pybullet a bit more refactoring, moving around files.
pybullet: move data to pybullet_data package, with getDataPath() method
This commit is contained in:
Erwin Coumans committed
1 parent
97cb6df00c
commit
659e869b86
185 files changed
+149
-68
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@@ -0,0 +1,10 @@
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from . import enjoy_kuka_grasping
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from . import enjoy_pybullet_cartpole
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from . import enjoy_pybullet_racecar
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from . import enjoy_pybullet_zed_racecar
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from . import train_kuka_cam_grasping
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from . import train_kuka_grasping
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from . import train_pybullet_cartpole
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from . import train_pybullet_racecar
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from . import train_pybullet_zed_racecar
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File renamed without changes.
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@@ -22,8 +22,5 @@ class BulletClient(object):
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"""Inject the client id into Bullet functions."""
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attribute = getattr(pybullet, name)
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if inspect.isbuiltin(attribute):
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if name not in ["invertTransform", "computeViewMatrix","multiplyTransforms",
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"getMatrixFromQuaternion"]: # A temporary hack for now.
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attribute = functools.partial(attribute, physicsClientId=self._client)
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return attribute
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@@ -2,7 +2,11 @@
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Classic cart-pole system implemented by Rich Sutton et al.
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Copied from https://webdocs.cs.ualberta.ca/~sutton/book/code/pole.c
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"""
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import os
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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print ("current_dir=" + currentdir)
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os.sys.path.insert(0,currentdir)
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import logging
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import math
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import gym
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@@ -12,6 +16,7 @@ import numpy as np
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import time
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import subprocess
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import pybullet as p
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import pybullet_data
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logger = logging.getLogger(__name__)
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@@ -76,7 +81,7 @@ class CartPoleBulletEnv(gym.Env):
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def _reset(self):
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# print("-----------reset simulation---------------")
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p.resetSimulation()
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self.cartpole = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","cartpole.urdf"),[0,0,0])
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self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cartpole.urdf"),[0,0,0])
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self.timeStep = 0.01
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p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
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p.setGravity(0,0, -10)
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@@ -1,12 +1,18 @@
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import os
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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print ("current_dir=" + currentdir)
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os.sys.path.insert(0,currentdir)
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import pybullet as p
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import numpy as np
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import copy
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import math
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import pybullet_data
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class Kuka:
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def __init__(self, urdfRootPath='', timeStep=0.01):
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def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
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self.urdfRootPath = urdfRootPath
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self.timeStep = timeStep
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@@ -32,7 +38,7 @@ class Kuka:
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self.reset()
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def reset(self):
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objects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","kuka_iiwa/kuka_with_gripper2.sdf"))
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objects = p.loadSDF(os.path.join(self.urdfRootPath,"kuka_iiwa/kuka_with_gripper2.sdf"))
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self.kukaUid = objects[0]
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#for i in range (p.getNumJoints(self.kukaUid)):
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# print(p.getJointInfo(self.kukaUid,i))
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@@ -43,7 +49,7 @@ class Kuka:
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p.resetJointState(self.kukaUid,jointIndex,self.jointPositions[jointIndex])
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p.setJointMotorControl2(self.kukaUid,jointIndex,p.POSITION_CONTROL,targetPosition=self.jointPositions[jointIndex],force=self.maxForce)
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self.trayUid = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","tray/tray.urdf"), 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
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self.trayUid = p.loadURDF(os.path.join(self.urdfRootPath,"tray/tray.urdf"), 0.640000,0.075000,-0.190000,0.000000,0.000000,1.000000,0.000000)
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self.endEffectorPos = [0.537,0.0,0.5]
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self.endEffectorAngle = 0
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@@ -1,4 +1,8 @@
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import os
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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print ("current_dir=" + currentdir)
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os.sys.path.insert(0,currentdir)
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import math
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import gym
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from gym import spaces
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@@ -8,6 +12,8 @@ import time
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import pybullet as p
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from . import kuka
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import random
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import pybullet_data
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class KukaCamGymEnv(gym.Env):
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metadata = {
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@@ -16,7 +22,7 @@ class KukaCamGymEnv(gym.Env):
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}
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def __init__(self,
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urdfRoot="",
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urdfRoot=pybullet_data.getDataPath(),
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actionRepeat=1,
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isEnableSelfCollision=True,
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renders=True):
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@@ -55,15 +61,15 @@ class KukaCamGymEnv(gym.Env):
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p.resetSimulation()
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p.setPhysicsEngineParameter(numSolverIterations=150)
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p.setTimeStep(self._timeStep)
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p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"),[0,0,-1])
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p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
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p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
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p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
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xpos = 0.5 +0.05*random.random()
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ypos = 0 +0.05*random.random()
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ang = 3.1415925438*random.random()
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orn = p.getQuaternionFromEuler([0,0,ang])
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self.blockUid =p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
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self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
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p.setGravity(0,0,-10)
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self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
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@@ -1,4 +1,8 @@
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import os
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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print ("current_dir=" + currentdir)
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os.sys.path.insert(0,currentdir)
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import math
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import gym
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from gym import spaces
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@@ -8,6 +12,8 @@ import time
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import pybullet as p
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from . import kuka
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import random
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import pybullet_data
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class KukaGymEnv(gym.Env):
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metadata = {
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@@ -16,7 +22,7 @@ class KukaGymEnv(gym.Env):
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}
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def __init__(self,
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urdfRoot="",
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urdfRoot=pybullet_data.getDataPath(),
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actionRepeat=1,
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isEnableSelfCollision=True,
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renders=True):
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@@ -53,15 +59,15 @@ class KukaGymEnv(gym.Env):
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p.resetSimulation()
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p.setPhysicsEngineParameter(numSolverIterations=150)
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p.setTimeStep(self._timeStep)
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p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"),[0,0,-1])
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p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
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p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
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p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
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xpos = 0.5 +0.05*random.random()
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ypos = 0 +0.05*random.random()
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ang = 3.1415925438*random.random()
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orn = p.getQuaternionFromEuler([0,0,ang])
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self.blockUid =p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
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self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
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p.setGravity(0,0,-10)
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self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
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@@ -70,7 +70,7 @@ class Minitaur(object):
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kd_for_pd_controllers: kd value for the pd controllers of the motors.
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"""
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self.num_motors = 8
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self.num_legs = self.num_motors / 2
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self.num_legs = int(self.num_motors / 2)
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self._pybullet_client = pybullet_client
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self._urdf_root = urdf_root
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self._self_collision_enabled = self_collision_enabled
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@@ -114,7 +114,7 @@ class Minitaur(object):
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def _BuildJointNameToIdDict(self):
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num_joints = self._pybullet_client.getNumJoints(self.quadruped)
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self._joint_name_to_id = {}
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for i in xrange(num_joints):
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for i in range(num_joints):
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joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
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self._joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0]
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@@ -184,7 +184,7 @@ class Minitaur(object):
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Args:
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add_constraint: Whether to add a constraint at the joints of two feet.
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"""
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for i in xrange(self.num_legs):
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for i in range(self.num_legs):
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self._ResetPoseForLeg(i, add_constraint)
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def _ResetPoseForLeg(self, leg_id, add_constraint):
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@@ -368,7 +368,7 @@ class Minitaur(object):
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actual_torque, observed_torque = self._motor_model.convert_to_torque(
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motor_commands, q, qdot)
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if self._motor_overheat_protection:
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for i in xrange(self.num_motors):
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for i in range(self.num_motors):
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if abs(actual_torque[i]) > OVERHEAT_SHUTDOWN_TORQUE:
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self._overheat_counter[i] += 1
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else:
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@@ -469,7 +469,7 @@ class Minitaur(object):
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offset_for_singularity = 1.5
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half_num_motors = self.num_motors / 2
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quater_pi = math.pi / 4
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for i in xrange(self.num_motors):
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for i in range(self.num_motors):
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action_idx = i // 2
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forward_backward_component = (-scale_for_singularity * quater_pi * (
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actions[action_idx + half_num_motors] + offset_for_singularity))
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@@ -1,6 +1,13 @@
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"""This file implements the gym environment of minitaur.
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"""
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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import math
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import time
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import gym
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@@ -11,6 +18,7 @@ import pybullet
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from . import bullet_client
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from . import minitaur
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import os
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import pybullet_data
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NUM_SUBSTEPS = 5
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NUM_MOTORS = 8
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@@ -38,7 +46,7 @@ class MinitaurBulletEnv(gym.Env):
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}
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def __init__(self,
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urdf_root=os.path.join(os.path.dirname(__file__),"../data"),
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urdf_root=pybullet_data.getDataPath(),
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action_repeat=1,
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distance_weight=1.0,
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energy_weight=0.005,
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@@ -127,6 +135,7 @@ class MinitaurBulletEnv(gym.Env):
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self._hard_reset = True
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self._kd_for_pd_controllers = kd_for_pd_controllers
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self._last_frame_time = 0.0
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print("urdf_root=" + self._urdf_root)
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self._env_randomizer = env_randomizer
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# PD control needs smaller time step for stability.
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if pd_control_enabled or accurate_motor_model_enabled:
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@@ -160,7 +169,7 @@ class MinitaurBulletEnv(gym.Env):
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if self._hard_reset:
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self._pybullet_client.resetSimulation()
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self._pybullet_client.setPhysicsEngineParameter(
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numSolverIterations=self._num_bullet_solver_iterations)
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numSolverIterations=int(self._num_bullet_solver_iterations))
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self._pybullet_client.setTimeStep(self._time_step)
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self._pybullet_client.loadURDF("%s/plane.urdf" % self._urdf_root)
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self._pybullet_client.setGravity(0, 0, -10)
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@@ -192,7 +201,7 @@ class MinitaurBulletEnv(gym.Env):
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self._pybullet_client.resetDebugVisualizerCamera(
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self._cam_dist, self._cam_yaw, self._cam_pitch, [0, 0, 0])
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if not self._torque_control_enabled:
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for _ in xrange(100):
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for _ in range(100):
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if self._pd_control_enabled or self._accurate_motor_model_enabled:
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self.minitaur.ApplyAction([math.pi / 2] * 8)
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self._pybullet_client.stepSimulation()
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@@ -240,7 +249,7 @@ class MinitaurBulletEnv(gym.Env):
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self._pybullet_client.resetDebugVisualizerCamera(
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self._cam_dist, self._cam_yaw, self._cam_pitch, base_pos)
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action = self._transform_action_to_motor_command(action)
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for _ in xrange(self._action_repeat):
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for _ in range(self._action_repeat):
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self.minitaur.ApplyAction(action)
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self._pybullet_client.stepSimulation()
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@@ -11,8 +11,8 @@ class Racecar:
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self._p = bullet_client
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self.reset()
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def reset(self):
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car = self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","racecar/racecar_differential.urdf"), [0,0,.2],useFixedBase=False)
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def reset(self):
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car = self._p.loadURDF(os.path.join(self.urdfRootPath,"racecar/racecar_differential.urdf"), [0,0,.2],useFixedBase=False)
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self.racecarUniqueId = car
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#for i in range (self._p.getNumJoints(car)):
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# print (self._p.getJointInfo(car,i))
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@@ -1,4 +1,9 @@
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import os
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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import math
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import gym
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from gym import spaces
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@@ -9,6 +14,7 @@ import pybullet
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from . import racecar
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import random
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from . import bullet_client
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import pybullet_data
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class RacecarGymEnv(gym.Env):
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metadata = {
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@@ -17,7 +23,7 @@ class RacecarGymEnv(gym.Env):
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}
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def __init__(self,
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urdfRoot="",
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urdfRoot=pybullet_data.getDataPath(),
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actionRepeat=50,
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isEnableSelfCollision=True,
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isDiscrete=False,
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@@ -59,8 +65,8 @@ class RacecarGymEnv(gym.Env):
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self._p.resetSimulation()
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#p.setPhysicsEngineParameter(numSolverIterations=300)
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self._p.setTimeStep(self._timeStep)
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#self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
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stadiumobjects = self._p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
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#self._p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"))
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stadiumobjects = self._p.loadSDF(os.path.join(self._urdfRoot,"stadium.sdf"))
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#move the stadium objects slightly above 0
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#for i in stadiumobjects:
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# pos,orn = self._p.getBasePositionAndOrientation(i)
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@@ -74,7 +80,7 @@ class RacecarGymEnv(gym.Env):
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bally = dist * math.cos(ang)
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ballz = 1
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self._ballUniqueId = self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2.urdf"),[ballx,bally,ballz])
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self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2.urdf"),[ballx,bally,ballz])
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self._p.setGravity(0,0,-10)
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self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
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self._envStepCounter = 0
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@@ -1,4 +1,8 @@
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import os
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0,parentdir)
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import math
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import gym
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from gym import spaces
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@@ -9,6 +13,7 @@ import pybullet
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from . import bullet_client
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from . import racecar
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import random
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import pybullet_data
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class RacecarZEDGymEnv(gym.Env):
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metadata = {
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@@ -17,7 +22,7 @@ class RacecarZEDGymEnv(gym.Env):
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}
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def __init__(self,
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urdfRoot="",
|
||||
urdfRoot=pybullet_data.getDataPath(),
|
||||
actionRepeat=10,
|
||||
isEnableSelfCollision=True,
|
||||
isDiscrete=True,
|
||||
@@ -57,7 +62,7 @@ class RacecarZEDGymEnv(gym.Env):
|
||||
#p.setPhysicsEngineParameter(numSolverIterations=300)
|
||||
self._p.setTimeStep(self._timeStep)
|
||||
#self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
|
||||
stadiumobjects = self._p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
|
||||
stadiumobjects = self._p.loadSDF(os.path.join(self._urdfRoot,"stadium.sdf"))
|
||||
#move the stadium objects slightly above 0
|
||||
for i in stadiumobjects:
|
||||
pos,orn = self._p.getBasePositionAndOrientation(i)
|
||||
@@ -71,7 +76,7 @@ class RacecarZEDGymEnv(gym.Env):
|
||||
bally = dist * math.cos(ang)
|
||||
ballz = 1
|
||||
|
||||
self._ballUniqueId = self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2red.urdf"),[ballx,bally,ballz])
|
||||
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2red.urdf"),[ballx,bally,ballz])
|
||||
self._p.setGravity(0,0,-10)
|
||||
self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
|
||||
self._envStepCounter = 0
|
||||
|
||||
@@ -5,21 +5,26 @@ import copy
|
||||
import math
|
||||
import time
|
||||
|
||||
import os, inspect
|
||||
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
||||
print ("current_dir=" + currentdir)
|
||||
os.sys.path.insert(0,currentdir)
|
||||
|
||||
import pybullet_data
|
||||
|
||||
|
||||
class SimpleHumanoid:
|
||||
|
||||
def __init__(self, urdfRootPath='', timeStep=0.01):
|
||||
def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
|
||||
self.urdfRootPath = urdfRootPath
|
||||
self.timeStep = timeStep
|
||||
self.reset()
|
||||
|
||||
|
||||
|
||||
def reset(self):
|
||||
self.initial_z = None
|
||||
|
||||
objs = p.loadMJCF(os.path.join(os.path.dirname(__file__),"../data","mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
|
||||
objs = p.loadMJCF(os.path.join(self.urdfRootPath,"mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
|
||||
self.human = objs[0]
|
||||
self.jdict = {}
|
||||
self.ordered_joints = []
|
||||
|
||||
@@ -1,4 +1,9 @@
|
||||
import os
|
||||
import os, inspect
|
||||
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
||||
print ("current_dir=" + currentdir)
|
||||
os.sys.path.insert(0,currentdir)
|
||||
|
||||
import math
|
||||
import gym
|
||||
from gym import spaces
|
||||
@@ -9,6 +14,10 @@ import pybullet as p
|
||||
from . import simpleHumanoid
|
||||
import random
|
||||
|
||||
|
||||
import pybullet_data
|
||||
|
||||
|
||||
class SimpleHumanoidGymEnv(gym.Env):
|
||||
metadata = {
|
||||
'render.modes': ['human', 'rgb_array'],
|
||||
@@ -16,7 +25,7 @@ class SimpleHumanoidGymEnv(gym.Env):
|
||||
}
|
||||
|
||||
def __init__(self,
|
||||
urdfRoot="",
|
||||
urdfRoot=pybullet_data.getDataPath(),
|
||||
actionRepeat=50,
|
||||
isEnableSelfCollision=True,
|
||||
renders=True):
|
||||
@@ -48,7 +57,7 @@ class SimpleHumanoidGymEnv(gym.Env):
|
||||
p.resetSimulation()
|
||||
#p.setPhysicsEngineParameter(numSolverIterations=300)
|
||||
p.setTimeStep(self._timeStep)
|
||||
p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
|
||||
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"))
|
||||
|
||||
dist = 5 +2.*random.random()
|
||||
ang = 2.*3.1415925438*random.random()
|
||||
|
||||
@@ -1,29 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="block_2">
|
||||
<link name="block_2_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value=".001"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.02"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
<material name="blockmat">
|
||||
<color rgba="0.1 0.7 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
@@ -1,74 +0,0 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="physics">
|
||||
|
||||
<link name="slideBar">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="30 0.05 0.05"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 0"/>
|
||||
<material name="green">
|
||||
<color rgba="0 0.8 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="cart">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.5 0.5 0.2"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 0"/>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.5 0.5 0.2"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="slider_to_cart" type="prismatic">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<parent link="slideBar"/>
|
||||
<child link="cart"/>
|
||||
<limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
|
||||
</joint>
|
||||
|
||||
<link name="pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 1.0"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.5"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.5"/>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="cart_to_pole" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="0.0 0.0 0"/>
|
||||
<parent link="cart"/>
|
||||
<child link="pole"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
Binary file not shown.
|
Before Width: | Height: | Size: 6.2 KiB |
Binary file not shown.
|
Before Width: | Height: | Size: 1.8 KiB |
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,198 +0,0 @@
|
||||
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<material name="White">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
<link name="world"/>
|
||||
<link name="diff_ring">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="2.637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_ring.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="diff_ring_world" type="continuous">
|
||||
<parent link="world"/>
|
||||
<child link="diff_ring"/>
|
||||
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="diff_spiderA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="2.637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
|
||||
|
||||
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_spiderA_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_spiderA"/>
|
||||
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff_spiderB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="2.637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
|
||||
|
||||
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_spiderB_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_spiderB"/>
|
||||
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="diff_sideA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="2.637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_sideA_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_sideA"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff_sideB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="2.637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_sideB_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_sideB"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,2 +0,0 @@
|
||||
stl files were copied from http://www.otvinta.com/download09.html
|
||||
URDF file was manually created, along with mimicJointConstraint.py
|
||||
@@ -1,802 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
|
||||
It has been produced from the varients in //third_party/robotics/models.
|
||||
Note: This file is temporary, and should be deleted once Bullet supports
|
||||
importing models in SDF. Also, this file has been specialized for Bullet,
|
||||
because the mass of the base link has been set to 0, as needed by Bullet.
|
||||
Note: All of the gripper link poses have been adjusted in the z direction
|
||||
to achieve a reasonable position of the gripper relative to the arm.
|
||||
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa_with_wsg50'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>/meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
<specular>0.4 0.4 0.4 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J0' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J1' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J2' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J3' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J4' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J5' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J6' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<!-- Attach the base of the gripper to the end of the arm -->
|
||||
<joint name='gripper_to_arm' type='fixed'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 1.305 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<mass>1.2</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='base_link_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_left_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.4</lower>
|
||||
<upper>10.01</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_base_tip_joint' type='revolute'>
|
||||
<parent>left_finger_base</parent>
|
||||
<child>left_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.1</lower>
|
||||
<upper>10.3</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>1.0</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_tip_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='base_right_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.01</lower>
|
||||
<upper>10.4</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_base_tip_joint' type='revolute'>
|
||||
<parent>right_finger_base</parent>
|
||||
<child>right_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.3</lower>
|
||||
<upper>10.1</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>1.0</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -1,857 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
|
||||
It has been produced from the varients in //third_party/robotics/models.
|
||||
Note: This file is temporary, and should be deleted once Bullet supports
|
||||
importing models in SDF. Also, this file has been specialized for Bullet,
|
||||
because the mass of the base link has been set to 0, as needed by Bullet.
|
||||
Note: All of the gripper link poses have been adjusted in the z direction
|
||||
to achieve a reasonable position of the gripper relative to the arm.
|
||||
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa_with_wsg50'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>/meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1.0</diffuse>
|
||||
<specular>0.4 0.4 0.4 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J0' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J1' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J2' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J3' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J4' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.423529411765 0.0392156862745 1.0</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J5' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>1.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J6' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<!-- Attach the base of the gripper to the end of the arm -->
|
||||
<joint name='gripper_to_arm' type='continuous'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 1.305 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='base_link_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='base_link_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name='base_left_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.4</lower>
|
||||
<upper>10.01</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_collision'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_base_tip_joint' type='revolute'>
|
||||
<parent>left_finger_base</parent>
|
||||
<child>left_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.1</lower>
|
||||
<upper>10.3</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='left_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='left_finger_tip_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='left_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='base_right_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.01</lower>
|
||||
<upper>10.4</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_collision'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_base_tip_joint' type='revolute'>
|
||||
<parent>right_finger_base</parent>
|
||||
<child>right_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-10.3</lower>
|
||||
<upper>10.1</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>0</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='right_finger_tip'>
|
||||
<contact>
|
||||
<lateral_friction>0.8</lateral_friction>
|
||||
<spinning_friction>.1</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<visual name='right_finger_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.5 0.5 0.5 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
<collision name='right_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -1,414 +0,0 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<joint name='fix_to_world' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>lbr_iiwa_link_0</child>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0.01</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,10 +0,0 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
@@ -1,459 +0,0 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<pose frame=''>0 -2.3 0.7 0 0 0</pose>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.7 1.0 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.2 0.2 0.2 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -1,289 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. 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. -->
|
||||
<!-- -->
|
||||
<!--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. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -1,818 +0,0 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
|
||||
<model name='lbr_iiwa'>
|
||||
<pose frame=''>2 2 0 0 -0 0</pose>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_1' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_2' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_3' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_4' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_5' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_6' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/coarse/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='lbr_iiwa_joint_7' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -1,285 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. 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. -->
|
||||
<!-- -->
|
||||
<!--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. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.01"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/coarse/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
@@ -1,289 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. 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. -->
|
||||
<!-- -->
|
||||
<!--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. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.1"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -1,289 +0,0 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- ======================================================================= -->
|
||||
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
|
||||
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- | Changes (kohlhoff): | -->
|
||||
<!-- | * Removed gazebo tags. | -->
|
||||
<!-- | * Removed unused materials. | -->
|
||||
<!-- | * Made mesh paths relative. | -->
|
||||
<!-- | * Removed material fields from collision segments. | -->
|
||||
<!-- | * Removed the self_collision_checking segment. | -->
|
||||
<!-- | * Removed transmission segments, since they didn't match the | -->
|
||||
<!-- | convention, will have to added back later. | -->
|
||||
<!-- ======================================================================= -->
|
||||
<!--LICENSE: -->
|
||||
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
|
||||
<!--Orebro University, Sweden -->
|
||||
<!--All rights reserved. -->
|
||||
<!-- -->
|
||||
<!--Redistribution and use in source and binary forms, with or without -->
|
||||
<!--modification, are permitted provided that the following conditions are -->
|
||||
<!--met: -->
|
||||
<!-- -->
|
||||
<!--1. Redistributions of source code must retain the above copyright notice,-->
|
||||
<!-- this list of conditions and the following disclaimer. -->
|
||||
<!-- -->
|
||||
<!--2. 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. -->
|
||||
<!-- -->
|
||||
<!--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. -->
|
||||
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- Import Rviz colors -->
|
||||
<material name="Grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="Blue">
|
||||
<color rgba="0.5 0.7 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<!--Import the lbr iiwa macro -->
|
||||
<!--Import Transmissions -->
|
||||
<!--Include Utilities -->
|
||||
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
|
||||
<!--Little helper macros to define the inertia matrix needed for links.-->
|
||||
<!--Cuboid-->
|
||||
<!--Cylinder: length is along the y-axis! -->
|
||||
<!--lbr-->
|
||||
<link name="lbr_iiwa_link_0">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
|
||||
<!--Increase mass from 5 Kg original to provide a stable base to carry the
|
||||
arm.-->
|
||||
<mass value="0.0"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_0 and link_1 -->
|
||||
<joint name="lbr_iiwa_joint_1" type="revolute">
|
||||
<parent link="lbr_iiwa_link_0"/>
|
||||
<child link="lbr_iiwa_link_1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-.96705972839" upper="0.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_1">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_1 and link_2 -->
|
||||
<joint name="lbr_iiwa_joint_2" type="revolute">
|
||||
<parent link="lbr_iiwa_link_1"/>
|
||||
<child link="lbr_iiwa_link_2"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_2">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
|
||||
<mass value="4"/>
|
||||
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_2 and link_3 -->
|
||||
<joint name="lbr_iiwa_joint_3" type="revolute">
|
||||
<parent link="lbr_iiwa_link_2"/>
|
||||
<child link="lbr_iiwa_link_3"/>
|
||||
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_3">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
|
||||
<mass value="3"/>
|
||||
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_3 and link_4 -->
|
||||
<joint name="lbr_iiwa_joint_4" type="revolute">
|
||||
<parent link="lbr_iiwa_link_3"/>
|
||||
<child link="lbr_iiwa_link_4"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="0.19439510239" upper="2.29439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_4">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
|
||||
<mass value="2.7"/>
|
||||
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_4 and link_5 -->
|
||||
<joint name="lbr_iiwa_joint_5" type="revolute">
|
||||
<parent link="lbr_iiwa_link_4"/>
|
||||
<child link="lbr_iiwa_link_5"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_5">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
|
||||
<mass value="1.7"/>
|
||||
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_5 and link_6 -->
|
||||
<joint name="lbr_iiwa_joint_6" type="revolute">
|
||||
<parent link="lbr_iiwa_link_5"/>
|
||||
<child link="lbr_iiwa_link_6"/>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_6">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
|
||||
<mass value="1.8"/>
|
||||
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<!-- joint between link_6 and link_7 -->
|
||||
<joint name="lbr_iiwa_joint_7" type="revolute">
|
||||
<parent link="lbr_iiwa_link_6"/>
|
||||
<child link="lbr_iiwa_link_7"/>
|
||||
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
|
||||
<dynamics damping="0.5"/>
|
||||
</joint>
|
||||
<link name="lbr_iiwa_link_7">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.02"/>
|
||||
<mass value="0.3"/>
|
||||
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
</robot>
|
||||
|
||||
@@ -1,71 +0,0 @@
|
||||
<mujoco model="ant">
|
||||
<compiler angle="degree" coordinate="local" inertiafromgeom="true"/>
|
||||
<option integrator="RK4" timestep="0.01"/>
|
||||
<custom>
|
||||
<numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
|
||||
</custom>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.8 0.6 0.4 1"/>
|
||||
</default>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 0.75">
|
||||
<geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
|
||||
<!--joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/-->
|
||||
<body name="front_left_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body name="aux_1" pos="0.2 0.2 0">
|
||||
<joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body pos="0.2 0.2 0" name="front_left_foot">
|
||||
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="front_right_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
|
||||
<body name="aux_2" pos="-0.2 0.2 0">
|
||||
<joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
|
||||
<body pos="-0.2 0.2 0" name="front_right_foot">
|
||||
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_back_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
|
||||
<body name="aux_3" pos="-0.2 -0.2 0">
|
||||
<joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
|
||||
<body pos="-0.2 -0.2 0" name="left_back_foot">
|
||||
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_back_leg" pos="0 0 0">
|
||||
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body name="aux_4" pos="0.2 -0.2 0">
|
||||
<joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
<body pos="0.2 -0.2 0" name="right_back_foot">
|
||||
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
|
||||
<geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".8 .5 .3 1"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="150"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="150"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom name="aux_1_geom" size="0.05 0.1" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="capsule"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom name="aux_1_geom" size="0.05 0.1" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="-0.1 0.0 0.0 0.1 0.0 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 -0.1 0.0 0.0 0.1 0.0" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom fromto="0.0 0.0 -0.1 0.0 0.0 0.1" name="aux_1_geom" size="0.05" type="cylinder"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,57 +0,0 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<!-- light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/-->
|
||||
<geom condim="3" friction="1 .1 .1" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 0.125" type="plane"/>
|
||||
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,5 +0,0 @@
|
||||
<mujoco model="ground_plane">
|
||||
<worldbody>
|
||||
<geom conaffinity="1" condim="3" name="floor" friction="0.8 0.1 0.1" pos="0 0 0" type="plane"/>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,88 +0,0 @@
|
||||
<!-- Cheetah Model
|
||||
|
||||
The state space is populated with joints in the order that they are
|
||||
defined in this file. The actuators also operate on joints.
|
||||
|
||||
State-Space (name/joint/parameter):
|
||||
- rootx slider position (m)
|
||||
- rootz slider position (m)
|
||||
- rooty hinge angle (rad)
|
||||
- bthigh hinge angle (rad)
|
||||
- bshin hinge angle (rad)
|
||||
- bfoot hinge angle (rad)
|
||||
- fthigh hinge angle (rad)
|
||||
- fshin hinge angle (rad)
|
||||
- ffoot hinge angle (rad)
|
||||
- rootx slider velocity (m/s)
|
||||
- rootz slider velocity (m/s)
|
||||
- rooty hinge angular velocity (rad/s)
|
||||
- bthigh hinge angular velocity (rad/s)
|
||||
- bshin hinge angular velocity (rad/s)
|
||||
- bfoot hinge angular velocity (rad/s)
|
||||
- fthigh hinge angular velocity (rad/s)
|
||||
- fshin hinge angular velocity (rad/s)
|
||||
- ffoot hinge angular velocity (rad/s)
|
||||
|
||||
Actuators (name/actuator/parameter):
|
||||
- bthigh hinge torque (N m)
|
||||
- bshin hinge torque (N m)
|
||||
- bfoot hinge torque (N m)
|
||||
- fthigh hinge torque (N m)
|
||||
- fshin hinge torque (N m)
|
||||
- ffoot hinge torque (N m)
|
||||
|
||||
-->
|
||||
<mujoco model="cheetah">
|
||||
<compiler angle="radian" coordinate="local" inertiafromgeom="true" settotalmass="14"/>
|
||||
<default>
|
||||
<joint armature=".1" damping=".01" limited="true" solimplimit="0 .8 .03" solreflimit=".02 1" stiffness="8"/>
|
||||
<geom conaffinity="0" condim="3" contype="1" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1" solimp="0.0 0.8 0.01" solref="0.02 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1"/>
|
||||
</default>
|
||||
<size nstack="300000" nuser_geom="1"/>
|
||||
<option gravity="0 0 -9.81" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 .7">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignorex" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignorez" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignorey" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="-.5 0 0 .5 0 0" name="torso" size="0.046" type="capsule"/>
|
||||
<geom axisangle="0 1 0 .87" name="head" pos=".6 0 .1" size="0.046 .15" type="capsule"/>
|
||||
<!-- <site name='tip' pos='.15 0 .11'/>-->
|
||||
<body name="bthigh" pos="-.5 0 0">
|
||||
<joint axis="0 1 0" damping="6" name="bthigh" pos="0 0 0" range="-.52 1.05" stiffness="240" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -3.8" name="bthigh" pos=".1 0 -.13" size="0.046 .145" type="capsule"/>
|
||||
<body name="bshin" pos=".16 0 -.25">
|
||||
<joint axis="0 1 0" damping="4.5" name="bshin" pos="0 0 0" range="-.785 .785" stiffness="180" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -2.03" name="bshin" pos="-.14 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .15" type="capsule"/>
|
||||
<body name="bfoot" pos="-.28 0 -.14">
|
||||
<joint axis="0 1 0" damping="3" name="bfoot" pos="0 0 0" range="-.4 .785" stiffness="120" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.27" name="bfoot" pos=".03 0 -.097" rgba="0.9 0.6 0.6 1" size="0.046 .094" type="capsule"/>
|
||||
<inertial mass="10"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="fthigh" pos=".5 0 0">
|
||||
<joint axis="0 1 0" damping="4.5" name="fthigh" pos="0 0 0" range="-1.5 0.8" stiffness="180" type="hinge"/>
|
||||
<geom axisangle="0 1 0 .52" name="fthigh" pos="-.07 0 -.12" size="0.046 .133" type="capsule"/>
|
||||
<body name="fshin" pos="-.14 0 -.24">
|
||||
<joint axis="0 1 0" damping="3" name="fshin" pos="0 0 0" range="-1.2 1.1" stiffness="120" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.6" name="fshin" pos=".065 0 -.09" rgba="0.9 0.6 0.6 1" size="0.046 .106" type="capsule"/>
|
||||
<body name="ffoot" pos=".13 0 -.18">
|
||||
<joint axis="0 1 0" damping="1.5" name="ffoot" pos="0 0 0" range="-3.1 -0.3" stiffness="60" type="hinge"/>
|
||||
<geom axisangle="0 1 0 -.6" name="ffoot" pos=".045 0 -.07" rgba="0.9 0.6 0.6 1" size="0.046 .07" type="capsule"/>
|
||||
<inertial mass="10"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor gear="120" joint="bthigh" name="bthigh"/>
|
||||
<motor gear="90" joint="bshin" name="bshin"/>
|
||||
<motor gear="60" joint="bfoot" name="bfoot"/>
|
||||
<motor gear="120" joint="fthigh" name="fthigh"/>
|
||||
<motor gear="60" joint="fshin" name="fshin"/>
|
||||
<motor gear="30" joint="ffoot" name="ffoot"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,13 +0,0 @@
|
||||
<!--
|
||||
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
|
||||
-->
|
||||
<mujoco>
|
||||
<worldbody>
|
||||
<light diffuse=".5 .5 .5" pos="0 0 3" dir="0 0 -1"/>
|
||||
<geom type="plane" size="1 1 0.1" rgba=".9 0 0 1"/>
|
||||
<body pos="0 0 1">
|
||||
<joint type="free"/>
|
||||
<geom type="box" size=".1 .2 .3" rgba="0 .9 0 1"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -1,39 +0,0 @@
|
||||
<mujoco model="hopper">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" friction="0.8 .1 .1" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" timestep="0.002"/>
|
||||
<worldbody>
|
||||
<!-- CHANGE: body pos="" deleted for all bodies (you can also set pos="0 0 0", it works)
|
||||
Interpretation of body pos="" depends on coordinate="global" above.
|
||||
Bullet doesn't support global coordinates in bodies, little motivation to fix this, as long as it works without pos="" as well.
|
||||
After this change, Hopper still loads and works in MuJoCo simulator.
|
||||
-->
|
||||
<body name="torso">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="ignore1" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="ignore2" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="ignore3" pos="0 0 0" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
|
||||
<body name="thigh">
|
||||
<joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
|
||||
<body name="leg">
|
||||
<joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
|
||||
<body name="foot">
|
||||
<joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,130 +0,0 @@
|
||||
<mujoco model='humanoid'>
|
||||
<compiler inertiafromgeom='true' angle='degree'/>
|
||||
|
||||
<default>
|
||||
<joint limited='true' damping='1' armature='0' />
|
||||
<geom contype='1' conaffinity='1' condim='1' rgba='0.8 0.6 .4 1'
|
||||
margin="0.001" solref=".02 1" solimp=".8 .8 .01" material="geom"/>
|
||||
<motor ctrlrange='-.4 .4' ctrllimited='true'/>
|
||||
</default>
|
||||
|
||||
<option timestep='0.002' iterations="50" solver="PGS">
|
||||
<flag energy="enable"/>
|
||||
</option>
|
||||
|
||||
<visual>
|
||||
<map fogstart="3" fogend="5" force="0.1"/>
|
||||
<quality shadowsize="2048"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" width="100" height="100" rgb1=".4 .6 .8"
|
||||
rgb2="0 0 0"/>
|
||||
<texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
|
||||
rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
|
||||
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
|
||||
width="100" height="100"/>
|
||||
|
||||
<material name='MatPlane' reflectance='0.5' texture="texplane" texrepeat="1 1" texuniform="true"/>
|
||||
<material name='geom' texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
|
||||
<worldbody>
|
||||
<geom name='floor' pos='0 0 0' size='10 10 0.125' type='plane' material="MatPlane" condim='3'/>
|
||||
|
||||
<body name='torso' pos='0 0 1.4'>
|
||||
<light mode='trackcom' directional='false' diffuse='.8 .8 .8' specular='0.3 0.3 0.3' pos='0 0 4.0' dir='0 0 -1'/>
|
||||
|
||||
|
||||
<geom name='torso1' type='capsule' fromto='0 -.07 0 0 .07 0' size='0.07' />
|
||||
<geom name='head' type='sphere' pos='0 0 .19' size='.09'/>
|
||||
<geom name='uwaist' type='capsule' fromto='-.01 -.06 -.12 -.01 .06 -.12' size='0.06'/>
|
||||
<body name='lwaist' pos='-.01 0 -0.260' quat='1.000 0 -0.002 0' >
|
||||
<geom name='lwaist' type='capsule' fromto='0 -.06 0 0 .06 0' size='0.06' />
|
||||
<joint name='abdomen_z' type='hinge' pos='0 0 0.065' axis='0 0 1' range='-45 45' damping='5' stiffness='20' armature='0.02' />
|
||||
<joint name='abdomen_y' type='hinge' pos='0 0 0.065' axis='0 1 0' range='-75 30' damping='5' stiffness='10' armature='0.02' />
|
||||
<body name='pelvis' pos='0 0 -0.165' quat='1.000 0 -0.002 0' >
|
||||
<joint name='abdomen_x' type='hinge' pos='0 0 0.1' axis='1 0 0' range='-35 35' damping='5' stiffness='10' armature='0.02' />
|
||||
<geom name='butt' type='capsule' fromto='-.02 -.07 0 -.02 .07 0' size='0.09' />
|
||||
<body name='right_thigh' pos='0 -0.1 -0.04' >
|
||||
<joint name='right_hip_x' type='hinge' pos='0 0 0' axis='1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_z' type='hinge' pos='0 0 0' axis='0 0 1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='right_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-110 20' damping='5' stiffness='20' armature='0.0080' />
|
||||
<geom name='right_thigh1' type='capsule' fromto='0 0 0 0 0.01 -.34' size='0.06' />
|
||||
<body name='right_shin' pos='0 0.01 -0.403' >
|
||||
<joint name='right_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' armature='0.0060' />
|
||||
<geom name='right_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='right_foot' pos='0 0 -.39' >
|
||||
<joint name='right_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='right_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='right_foot_cap1' type='capsule' fromto='-.07 -0.02 0 0.14 -0.04 0' size='0.027' />
|
||||
<geom name='right_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_thigh' pos='0 0.1 -0.04' >
|
||||
<joint name='left_hip_x' type='hinge' pos='0 0 0' axis='-1 0 0' range='-25 5' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_z' type='hinge' pos='0 0 0' axis='0 0 -1' range='-60 35' damping='5' stiffness='10' armature='0.01' />
|
||||
<joint name='left_hip_y' type='hinge' pos='0 0 0' axis='0 1 0' range='-120 20' damping='5' stiffness='20' armature='0.01' />
|
||||
<geom name='left_thigh1' type='capsule' fromto='0 0 0 0 -0.01 -.34' size='0.06' />
|
||||
<body name='left_shin' pos='0 -0.01 -0.403' >
|
||||
<joint name='left_knee' type='hinge' pos='0 0 .02' axis='0 -1 0' range='-160 -2' stiffness='1' armature='0.0060' />
|
||||
<geom name='left_shin1' type='capsule' fromto='0 0 0 0 0 -.3' size='0.049' />
|
||||
<body name='left_foot' pos='0 0 -.39' >
|
||||
<joint name='left_ankle_y' type='hinge' pos='0 0 0.08' axis='0 1 0' range='-50 50' stiffness='4' armature='0.0008' />
|
||||
<joint name='left_ankle_x' type='hinge' pos='0 0 0.04' axis='1 0 0.5' range='-50 50' stiffness='1' armature='0.0006' />
|
||||
<geom name='left_foot_cap1' type='capsule' fromto='-.07 0.02 0 0.14 0.04 0' size='0.027' />
|
||||
<geom name='left_foot_cap2' type='capsule' fromto='-.07 0 0 0.14 -0.02 0' size='0.027' />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name='right_upper_arm' pos='0 -0.17 0.06' >
|
||||
<joint name='right_shoulder1' type='hinge' pos='0 0 0' axis='2 1 1' range='-85 60' stiffness='1' armature='0.0068' />
|
||||
<joint name='right_shoulder2' type='hinge' pos='0 0 0' axis='0 -1 1' range='-85 60' stiffness='1' armature='0.0051' />
|
||||
<geom name='right_uarm1' type='capsule' fromto='0 0 0 .16 -.16 -.16' size='0.04 0.16' />
|
||||
<body name='right_lower_arm' pos='.18 -.18 -.18' >
|
||||
<joint name='right_elbow' type='hinge' pos='0 0 0' axis='0 -1 1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='right_larm' type='capsule' fromto='0.01 0.01 0.01 .17 .17 .17' size='0.031' />
|
||||
<geom name='right_hand' type='sphere' pos='.18 .18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
<body name='left_upper_arm' pos='0 0.17 0.06' >
|
||||
<joint name='left_shoulder1' type='hinge' pos='0 0 0' axis='2 -1 1' range='-60 85' stiffness='1' armature='0.0068' />
|
||||
<joint name='left_shoulder2' type='hinge' pos='0 0 0' axis='0 1 1' range='-60 85' stiffness='1' armature='0.0051' />
|
||||
<geom name='left_uarm1' type='capsule' fromto='0 0 0 .16 .16 -.16' size='0.04 0.16' />
|
||||
<body name='left_lower_arm' pos='.18 .18 -.18' >
|
||||
<joint name='left_elbow' type='hinge' pos='0 0 0' axis='0 -1 -1' range='-90 50' stiffness='0' armature='0.0028' />
|
||||
<geom name='left_larm' type='capsule' fromto='0.01 -0.01 0.01 .17 -.17 .17' size='0.031' />
|
||||
<geom name='left_hand' type='sphere' pos='.18 -.18 .18' size='0.04'/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor name='abdomen_y' gear='200' joint='abdomen_y' />
|
||||
<motor name='abdomen_z' gear='200' joint='abdomen_z' />
|
||||
<motor name='abdomen_x' gear='200' joint='abdomen_x' />
|
||||
<motor name='right_hip_x' gear='200' joint='right_hip_x' />
|
||||
<motor name='right_hip_z' gear='200' joint='right_hip_z' />
|
||||
<motor name='right_hip_y' gear='600' joint='right_hip_y' />
|
||||
<motor name='right_knee' gear='400' joint='right_knee' />
|
||||
<motor name='right_ankle_x' gear='100' joint='right_ankle_x' />
|
||||
<motor name='right_ankle_y' gear='100' joint='right_ankle_y' />
|
||||
<motor name='left_hip_x' gear='200' joint='left_hip_x' />
|
||||
<motor name='left_hip_z' gear='200' joint='left_hip_z' />
|
||||
<motor name='left_hip_y' gear='600' joint='left_hip_y' />
|
||||
<motor name='left_knee' gear='400' joint='left_knee' />
|
||||
<motor name='left_ankle_x' gear='100' joint='left_ankle_x' />
|
||||
<motor name='left_ankle_y' gear='100' joint='left_ankle_y' />
|
||||
<motor name='right_shoulder1' gear='100' joint='right_shoulder1' />
|
||||
<motor name='right_shoulder2' gear='100' joint='right_shoulder2' />
|
||||
<motor name='right_elbow' gear='200' joint='right_elbow' />
|
||||
<motor name='left_shoulder1' gear='100' joint='left_shoulder1' />
|
||||
<motor name='left_shoulder2' gear='100' joint='left_shoulder2' />
|
||||
<motor name='left_elbow' gear='200' joint='left_elbow' />
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
@@ -1,115 +0,0 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="fixed"/>
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,107 +0,0 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="3" friction="0.8 0.1 0.1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,115 +0,0 @@
|
||||
<mujoco model="humanoid">
|
||||
<compiler angle="degree" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1"/>
|
||||
<motor ctrllimited="true" ctrlrange="-.4 .4"/>
|
||||
</default>
|
||||
<option integrator="RK4" iterations="50" solver="PGS" timestep="0.003">
|
||||
<!-- <flags solverstat="enable" energy="enable"/>-->
|
||||
</option>
|
||||
<size nkey="5" nuser_geom="1"/>
|
||||
<visual>
|
||||
<map fogend="5" fogstart="3"/>
|
||||
</visual>
|
||||
<asset>
|
||||
<texture builtin="gradient" height="100" rgb1=".4 .5 .6" rgb2="0 0 0" type="skybox" width="100"/>
|
||||
<!-- <texture builtin="gradient" height="100" rgb1="1 1 1" rgb2="0 0 0" type="skybox" width="100"/>-->
|
||||
<texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
|
||||
<texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
|
||||
<material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
|
||||
<material name="geom" texture="texgeom" texuniform="true"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="torso" pos="0 0 1.4">
|
||||
<!--joint armature="0" damping="0" limited="false" name="root" pos="0 0 0" stiffness="0" type="free"/-->
|
||||
<geom fromto="0 -.07 0 0 .07 0" name="torso1" size="0.07" type="capsule"/>
|
||||
<geom name="head" pos="0 0 .19" size=".09" type="sphere" user="258"/>
|
||||
<geom fromto="-.01 -.06 -.12 -.01 .06 -.12" name="uwaist" size="0.06" type="capsule"/>
|
||||
<body name="lwaist" pos="-.01 0 -0.260" quat="1.000 0 -0.002 0">
|
||||
<geom fromto="0 -.06 0 0 .06 0" name="lwaist" size="0.06" type="capsule"/>
|
||||
<joint armature="0.02" axis="0 0 1" damping="5" name="abdomen_z" pos="0 0 0.065" range="-45 45" stiffness="20" type="hinge"/>
|
||||
<joint armature="0.02" axis="0 1 0" damping="5" name="abdomen_y" pos="0 0 0.065" range="-75 30" stiffness="10" type="hinge"/>
|
||||
<body name="pelvis" pos="0 0 -0.165" quat="1.000 0 -0.002 0">
|
||||
<joint armature="0.02" axis="1 0 0" damping="5" name="abdomen_x" pos="0 0 0.1" range="-35 35" stiffness="10" type="hinge"/>
|
||||
<geom fromto="-.02 -.07 0 -.02 .07 0" name="butt" size="0.09" type="capsule"/>
|
||||
<body name="right_thigh" pos="0 -0.1 -0.04">
|
||||
<joint armature="0.01" axis="1 0 0" damping="5" name="right_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 1" damping="5" name="right_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="right_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0.01 -.34" name="right_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="right_shin" pos="0 0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="right_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="right_shin1" size="0.049" type="capsule"/>
|
||||
<body name="right_foot" pos="0 0 -0.45">
|
||||
<geom name="right_foot" pos="0 0 0.1" size="0.075" type="sphere" user="0"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_thigh" pos="0 0.1 -0.04">
|
||||
<joint armature="0.01" axis="-1 0 0" damping="5" name="left_hip_x" pos="0 0 0" range="-25 5" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 0 -1" damping="5" name="left_hip_z" pos="0 0 0" range="-60 35" stiffness="10" type="hinge"/>
|
||||
<joint armature="0.01" axis="0 1 0" damping="5" name="left_hip_y" pos="0 0 0" range="-120 20" stiffness="20" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 -0.01 -.34" name="left_thigh1" size="0.06" type="capsule"/>
|
||||
<body name="left_shin" pos="0 -0.01 -0.403">
|
||||
<joint armature="0.0060" axis="0 -1 0" name="left_knee" pos="0 0 .02" range="-160 -2" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 -.3" name="left_shin1" size="0.049" type="capsule"/>
|
||||
<body name="left_foot" pos="0 0 -0.45">
|
||||
<geom name="left_foot" type="sphere" size="0.075" pos="0 0 0.1" user="0" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<body name="right_upper_arm" pos="0 -0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 1 1" name="right_shoulder1" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 -1 1" name="right_shoulder2" pos="0 0 0" range="-85 60" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 -.16 -.16" name="right_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="right_lower_arm" pos=".18 -.18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 1" name="right_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 0.01 0.01 .17 .17 .17" name="right_larm" size="0.031" type="capsule"/>
|
||||
<geom name="right_hand" pos=".18 .18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
<body name="left_upper_arm" pos="0 0.17 0.06">
|
||||
<joint armature="0.0068" axis="2 -1 1" name="left_shoulder1" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<joint armature="0.0051" axis="0 1 1" name="left_shoulder2" pos="0 0 0" range="-60 85" stiffness="1" type="hinge"/>
|
||||
<geom fromto="0 0 0 .16 .16 -.16" name="left_uarm1" size="0.04 0.16" type="capsule"/>
|
||||
<body name="left_lower_arm" pos=".18 .18 -.18">
|
||||
<joint armature="0.0028" axis="0 -1 -1" name="left_elbow" pos="0 0 0" range="-90 50" stiffness="0" type="hinge"/>
|
||||
<geom fromto="0.01 -0.01 0.01 .17 -.17 .17" name="left_larm" size="0.031" type="capsule"/>
|
||||
<geom name="left_hand" pos=".18 -.18 .18" size="0.04" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<tendon>
|
||||
<fixed name="left_hipknee">
|
||||
<joint coef="-1" joint="left_hip_y"/>
|
||||
<joint coef="1" joint="left_knee"/>
|
||||
</fixed>
|
||||
<fixed name="right_hipknee">
|
||||
<joint coef="-1" joint="right_hip_y"/>
|
||||
<joint coef="1" joint="right_knee"/>
|
||||
</fixed>
|
||||
</tendon>
|
||||
<actuator><!-- this section is not supported, same constants in code -->
|
||||
<motor gear="100" joint="abdomen_y" name="abdomen_y"/>
|
||||
<motor gear="100" joint="abdomen_z" name="abdomen_z"/>
|
||||
<motor gear="100" joint="abdomen_x" name="abdomen_x"/>
|
||||
<motor gear="100" joint="right_hip_x" name="right_hip_x"/>
|
||||
<motor gear="100" joint="right_hip_z" name="right_hip_z"/>
|
||||
<motor gear="300" joint="right_hip_y" name="right_hip_y"/>
|
||||
<motor gear="200" joint="right_knee" name="right_knee"/>
|
||||
<motor gear="100" joint="left_hip_x" name="left_hip_x"/>
|
||||
<motor gear="100" joint="left_hip_z" name="left_hip_z"/>
|
||||
<motor gear="300" joint="left_hip_y" name="left_hip_y"/>
|
||||
<motor gear="200" joint="left_knee" name="left_knee"/>
|
||||
<motor gear="25" joint="right_shoulder1" name="right_shoulder1"/>
|
||||
<motor gear="25" joint="right_shoulder2" name="right_shoulder2"/>
|
||||
<motor gear="25" joint="right_elbow" name="right_elbow"/>
|
||||
<motor gear="25" joint="left_shoulder1" name="left_shoulder1"/>
|
||||
<motor gear="25" joint="left_shoulder2" name="left_shoulder2"/>
|
||||
<motor gear="25" joint="left_elbow" name="left_elbow"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,47 +0,0 @@
|
||||
<!-- Cartpole Model
|
||||
|
||||
The state space is populated with joints in the order that they are
|
||||
defined in this file. The actuators also operate on joints.
|
||||
|
||||
State-Space (name/joint/parameter):
|
||||
- cart slider position (m)
|
||||
- pole hinge angle (rad)
|
||||
- cart slider velocity (m/s)
|
||||
- pole hinge angular velocity (rad/s)
|
||||
|
||||
Actuators (name/actuator/parameter):
|
||||
- cart motor force x (N)
|
||||
|
||||
-->
|
||||
<mujoco model="cartpole">
|
||||
<compiler coordinate="local" inertiafromgeom="true"/>
|
||||
<custom>
|
||||
<numeric data="2" name="frame_skip"/>
|
||||
</custom>
|
||||
<default>
|
||||
<joint damping="0.05"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="1e-5 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<size nstack="3000"/>
|
||||
<worldbody>
|
||||
<geom name="floor" pos="0 0 -3.0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
|
||||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||||
<body name="cart" pos="0 0 0">
|
||||
<joint axis="1 0 0" limited="true" margin="0.01" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||||
<body name="pole" pos="0 0 0">
|
||||
<joint axis="0 1 0" name="hinge" pos="0 0 0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||||
<body name="pole2" pos="0 0 0.6">
|
||||
<joint axis="0 1 0" name="hinge2" pos="0 0 0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0 0 0.6" name="cpole2" rgba="0 0.7 0.7 1" size="0.045 0.3" type="capsule"/>
|
||||
<!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,27 +0,0 @@
|
||||
<mujoco model="inverted pendulum">
|
||||
<compiler inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
<tendon/>
|
||||
<motor ctrlrange="-3 3"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.02"/>
|
||||
<size nstack="3000"/>
|
||||
<worldbody>
|
||||
<!--geom name="ground" type="plane" pos="0 0 0" /-->
|
||||
<geom name="rail" pos="0 0 0" quat="0.707 0 0.707 0" rgba="0.3 0.3 0.7 1" size="0.02 1" type="capsule"/>
|
||||
<body name="cart" pos="0 0 0">
|
||||
<joint axis="1 0 0" limited="true" name="slider" pos="0 0 0" range="-1 1" type="slide"/>
|
||||
<geom name="cart" pos="0 0 0" quat="0.707 0 0.707 0" size="0.1 0.1" type="capsule"/>
|
||||
<body name="pole" pos="0 0 0">
|
||||
<joint axis="0 1 0" name="hinge" pos="0 0 0" limited="false" range="-90 90" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.001 0 0.6" name="cpole" rgba="0 0.7 0.7 1" size="0.049 0.3" type="capsule"/>
|
||||
<!-- <body name="pole2" pos="0.001 0 0.6"><joint name="hinge2" type="hinge" pos="0 0 0" axis="0 1 0"/><geom name="cpole2" type="capsule" fromto="0 0 0 0 0 0.6" size="0.05 0.3" rgba="0.7 0 0.7 1"/><site name="tip2" pos="0 0 .6"/></body>-->
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor gear="100" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,90 +0,0 @@
|
||||
<mujoco model="pusher">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<default>
|
||||
<joint armature='0.04' damping="0" limited="true"/>
|
||||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
<option timestep="0.01" gravity="0 0 0" integrator="RK4" />
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
|
||||
|
||||
<body name="wrist_flex_link" pos="0.321 0 0">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
<body name="fingertip" pos="0 0 0">
|
||||
<geom name="tip_arml" type="sphere" pos="0.1 -0.1 0." size="0.01" />
|
||||
<geom name="tip_armr" type="sphere" pos="0.1 0.1 0." size="0.01" />
|
||||
</body>
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" contype="1" conaffinity="1" />
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.1 -0.1 0" size="0.02" contype="1" conaffinity="1" />
|
||||
<geom type="capsule" fromto="0 +0.1 0. 0.1 +0.1 0." size="0.02" contype="1" conaffinity="1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0.45 -0.05 -0.275" >
|
||||
<geom rgba="1 1 1 0" type="sphere" size="0.05 0.05 0.05" density="0.00001" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="cylinder" size="0.05 0.05 0.05" density="0.00001" contype="1" conaffinity="0"/>
|
||||
<joint name="object_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="object_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.45 -0.05 -0.3230">
|
||||
<geom rgba="1 0 0 1" type="cylinder" size="0.08 0.001 0.1" density='0.00001' contype="0" conaffinity="0"/>
|
||||
<joint name="target_x" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0"/>
|
||||
<joint name="target_y" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-2.0 2.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-2.0 2.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,39 +0,0 @@
|
||||
<mujoco model="reacher">
|
||||
<compiler angle="radian" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
</default>
|
||||
<option gravity="0 0 -9.81" integrator="RK4" timestep="0.01"/>
|
||||
<worldbody>
|
||||
<!-- Arena -->
|
||||
<geom conaffinity="0" contype="0" name="ground" pos="0 0 0" rgba="0.9 0.9 0.9 1" size="1 1 10" type="plane"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 .3 -.3 .01" name="sideS" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto=" .3 -.3 .01 .3 .3 .01" name="sideE" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 .3 .01 .3 .3 .01" name="sideN" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<geom conaffinity="0" fromto="-.3 -.3 .01 -.3 .3 .01" name="sideW" rgba="0.9 0.4 0.6 1" size=".02" type="capsule"/>
|
||||
<!-- Arm -->
|
||||
<geom conaffinity="0" contype="0" fromto="0 0 0 0 0 0.02" name="root" rgba="0.9 0.4 0.6 1" size=".011" type="cylinder"/>
|
||||
<body name="body0" pos="0 0 .01">
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link0" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<joint axis="0 0 1" limited="false" name="joint0" pos="0 0 0" type="hinge"/>
|
||||
<body name="body1" pos="0.1 0 0">
|
||||
<joint axis="0 0 1" limited="true" name="joint1" pos="0 0 0" range="-3.0 3.0" type="hinge"/>
|
||||
<geom fromto="0 0 0 0.1 0 0" name="link1" rgba="0.0 0.4 0.6 1" size=".01" type="capsule"/>
|
||||
<body name="fingertip" pos="0.11 0 0">
|
||||
<geom contype="0" name="fingertip" pos="0 0 0" rgba="0.0 0.8 0.6 1" size=".01" type="sphere"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- Target -->
|
||||
<body name="target" pos="0 0 .01">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="true" name="target_y" pos="0 0 0" range="-.27 .27" stiffness="0" type="slide"/>
|
||||
<geom conaffinity="0" contype="0" name="target" pos="0 0 0" rgba="0.9 0.2 0.2 1" size=".009" type="sphere"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint0"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="joint1"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
@@ -1,100 +0,0 @@
|
||||
<mujoco model="striker">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<option timestep="0.01" gravity="0 0 0" integrator="RK4"/>
|
||||
|
||||
<default>
|
||||
<joint armature='0.04' damping="0" limited="true"/>
|
||||
<geom friction=".0 .0 .0" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom name="table" type="plane" pos="0 0.5 -0.325" size="1 1 0.1" contype="1" conaffinity="1"/>
|
||||
<!--Arm-->
|
||||
<body name="shoulder_pan_link" pos="0 -0.6 0">
|
||||
<geom name="e1" type="sphere" rgba="0.6 0.6 0.6 1" pos="-0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" />
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" />
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" />
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-2.2854 1.714602" damping="0" />
|
||||
|
||||
<body name="shoulder_lift_link" pos="0.1 0 0">
|
||||
<geom name="sl" type="capsule" fromto="0 -0.1 0 0 0.1 0" size="0.1" />
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 1.3963" damping="0" />
|
||||
|
||||
<body name="upper_arm_roll_link" pos="0 0 0">
|
||||
<geom name="uar" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="0" />
|
||||
|
||||
<body name="upper_arm_link" pos="0 0 0">
|
||||
<geom name="ua" type="capsule" fromto="0 0 0 0.4 0 0" size="0.06" />
|
||||
|
||||
<body name="elbow_flex_link" pos="0.4 0 0">
|
||||
<geom name="ef" type="capsule" fromto="0 -0.02 0 0.0 0.02 0" size="0.06" />
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-2.3213 0" damping="0" />
|
||||
|
||||
<body name="forearm_roll_link" pos="0 0 0">
|
||||
<geom name="fr" type="capsule" fromto="-0.1 0 0 0.1 0 0" size="0.02" />
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0.291 0 0" size="0.05" />
|
||||
|
||||
<body name="wrist_flex_link" pos="0.321 0 0">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" />
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-1.094 0" damping="0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="1 0 0" damping="0" range="-1.5 1.5"/>
|
||||
<body name="fingertip" pos="0 0 0">
|
||||
<geom name="tip_arml" type="box" pos="0.017 0 0" size="0.003 0.12 0.05" conaffinity="1" contype="1" />
|
||||
</body>
|
||||
<geom type="capsule" fromto="0 -0.1 0. 0.0 +0.1 0" size="0.02" conaffinity="1" contype="1" />
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0 0 -0.270" >
|
||||
<geom type="sphere" rgba="1 1 1 1" pos="0 0 0" size="0.05 0.05 0.05" contype="1" conaffinity="0"/>
|
||||
<joint name="object_x" armature="0.1" type="slide" pos="0 0 0" axis="1 0 0" range="-10.3213 10.3" damping="0.5"/>
|
||||
<joint name="object_y" armature="0.1" type="slide" pos="0 0 0" axis="0 1 0" range="-10.3213 10.3" damping="0.5"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.0 0.0 -0.3230">
|
||||
<geom rgba="1. 1. 1. 0" pos="0 0 0" type="box" size="0.01 0.01 0.01" contype="0" conaffinity="0"/>
|
||||
<body pos="0 0 0">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<body name="coaster" pos="0 0 0">
|
||||
<geom rgba="1. 1. 1. 1" type="cylinder" size="0.08 0.001 0.1" density='1000000' contype="0" conaffinity="0"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 0.785">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 -0.785">
|
||||
<geom rgba="1. 1. 1. 1" pos="0 0.075 0.04" type="box" size="0.032 0.001 0.04" contype="0" conaffinity="1"/>
|
||||
</body>
|
||||
<joint name="target_free" type="free" pos="0 0 0" limited="false" damping="0"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
<actuator>
|
||||
<motor joint="shoulder_pan_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-3.0 3.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-3.0 3.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
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Reference in new issue
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