.8
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link4_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5.mtl Normal file
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# 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

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examples/pybullet/gym/pybullet_data/xarm/xarm_description/meshes/xarm6/collision/link5_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_envs/examples/batchsim3.py Normal file
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import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
from pybullet_utils import bullet_client
import panda_sim
import time
useGUI = False
timeStep = 1./60.
# Importing the libraries
import os
import time
import multiprocessing as mp
from multiprocessing import Process, Pipe
pandaEndEffectorIndex = 11 #8
pandaNumDofs = 7
_RESET = 1
_CLOSE = 2
_EXPLORE = 3
def ExploreWorker(rank, num_processes, childPipe, args):
print("hi:",rank, " out of ", num_processes)
import pybullet as op1
import pybullet_data as pd
logName=""
p1=0
n = 0
space = 2
simulations=[]
sims_per_worker = 10
offsetY = rank*space
while True:
n += 1
try:
# Only block for short times to have keyboard exceptions be raised.
if not childPipe.poll(0.0001):
continue
message, payload = childPipe.recv()
except (EOFError, KeyboardInterrupt):
break
if message == _RESET:
if (useGUI):
p1 = bullet_client.BulletClient(op1.GUI)
else:
p1 = bullet_client.BulletClient(op1.DIRECT)
p1.setTimeStep(timeStep)
p1.setPhysicsEngineParameter(numSolverIterations=8)
p1.setPhysicsEngineParameter(minimumSolverIslandSize=100)
p1.configureDebugVisualizer(p1.COV_ENABLE_Y_AXIS_UP,1)
p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,0)
p1.setAdditionalSearchPath(pd.getDataPath())
p1.setGravity(0,-9.8,0)
logName = str("batchsim")+str(rank)
for j in range (3):
offsetX = 0#-sims_per_worker/2.0*space
for i in range (sims_per_worker):
offset=[offsetX,0, offsetY]
sim = panda_sim.PandaSim(p1, offset)
simulations.append(sim)
offsetX += space
offsetY += space
childPipe.send(["reset ok"])
p1.configureDebugVisualizer(p1.COV_ENABLE_RENDERING,1)
for i in range (100):
p1.stepSimulation()
logId = p1.startStateLogging(op1.STATE_LOGGING_PROFILE_TIMINGS,logName)
continue
if message == _EXPLORE:
sum_rewards=rank
if useGUI:
numSteps = int(20000)
else:
numSteps = int(5)
for i in range (numSteps):
for s in simulations:
s.step()
p1.stepSimulation()
#print("logId=",logId)
#print("numSteps=",numSteps)
childPipe.send([sum_rewards])
continue
if message == _CLOSE:
p1.stopStateLogging(logId)
childPipe.send(["close ok"])
break
childPipe.close()
if __name__ == "__main__":
mp.freeze_support()
if useGUI:
num_processes = 1
else:
num_processes = 12
processes = []
args=[0]*num_processes
childPipes = []
parentPipes = []
for pr in range(num_processes):
parentPipe, childPipe = Pipe()
parentPipes.append(parentPipe)
childPipes.append(childPipe)
for rank in range(num_processes):
p = mp.Process(target=ExploreWorker, args=(rank, num_processes, childPipes[rank], args))
p.start()
processes.append(p)
for parentPipe in parentPipes:
parentPipe.send([_RESET, "blaat"])
positive_rewards = [0]*num_processes
for k in range(num_processes):
#print("reset msg=",parentPipes[k].recv()[0])
msg = parentPipes[k].recv()[0]
for parentPipe in parentPipes:
parentPipe.send([_EXPLORE, "blaat"])
positive_rewards = [0]*num_processes
for k in range(num_processes):
positive_rewards[k] = parentPipes[k].recv()[0]
#print("positive_rewards=",positive_rewards[k])
for parentPipe in parentPipes:
parentPipe.send([_EXPLORE, "blaat"])
positive_rewards = [0]*num_processes
for k in range(num_processes):
positive_rewards[k] = parentPipes[k].recv()[0]
#print("positive_rewards=",positive_rewards[k])
msg = positive_rewards[k]
for parentPipe in parentPipes:
parentPipe.send([_EXPLORE, "blaat"])
positive_rewards = [0]*num_processes
for k in range(num_processes):
positive_rewards[k] = parentPipes[k].recv()[0]
#print("positive_rewards=",positive_rewards[k])
for parentPipe in parentPipes:
parentPipe.send([_CLOSE, "pay2"])
for p in processes:
p.join()
#now we merge the separate json files into a single one
fnameout = 'batchsim.json'
count = 0
outfile = open(fnameout, "w+")
outfile.writelines(["{\"traceEvents\":[\n"])
numFiles = num_processes
for num in range(numFiles):
print("num=",num)
fname = 'batchsim%d_0.json' % (num)
with open(fname) as infile:
for line in infile:
if "pid" in line:
line = line.replace('\"pid\":1', '\"pid\":'+str(num))
if num < (numFiles-1) and not "{}}," in line:
line = line.replace('{}}', '{}},')
print("line[",count,"]=",line)
outfile.write(line)
count += 1
print ("count=",count)
outfile.writelines(["],\n"])
outfile.writelines(["\"displayTimeUnit\": \"ns\"}\n"])
outfile.close()

21
examples/pybullet/gym/pybullet_envs/examples/loadpanda.py Normal file
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import pybullet as p
import pybullet_data as pd
import math
import time
import numpy as np
import panda_sim
p.connect(p.GUI)
p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
p.setAdditionalSearchPath(pd.getDataPath())
timeStep=1./60.
p.setTimeStep(timeStep)
p.setGravity(0,-9.8,0)
panda = panda_sim.PandaSim(p,[0,0,0])
while (1):
panda.step()
p.stepSimulation()
time.sleep(timeStep)

65
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import time
import numpy as np
import math
useNullSpace = 1
ikSolver = 0
pandaEndEffectorIndex = 11 #8
pandaNumDofs = 7
ll = [-7]*pandaNumDofs
#upper limits for null space (todo: set them to proper range)
ul = [7]*pandaNumDofs
#joint ranges for null space (todo: set them to proper range)
jr = [7]*pandaNumDofs
#restposes for null space
jointPositions=[0.98, 0.458, 0.31, -2.24, -0.30, 2.66, 2.32, 0.02, 0.02]
rp = jointPositions
class PandaSim(object):
def __init__(self, bullet_client, offset):
self.bullet_client = bullet_client
self.offset = np.array(offset)
#print("offset=",offset)
flags = self.bullet_client.URDF_ENABLE_CACHED_GRAPHICS_SHAPES
legos=[]
self.bullet_client.loadURDF("tray/traybox.urdf", [0+offset[0], 0+offset[1], -0.6+offset[2]], [-0.5, -0.5, -0.5, 0.5], flags=flags)
legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.5])+self.offset, flags=flags))
legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([-0.1, 0.3, -0.5])+self.offset, flags=flags))
legos.append(self.bullet_client.loadURDF("lego/lego.urdf",np.array([0.1, 0.3, -0.7])+self.offset, flags=flags))
sphereId = self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.6])+self.offset, flags=flags)
self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.5])+self.offset, flags=flags)
self.bullet_client.loadURDF("sphere_small.urdf",np.array( [0, 0.3, -0.7])+self.offset, flags=flags)
orn=[-0.707107, 0.0, 0.0, 0.707107]#p.getQuaternionFromEuler([-math.pi/2,math.pi/2,0])
eul = self.bullet_client.getEulerFromQuaternion([-0.5, -0.5, -0.5, 0.5])
self.panda = self.bullet_client.loadURDF("franka_panda/panda.urdf", np.array([0,0,0])+self.offset, orn, useFixedBase=True, flags=flags)
index = 0
for j in range(self.bullet_client.getNumJoints(self.panda)):
self.bullet_client.changeDynamics(self.panda, j, linearDamping=0, angularDamping=0)
info = self.bullet_client.getJointInfo(self.panda, j)
jointName = info[1]
jointType = info[2]
if (jointType == self.bullet_client.JOINT_PRISMATIC):
self.bullet_client.resetJointState(self.panda, j, jointPositions[index])
index=index+1
if (jointType == self.bullet_client.JOINT_REVOLUTE):
self.bullet_client.resetJointState(self.panda, j, jointPositions[index])
index=index+1
self.t = 0.
def reset(self):
pass
def step(self):
t = self.t
self.t += 1./60.
pos = [self.offset[0]+0.2 * math.sin(1.5 * t), self.offset[1]+0.044, self.offset[2]+-0.6 + 0.1 * math.cos(1.5 * t)]
orn = self.bullet_client.getQuaternionFromEuler([math.pi/2.,0.,0.])
jointPoses = self.bullet_client.calculateInverseKinematics(self.panda,pandaEndEffectorIndex, pos, orn, ll, ul,
jr, rp, maxNumIterations=5)
for i in range(pandaNumDofs):
self.bullet_client.setJointMotorControl2(self.panda, i, self.bullet_client.POSITION_CONTROL, jointPoses[i],force=5 * 240.)
pass

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examples/pybullet/gym/pybullet_envs/examples/xarm.py Normal file
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import pybullet as p
import pybullet_data as pd
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
useFixedBase = True
flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION
xarm = p.loadURDF("xarm/xarm6_with_gripper.urdf", flags = flags, useFixedBase=useFixedBase)
while (1):
p.stepSimulation()
time.sleep(1./240.)