Merge branch 'master' of https://github.com/erwincoumans/bullet3
This commit is contained in:
Erwin Coumans
5
.gitignore
vendored
Normal file
5
.gitignore
vendored
Normal file
@@ -0,0 +1,5 @@
|
||||
/bin
|
||||
/build3/gmake
|
||||
/build_cmake/
|
||||
|
||||
*.pyc
|
||||
@@ -1,6 +1,6 @@
|
||||
cmake_minimum_required(VERSION 2.4.3)
|
||||
set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
|
||||
|
||||
cmake_policy(SET CMP0017 NEW)
|
||||
#this line has to appear before 'PROJECT' in order to be able to disable incremental linking
|
||||
SET(MSVC_INCREMENTAL_DEFAULT ON)
|
||||
|
||||
@@ -27,8 +27,16 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
|
||||
OPTION(USE_DOUBLE_PRECISION "Use double precision" OFF)
|
||||
OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
|
||||
OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
|
||||
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
|
||||
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations" OFF)
|
||||
OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" OFF)
|
||||
|
||||
OPTION(BULLET2_USE_THREAD_LOCKS "Build Bullet 2 libraries with mutex locking around certain operations (required for multi-threading)" OFF)
|
||||
IF (BULLET2_USE_THREAD_LOCKS)
|
||||
OPTION(BULLET2_USE_OPEN_MP_MULTITHREADING "Build Bullet 2 with support for multi-threading with OpenMP (requires a compiler with OpenMP support)" OFF)
|
||||
OPTION(BULLET2_USE_TBB_MULTITHREADING "Build Bullet 2 with support for multi-threading with Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
|
||||
IF (MSVC)
|
||||
OPTION(BULLET2_USE_PPL_MULTITHREADING "Build Bullet 2 with support for multi-threading with Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
|
||||
ENDIF (MSVC)
|
||||
ENDIF (BULLET2_USE_THREAD_LOCKS)
|
||||
|
||||
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
|
||||
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
|
||||
@@ -123,22 +131,22 @@ IF(MSVC)
|
||||
|
||||
OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option" OFF)
|
||||
|
||||
|
||||
|
||||
|
||||
OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option" ON)
|
||||
|
||||
|
||||
IF(USE_MSVC_COMDAT_FOLDING)
|
||||
set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
|
||||
ENDIF()
|
||||
|
||||
|
||||
OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option" ON)
|
||||
IF(USE_MSVC_DISABLE_RTTI)
|
||||
STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
|
||||
SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
|
||||
SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
|
||||
ENDIF(USE_MSVC_DISABLE_RTTI)
|
||||
|
||||
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
|
||||
ENDIF(MSVC)
|
||||
|
||||
@@ -208,6 +216,30 @@ IF(BULLET2_USE_THREAD_LOCKS)
|
||||
ENDIF (NOT MSVC)
|
||||
ENDIF (BULLET2_USE_THREAD_LOCKS)
|
||||
|
||||
IF (BULLET2_USE_OPEN_MP_MULTITHREADING)
|
||||
ADD_DEFINITIONS("-DBT_USE_OPENMP=1")
|
||||
IF (MSVC)
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /openmp")
|
||||
ELSE (MSVC)
|
||||
# GCC, Clang
|
||||
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fopenmp")
|
||||
ENDIF (MSVC)
|
||||
ENDIF (BULLET2_USE_OPEN_MP_MULTITHREADING)
|
||||
|
||||
IF (BULLET2_USE_TBB_MULTITHREADING)
|
||||
SET (BULLET2_TBB_INCLUDE_DIR "not found" CACHE PATH "Directory for Intel TBB includes.")
|
||||
SET (BULLET2_TBB_LIB_DIR "not found" CACHE PATH "Directory for Intel TBB libraries.")
|
||||
find_library(TBB_LIBRARY tbb PATHS ${BULLET2_TBB_LIB_DIR})
|
||||
find_library(TBBMALLOC_LIBRARY tbbmalloc PATHS ${BULLET2_TBB_LIB_DIR})
|
||||
ADD_DEFINITIONS("-DBT_USE_TBB=1")
|
||||
INCLUDE_DIRECTORIES( ${BULLET2_TBB_INCLUDE_DIR} )
|
||||
LINK_LIBRARIES( ${TBB_LIBRARY} ${TBBMALLOC_LIBRARY} )
|
||||
ENDIF (BULLET2_USE_TBB_MULTITHREADING)
|
||||
|
||||
IF (BULLET2_USE_PPL_MULTITHREADING)
|
||||
ADD_DEFINITIONS("-DBT_USE_PPL=1")
|
||||
ENDIF (BULLET2_USE_PPL_MULTITHREADING)
|
||||
|
||||
IF (WIN32)
|
||||
OPTION(USE_GLUT "Use Glut" ON)
|
||||
ADD_DEFINITIONS( -D_CRT_SECURE_NO_WARNINGS )
|
||||
@@ -254,24 +286,39 @@ ENDIF()
|
||||
|
||||
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
|
||||
|
||||
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
|
||||
|
||||
# Optional Python configuration
|
||||
# builds pybullet automatically if all the requirements are met
|
||||
SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
|
||||
SET(Python_ADDITIONAL_VERSIONS 2.7 2.7.3 3 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
|
||||
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
|
||||
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
|
||||
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.3" OFF)
|
||||
IF(EXACT_PYTHON_VERSION)
|
||||
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
|
||||
ENDIF(EXACT_PYTHON_VERSION)
|
||||
# first find the python interpreter
|
||||
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
|
||||
# python library should exactly match that of the interpreter
|
||||
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
|
||||
SET(DEFAULT_BUILD_PYBULLET OFF)
|
||||
IF(PYTHONLIBS_FOUND)
|
||||
SET(DEFAULT_BUILD_PYBULLET ON)
|
||||
ENDIF(PYTHONLIBS_FOUND)
|
||||
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
|
||||
|
||||
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
|
||||
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
|
||||
|
||||
|
||||
|
||||
IF(BUILD_PYBULLET)
|
||||
|
||||
FIND_PACKAGE(PythonLibs)
|
||||
|
||||
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
|
||||
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" ON)
|
||||
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
|
||||
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
|
||||
|
||||
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
|
||||
OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
|
||||
|
||||
IF(BUILD_PYBULLET_NUMPY)
|
||||
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
|
||||
IF(BUILD_PYBULLET_NUMPY)
|
||||
#include(FindNumPy)
|
||||
FIND_PACKAGE(NumPy)
|
||||
if (PYTHON_NUMPY_FOUND)
|
||||
@@ -281,7 +328,6 @@ IF(BUILD_PYBULLET)
|
||||
message("NumPy not found")
|
||||
endif()
|
||||
ENDIF()
|
||||
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
|
||||
|
||||
IF(WIN32)
|
||||
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
|
||||
@@ -336,14 +382,6 @@ IF(BUILD_BULLET2_DEMOS)
|
||||
SUBDIRS(examples)
|
||||
ENDIF()
|
||||
|
||||
IF (BULLET2_USE_THREAD_LOCKS)
|
||||
OPTION(BULLET2_MULTITHREADED_OPEN_MP_DEMO "Build Bullet 2 MultithreadedDemo using OpenMP (requires a compiler with OpenMP support)" OFF)
|
||||
OPTION(BULLET2_MULTITHREADED_TBB_DEMO "Build Bullet 2 MultithreadedDemo using Intel Threading Building Blocks (requires the TBB library to be already installed)" OFF)
|
||||
IF (MSVC)
|
||||
OPTION(BULLET2_MULTITHREADED_PPL_DEMO "Build Bullet 2 MultithreadedDemo using Microsoft Parallel Patterns Library (requires MSVC compiler)" OFF)
|
||||
ENDIF (MSVC)
|
||||
ENDIF (BULLET2_USE_THREAD_LOCKS)
|
||||
|
||||
ENDIF(BUILD_BULLET2_DEMOS)
|
||||
|
||||
|
||||
|
||||
@@ -44,7 +44,7 @@ public:
|
||||
void init() {
|
||||
this->createEmptyDynamicsWorld();
|
||||
m_dynamicsWorld->setGravity(m_gravity);
|
||||
BulletURDFImporter urdf_importer(&m_nogfx,0);
|
||||
BulletURDFImporter urdf_importer(&m_nogfx,0,1);
|
||||
URDFImporterInterface &u2b(urdf_importer);
|
||||
bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
|
||||
|
||||
|
||||
@@ -16,12 +16,36 @@
|
||||
|
||||
#define MAX_PATH_LEN 1024
|
||||
|
||||
std::string StripExtension( const std::string & sPath )
|
||||
{
|
||||
for( std::string::const_reverse_iterator i = sPath.rbegin(); i != sPath.rend(); i++ )
|
||||
{
|
||||
if( *i == '.' )
|
||||
{
|
||||
return std::string( sPath.begin(), i.base() - 1 );
|
||||
}
|
||||
|
||||
// if we find a slash there is no extension
|
||||
if( *i == '\\' || *i == '/' )
|
||||
break;
|
||||
}
|
||||
|
||||
// we didn't find an extension
|
||||
return sPath;
|
||||
}
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
|
||||
b3CommandLineArgs args(argc,argv);
|
||||
char* fileName;
|
||||
args.GetCmdLineArgument("fileName",fileName);
|
||||
if (fileName==0)
|
||||
{
|
||||
printf("required --fileName=\"name\"");
|
||||
exit(0);
|
||||
}
|
||||
std::string matLibName = StripExtension(fileName);
|
||||
|
||||
printf("fileName = %s\n", fileName);
|
||||
if (fileName==0)
|
||||
@@ -58,7 +82,13 @@ int main(int argc, char* argv[])
|
||||
}
|
||||
|
||||
char objFileName[MAX_PATH_LEN];
|
||||
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
|
||||
if (strlen(materialPrefixPath)>0)
|
||||
{
|
||||
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
|
||||
} else
|
||||
{
|
||||
sprintf(objFileName,"part%d.obj",s);
|
||||
}
|
||||
FILE* f = fopen(objFileName,"w");
|
||||
if (f==0)
|
||||
{
|
||||
@@ -66,7 +96,15 @@ int main(int argc, char* argv[])
|
||||
exit(0);
|
||||
}
|
||||
fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
|
||||
fprintf(f,"mtllib bedroom.mtl\n");
|
||||
if (matLibName.length())
|
||||
{
|
||||
fprintf(f,"mtllib %s.mtl\n", matLibName.c_str());
|
||||
} else
|
||||
{
|
||||
fprintf(f,"mtllib bedroom.mtl\n");
|
||||
|
||||
}
|
||||
|
||||
|
||||
int faceCount = shape.mesh.indices.size();
|
||||
int vertexCount = shape.mesh.positions.size();
|
||||
|
||||
25
build3/cmake/FindLibPython.py
Normal file
25
build3/cmake/FindLibPython.py
Normal file
@@ -0,0 +1,25 @@
|
||||
# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
|
||||
# same as CMake (BSD). My adaptations are in part based
|
||||
# https://github.com/qgis/QGIS/tree/master/cmake which has the following
|
||||
# copyright note:
|
||||
|
||||
# FindLibPython.py
|
||||
# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
|
||||
# Redistribution and use is allowed according to the terms of the BSD license.
|
||||
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
|
||||
|
||||
import sys
|
||||
import distutils.sysconfig
|
||||
|
||||
print("exec_prefix:%s" % sys.exec_prefix)
|
||||
print("major_version:%s" % str(sys.version_info[0]))
|
||||
print("minor_version:%s" % str(sys.version_info[1]))
|
||||
print("patch_version:%s" % str(sys.version_info[2]))
|
||||
print("short_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:2])))
|
||||
print("long_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:3])))
|
||||
print("py_inc_dir:%s" % distutils.sysconfig.get_python_inc())
|
||||
print("site_packages_dir:%s" % distutils.sysconfig.get_python_lib(plat_specific=1))
|
||||
for e in distutils.sysconfig.get_config_vars ('LIBDIR'):
|
||||
if e != None:
|
||||
print("py_lib_dir:%s" % e)
|
||||
break
|
||||
@@ -1,41 +1,59 @@
|
||||
# Find the Python NumPy package
|
||||
# PYTHON_NUMPY_INCLUDE_DIR
|
||||
# PYTHON_NUMPY_FOUND
|
||||
# will be set by this script
|
||||
# - Find the NumPy libraries
|
||||
# This module finds if NumPy is installed, and sets the following variables
|
||||
# indicating where it is.
|
||||
#
|
||||
# TODO: Update to provide the libraries and paths for linking npymath lib.
|
||||
#
|
||||
# PYTHON_NUMPY_FOUND - was NumPy found
|
||||
# PYTHON_NUMPY_VERSION - the version of NumPy found as a string
|
||||
# PYTHON_NUMPY_VERSION_MAJOR - the major version number of NumPy
|
||||
# PYTHON_NUMPY_VERSION_MINOR - the minor version number of NumPy
|
||||
# PYTHON_NUMPY_VERSION_PATCH - the patch version number of NumPy
|
||||
# PYTHON_NUMPY_VERSION_DECIMAL - e.g. version 1.6.1 is 10601
|
||||
# PYTHON_NUMPY_INCLUDE_DIR - path to the NumPy include files
|
||||
|
||||
cmake_minimum_required(VERSION 2.6)
|
||||
unset(PYTHON_NUMPY_VERSION)
|
||||
unset(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
|
||||
if(NOT PYTHON_EXECUTABLE)
|
||||
if(NumPy_FIND_QUIETLY)
|
||||
find_package(PythonInterp QUIET)
|
||||
else()
|
||||
find_package(PythonInterp)
|
||||
set(__numpy_out 1)
|
||||
if(PYTHONINTERP_FOUND)
|
||||
execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
|
||||
"import numpy as n; print(n.__version__); print(n.get_include());"
|
||||
RESULT_VARIABLE __result
|
||||
OUTPUT_VARIABLE __output
|
||||
OUTPUT_STRIP_TRAILING_WHITESPACE)
|
||||
|
||||
if(__result MATCHES 0)
|
||||
string(REGEX REPLACE ";" "\\\\;" __values ${__output})
|
||||
string(REGEX REPLACE "\r?\n" ";" __values ${__values})
|
||||
list(GET __values 0 PYTHON_NUMPY_VERSION)
|
||||
list(GET __values 1 PYTHON_NUMPY_INCLUDE_DIR)
|
||||
|
||||
string(REGEX MATCH "^([0-9])+\\.([0-9])+\\.([0-9])+" __ver_check "${PYTHON_NUMPY_VERSION}")
|
||||
if(NOT "${__ver_check}" STREQUAL "")
|
||||
set(PYTHON_NUMPY_VERSION_MAJOR ${CMAKE_MATCH_1})
|
||||
set(PYTHON_NUMPY_VERSION_MINOR ${CMAKE_MATCH_2})
|
||||
set(PYTHON_NUMPY_VERSION_PATCH ${CMAKE_MATCH_3})
|
||||
math(EXPR PYTHON_NUMPY_VERSION_DECIMAL
|
||||
"(${PYTHON_NUMPY_VERSION_MAJOR} * 10000) + (${PYTHON_NUMPY_VERSION_MINOR} * 100) + ${PYTHON_NUMPY_VERSION_PATCH}")
|
||||
string(REGEX REPLACE "\\\\" "/" PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_DIR})
|
||||
else()
|
||||
unset(PYTHON_NUMPY_VERSION)
|
||||
unset(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
message(STATUS "Requested NumPy version and include path, but got instead:\n${__output}\n")
|
||||
endif()
|
||||
endif()
|
||||
else()
|
||||
message(STATUS "To find NumPy Python interpretor is required to be found.")
|
||||
endif()
|
||||
|
||||
if (PYTHON_EXECUTABLE)
|
||||
# Find out the include path
|
||||
execute_process(
|
||||
COMMAND "${PYTHON_EXECUTABLE}" -c
|
||||
"from __future__ import print_function\ntry: import numpy; print(numpy.get_include(), end='')\nexcept:pass\n"
|
||||
OUTPUT_VARIABLE __numpy_path)
|
||||
# And the version
|
||||
execute_process(
|
||||
COMMAND "${PYTHON_EXECUTABLE}" -c
|
||||
"from __future__ import print_function\ntry: import numpy; print(numpy.__version__, end='')\nexcept:pass\n"
|
||||
OUTPUT_VARIABLE __numpy_version)
|
||||
elseif(__numpy_out)
|
||||
message(STATUS "Python executable not found.")
|
||||
endif(PYTHON_EXECUTABLE)
|
||||
|
||||
find_path(PYTHON_NUMPY_INCLUDE_DIR numpy/arrayobject.h
|
||||
HINTS "${__numpy_path}" "${PYTHON_INCLUDE_PATH}" NO_DEFAULT_PATH)
|
||||
|
||||
if(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
set(PYTHON_NUMPY_FOUND 1 CACHE INTERNAL "Python numpy found")
|
||||
endif(PYTHON_NUMPY_INCLUDE_DIR)
|
||||
|
||||
include(FindPackageHandleStandardArgs)
|
||||
find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR
|
||||
VERSION_VAR __numpy_version)
|
||||
find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR PYTHON_NUMPY_VERSION
|
||||
VERSION_VAR PYTHON_NUMPY_VERSION)
|
||||
|
||||
if(NUMPY_FOUND)
|
||||
set(PYTHON_NUMPY_FOUND TRUE)
|
||||
message(STATUS "NumPy ver. ${PYTHON_NUMPY_VERSION} found (include: ${PYTHON_NUMPY_INCLUDE_DIR})")
|
||||
endif()
|
||||
|
||||
# caffe_clear_vars(__result __output __error_value __values __ver_check __error_value)
|
||||
|
||||
|
||||
353
build3/cmake/FindPythonLibs.cmake
Normal file
353
build3/cmake/FindPythonLibs.cmake
Normal file
@@ -0,0 +1,353 @@
|
||||
# - Find python libraries
|
||||
# This module finds if Python is installed and determines where the
|
||||
# include files and libraries are. It also determines what the name of
|
||||
# the library is. This code sets the following variables:
|
||||
#
|
||||
# PYTHONLIBS_FOUND - have the Python libs been found
|
||||
# PYTHON_LIBRARIES - path to the python library
|
||||
# PYTHON_INCLUDE_PATH - path to where Python.h is found (deprecated)
|
||||
# PYTHON_INCLUDE_DIRS - path to where Python.h is found
|
||||
# PYTHON_DEBUG_LIBRARIES - path to the debug library (deprecated)
|
||||
# PYTHONLIBS_VERSION_STRING - version of the Python libs found (since CMake 2.8.8)
|
||||
#
|
||||
# The Python_ADDITIONAL_VERSIONS variable can be used to specify a list of
|
||||
# version numbers that should be taken into account when searching for Python.
|
||||
# You need to set this variable before calling find_package(PythonLibs).
|
||||
#
|
||||
# If you'd like to specify the installation of Python to use, you should modify
|
||||
# the following cache variables:
|
||||
# PYTHON_LIBRARY - path to the python library
|
||||
# PYTHON_INCLUDE_DIR - path to where Python.h is found
|
||||
|
||||
#=============================================================================
|
||||
# Copyright 2001-2009 Kitware, Inc.
|
||||
#
|
||||
# Distributed under the OSI-approved BSD License (the "License");
|
||||
# see accompanying file Copyright.txt for details.
|
||||
#
|
||||
# This software is distributed WITHOUT ANY WARRANTY; without even the
|
||||
# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
||||
# See the License for more information.
|
||||
#=============================================================================
|
||||
# (To distribute this file outside of CMake, substitute the full
|
||||
# License text for the above reference.)
|
||||
|
||||
# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
|
||||
# same as CMake (BSD). My adaptations are in part based
|
||||
# https://github.com/qgis/QGIS/tree/master/cmake which has the following
|
||||
# copyright note:
|
||||
|
||||
# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
|
||||
# Redistribution and use is allowed according to the terms of the BSD license.
|
||||
# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
|
||||
|
||||
|
||||
if(NOT DEFINED PYTHON_INCLUDE_DIR)
|
||||
if(DEFINED PYTHON_INCLUDE_PATH)
|
||||
# For backward compatibility, repect PYTHON_INCLUDE_PATH.
|
||||
set(PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_PATH}" CACHE PATH
|
||||
"Path to where Python.h is found" FORCE)
|
||||
else()
|
||||
set(PYTHON_INCLUDE_DIR "" CACHE PATH
|
||||
"Path to where Python.h is found" FORCE)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
|
||||
if(EXISTS "${PYTHON_INCLUDE_DIR}/patchlevel.h")
|
||||
file(STRINGS "${PYTHON_INCLUDE_DIR}/patchlevel.h" _PYTHON_VERSION_STR
|
||||
REGEX "^#define[ \t]+PY_VERSION[ \t]+\"[^\"]+\"")
|
||||
string(REGEX REPLACE "^#define[ \t]+PY_VERSION[ \t]+\"([^\"]+)\".*" "\\1"
|
||||
PYTHONLIBS_VERSION_STRING "${_PYTHON_VERSION_STR}")
|
||||
unset(_PYTHON_VERSION_STR)
|
||||
endif()
|
||||
else()
|
||||
set(_PYTHON1_VERSIONS 1.6 1.5)
|
||||
set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
|
||||
set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0)
|
||||
|
||||
unset(_PYTHON_FIND_OTHER_VERSIONS)
|
||||
if(PythonLibs_FIND_VERSION)
|
||||
if(PythonLibs_FIND_VERSION_COUNT GREATER 1)
|
||||
set(_PYTHON_FIND_MAJ_MIN "${PythonLibs_FIND_VERSION_MAJOR}.${PythonLibs_FIND_VERSION_MINOR}")
|
||||
if(NOT PythonLibs_FIND_VERSION_EXACT)
|
||||
foreach(_PYTHON_V ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
|
||||
if(NOT _PYTHON_V VERSION_LESS _PYTHON_FIND_MAJ_MIN)
|
||||
if(NOT _PYTHON_V STREQUAL PythonLibs_FIND_VERSION)
|
||||
list(APPEND _PYTHON_FIND_OTHER_VERSIONS ${_PYTHON_V})
|
||||
endif()
|
||||
endif()
|
||||
endforeach()
|
||||
endif()
|
||||
unset(_PYTHON_FIND_MAJ_MIN)
|
||||
else()
|
||||
set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
|
||||
endif()
|
||||
else()
|
||||
# add an empty version to check the `python` executable first in case no version is requested
|
||||
set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON3_VERSIONS} ${_PYTHON2_VERSIONS} ${_PYTHON1_VERSIONS})
|
||||
endif()
|
||||
|
||||
unset(_PYTHON1_VERSIONS)
|
||||
unset(_PYTHON2_VERSIONS)
|
||||
unset(_PYTHON3_VERSIONS)
|
||||
|
||||
# Set up the versions we know about, in the order we will search. Always add
|
||||
# the user supplied additional versions to the front.
|
||||
# If FindPythonInterp has already found the major and minor version,
|
||||
# insert that version between the user supplied versions and the stock
|
||||
# version list.
|
||||
# If no specific version is requested or suggested by PythonInterp, always look
|
||||
# for "python" executable first
|
||||
set(_PYTHON_VERSIONS ${PythonLibs_FIND_VERSION} ${PythonLibs_ADDITIONAL_VERSIONS} )
|
||||
if(DEFINED PYTHON_VERSION_MAJOR AND DEFINED PYTHON_VERSION_MINOR)
|
||||
list(APPEND _PYTHON_VERSIONS ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR})
|
||||
endif()
|
||||
if (NOT _PYTHON_VERSIONS)
|
||||
set(_PYTHON_VERSIONS ";") # empty entry at the front makeing sure we search for "python" first
|
||||
endif()
|
||||
list(APPEND _PYTHON_VERSIONS ${_PYTHON_FIND_OTHER_VERSIONS})
|
||||
|
||||
unset(_PYTHON_FIND_OTHER_VERSIONS)
|
||||
|
||||
message(STATUS "Looking for versions: ${_PYTHON_VERSIONS}")
|
||||
|
||||
FIND_FILE(_FIND_LIB_PYTHON_PY FindLibPython.py PATHS ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
|
||||
|
||||
if(NOT _FIND_LIB_PYTHON_PY)
|
||||
message(FATAL_ERROR "Could not find required file 'FindLibPython.py'")
|
||||
endif()
|
||||
|
||||
unset(PYTHONLIBS_VERSION_STRING)
|
||||
foreach(_CURRENT_VERSION IN LISTS _PYTHON_VERSIONS)
|
||||
|
||||
STRING(REGEX REPLACE "^([0-9]+).*$" "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
|
||||
STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
|
||||
|
||||
set(_PYTHON_NAMES python)
|
||||
|
||||
if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
|
||||
list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
|
||||
if (_CURRENT_VERSION MATCHES "^[0-9]+\\.[0-9].*$")
|
||||
list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}.${_VERSION_MINOR}")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
message(STATUS "Looking for python version '${_CURRENT_VERSION}' by checking executables: ${_PYTHON_NAMES}.")
|
||||
|
||||
foreach(_CURRENT_PYTHON_NAME IN LISTS _PYTHON_NAMES)
|
||||
|
||||
unset(_PYTHON_EXECUTABLE CACHE)
|
||||
find_program(_PYTHON_EXECUTABLE ${_CURRENT_PYTHON_NAME}
|
||||
PATHS [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath])
|
||||
|
||||
if(_PYTHON_EXECUTABLE)
|
||||
|
||||
EXECUTE_PROCESS(
|
||||
COMMAND ${_PYTHON_EXECUTABLE} "${_FIND_LIB_PYTHON_PY}"
|
||||
OUTPUT_VARIABLE _PYTHON_CONFIG
|
||||
RESULT_VARIABLE _PYTHON_CONFIG_RESULT
|
||||
ERROR_QUIET)
|
||||
|
||||
if(NOT ${_PYTHON_CONFIG_RESULT} AND (NOT ${_PYTHON_CONFIG} STREQUAL ""))
|
||||
STRING(REGEX REPLACE ".*\nmajor_version:([0-9]+).*$" "\\1" _PYTHON_MAJOR_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nminor_version:([0-9]+).*$" "\\1" _PYTHON_MINOR_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\npatch_version:([0-9]+).*$" "\\1" _PYTHON_PATCH_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nshort_version:([^\n]+).*$" "\\1" _PYTHON_SHORT_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nlong_version:([^\n]+).*$" "\\1" _PYTHON_LONG_VERSION ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\npy_inc_dir:([^\n]+).*$" "\\1" _PYTHON_INCLUDE_DIR ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\npy_lib_dir:([^\n]+).*$" "\\1" _PYTHON_LIBRARY_DIR ${_PYTHON_CONFIG})
|
||||
STRING(REGEX REPLACE ".*\nexec_prefix:(^\n+).*$" "\\1" _PYTHON_PREFIX ${_PYTHON_CONFIG})
|
||||
|
||||
if ("${_CURRENT_VERSION}" STREQUAL "" OR
|
||||
"${_CURRENT_VERSION}" STREQUAL "${_PYTHON_MAJOR_VERSION}" OR
|
||||
"${_CURRENT_VERSION}" STREQUAL "${_PYTHON_SHORT_VERSION}" OR
|
||||
"${_CURRENT_VERSION}" STREQUAL "${_PYTHON_LONG_VERSION}")
|
||||
|
||||
message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with suitable version ${_PYTHON_LONG_VERSION}")
|
||||
|
||||
if(NOT EXISTS "${PYTHON_INCLUDE_DIR}")
|
||||
set(PYTHON_INCLUDE_DIR "${_PYTHON_INCLUDE_DIR}")
|
||||
endif()
|
||||
|
||||
if(NOT EXISTS "${PYTHON_LIBRARY}")
|
||||
set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
|
||||
set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT})
|
||||
FIND_LIBRARY(PYTHON_LIBRARY
|
||||
NAMES ${_PYTHON_LIBRARY_NAMES}
|
||||
PATH_SUFFIXES
|
||||
python${_PYTHON_SHORT_VERSION}/config
|
||||
python${_PYTHON_SHORT_VERSION_NO_DOT}/config
|
||||
PATHS
|
||||
${_PYTHON_LIBRARY_DIR}
|
||||
${_PYTHON_PREFIX}/lib $
|
||||
{_PYTHON_PREFIX}/libs
|
||||
NO_DEFAULT_PATH)
|
||||
|
||||
if(WIN32)
|
||||
find_library(PYTHON_DEBUG_LIBRARY
|
||||
NAMES python${_PYTHON_SHORT_VERSION_NO_DOT}_d python
|
||||
PATHS
|
||||
[HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
|
||||
[HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
|
||||
[HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
|
||||
[HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
||||
set(PYTHONLIBS_VERSION_STRING ${_PYTHON_LONG_VERSION})
|
||||
if(_PYTHON_PATCH_VERSION STREQUAL "0")
|
||||
# it's called "Python 2.7", not "2.7.0"
|
||||
string(REGEX REPLACE "\\.0$" "" PYTHONLIBS_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}")
|
||||
endif()
|
||||
|
||||
break()
|
||||
else()
|
||||
message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with UNsuitable version ${_PYTHON_LONG_VERSION}")
|
||||
endif() # version ok
|
||||
else()
|
||||
message(WARNING "Found executable ${_PYTHON_EXECUTABLE}, but could not extract version info.")
|
||||
endif() # could extract config
|
||||
endif() # found executable
|
||||
endforeach() # python names
|
||||
if (PYTHONLIBS_VERSION_STRING)
|
||||
break()
|
||||
endif()
|
||||
endforeach() # python versions
|
||||
endif()
|
||||
|
||||
unset(_PYTHON_NAMES)
|
||||
unset(_PYTHON_VERSIONS)
|
||||
unset(_PYTHON_EXECUTABLE CACHE)
|
||||
unset(_PYTHON_MAJOR_VERSION)
|
||||
unset(_PYTHON_MINOR_VERSION)
|
||||
unset(_PYTHON_PATCH_VERSION)
|
||||
unset(_PYTHON_SHORT_VERSION)
|
||||
unset(_PYTHON_LONG_VERSION)
|
||||
unset(_PYTHON_LIBRARY_DIR)
|
||||
unset(_PYTHON_INCLUDE_DIR)
|
||||
unset(_PYTHON_PREFIX)
|
||||
unset(_PYTHON_SHORT_VERSION_NO_DOT)
|
||||
unset(_PYTHON_LIBRARY_NAMES)
|
||||
|
||||
|
||||
# For backward compatibility, set PYTHON_INCLUDE_PATH.
|
||||
set(PYTHON_INCLUDE_PATH "${PYTHON_INCLUDE_DIR}")
|
||||
|
||||
mark_as_advanced(
|
||||
PYTHON_DEBUG_LIBRARY
|
||||
PYTHON_LIBRARY
|
||||
PYTHON_INCLUDE_DIR
|
||||
)
|
||||
|
||||
# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
|
||||
# cache entries because they are meant to specify the location of a single
|
||||
# library. We now set the variables listed by the documentation for this
|
||||
# module.
|
||||
set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
|
||||
set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
|
||||
|
||||
# These variables have been historically named in this module different from
|
||||
# what SELECT_LIBRARY_CONFIGURATIONS() expects.
|
||||
set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
|
||||
set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
|
||||
include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
|
||||
SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
|
||||
# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
|
||||
# Unset this, this prefix doesn't match the module prefix, they are different
|
||||
# for historical reasons.
|
||||
unset(PYTHON_FOUND)
|
||||
|
||||
# include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
|
||||
include(FindPackageHandleStandardArgs)
|
||||
FIND_PACKAGE_HANDLE_STANDARD_ARGS(PythonLibs
|
||||
REQUIRED_VARS PYTHON_LIBRARIES PYTHON_INCLUDE_DIRS
|
||||
VERSION_VAR PYTHONLIBS_VERSION_STRING)
|
||||
|
||||
# PYTHON_ADD_MODULE(<name> src1 src2 ... srcN) is used to build modules for python.
|
||||
# PYTHON_WRITE_MODULES_HEADER(<filename>) writes a header file you can include
|
||||
# in your sources to initialize the static python modules
|
||||
function(PYTHON_ADD_MODULE _NAME )
|
||||
get_property(_TARGET_SUPPORTS_SHARED_LIBS
|
||||
GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
|
||||
option(PYTHON_ENABLE_MODULE_${_NAME} "Add module ${_NAME}" TRUE)
|
||||
option(PYTHON_MODULE_${_NAME}_BUILD_SHARED
|
||||
"Add module ${_NAME} shared" ${_TARGET_SUPPORTS_SHARED_LIBS})
|
||||
|
||||
# Mark these options as advanced
|
||||
mark_as_advanced(PYTHON_ENABLE_MODULE_${_NAME}
|
||||
PYTHON_MODULE_${_NAME}_BUILD_SHARED)
|
||||
|
||||
if(PYTHON_ENABLE_MODULE_${_NAME})
|
||||
if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
|
||||
set(PY_MODULE_TYPE MODULE)
|
||||
else()
|
||||
set(PY_MODULE_TYPE STATIC)
|
||||
set_property(GLOBAL APPEND PROPERTY PY_STATIC_MODULES_LIST ${_NAME})
|
||||
endif()
|
||||
|
||||
set_property(GLOBAL APPEND PROPERTY PY_MODULES_LIST ${_NAME})
|
||||
add_library(${_NAME} ${PY_MODULE_TYPE} ${ARGN})
|
||||
# target_link_libraries(${_NAME} ${PYTHON_LIBRARIES})
|
||||
|
||||
if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
|
||||
set_target_properties(${_NAME} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}")
|
||||
if(WIN32 AND NOT CYGWIN)
|
||||
set_target_properties(${_NAME} PROPERTIES SUFFIX ".pyd")
|
||||
endif()
|
||||
endif()
|
||||
|
||||
endif()
|
||||
endfunction()
|
||||
|
||||
function(PYTHON_WRITE_MODULES_HEADER _filename)
|
||||
|
||||
get_property(PY_STATIC_MODULES_LIST GLOBAL PROPERTY PY_STATIC_MODULES_LIST)
|
||||
|
||||
get_filename_component(_name "${_filename}" NAME)
|
||||
string(REPLACE "." "_" _name "${_name}")
|
||||
string(TOUPPER ${_name} _nameUpper)
|
||||
set(_filename ${CMAKE_CURRENT_BINARY_DIR}/${_filename})
|
||||
|
||||
set(_filenameTmp "${_filename}.in")
|
||||
file(WRITE ${_filenameTmp} "/*Created by cmake, do not edit, changes will be lost*/\n")
|
||||
file(APPEND ${_filenameTmp}
|
||||
"#ifndef ${_nameUpper}
|
||||
#define ${_nameUpper}
|
||||
|
||||
#include <Python.h>
|
||||
|
||||
#ifdef __cplusplus
|
||||
extern \"C\" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
")
|
||||
|
||||
foreach(_currentModule ${PY_STATIC_MODULES_LIST})
|
||||
file(APPEND ${_filenameTmp} "extern void init${PYTHON_MODULE_PREFIX}${_currentModule}(void);\n\n")
|
||||
endforeach()
|
||||
|
||||
file(APPEND ${_filenameTmp}
|
||||
"#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
")
|
||||
|
||||
|
||||
foreach(_currentModule ${PY_STATIC_MODULES_LIST})
|
||||
file(APPEND ${_filenameTmp} "int ${_name}_${_currentModule}(void) \n{\n static char name[]=\"${PYTHON_MODULE_PREFIX}${_currentModule}\"; return PyImport_AppendInittab(name, init${PYTHON_MODULE_PREFIX}${_currentModule});\n}\n\n")
|
||||
endforeach()
|
||||
|
||||
file(APPEND ${_filenameTmp} "void ${_name}_LoadAllPythonModules(void)\n{\n")
|
||||
foreach(_currentModule ${PY_STATIC_MODULES_LIST})
|
||||
file(APPEND ${_filenameTmp} " ${_name}_${_currentModule}();\n")
|
||||
endforeach()
|
||||
file(APPEND ${_filenameTmp} "}\n\n")
|
||||
file(APPEND ${_filenameTmp} "#ifndef EXCLUDE_LOAD_ALL_FUNCTION\nvoid CMakeLoadAllPythonModules(void)\n{\n ${_name}_LoadAllPythonModules();\n}\n#endif\n\n#endif\n")
|
||||
|
||||
# with configure_file() cmake complains that you may not use a file created using file(WRITE) as input file for configure_file()
|
||||
execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different "${_filenameTmp}" "${_filename}" OUTPUT_QUIET ERROR_QUIET)
|
||||
|
||||
endfunction()
|
||||
70
build3/cmake/SelectLibraryConfigurations.cmake
Normal file
70
build3/cmake/SelectLibraryConfigurations.cmake
Normal file
@@ -0,0 +1,70 @@
|
||||
# Distributed under the OSI-approved BSD 3-Clause License. See accompanying
|
||||
# file Copyright.txt or https://cmake.org/licensing for details.
|
||||
|
||||
#.rst:
|
||||
# SelectLibraryConfigurations
|
||||
# ---------------------------
|
||||
#
|
||||
#
|
||||
#
|
||||
# select_library_configurations( basename )
|
||||
#
|
||||
# This macro takes a library base name as an argument, and will choose
|
||||
# good values for basename_LIBRARY, basename_LIBRARIES,
|
||||
# basename_LIBRARY_DEBUG, and basename_LIBRARY_RELEASE depending on what
|
||||
# has been found and set. If only basename_LIBRARY_RELEASE is defined,
|
||||
# basename_LIBRARY will be set to the release value, and
|
||||
# basename_LIBRARY_DEBUG will be set to basename_LIBRARY_DEBUG-NOTFOUND.
|
||||
# If only basename_LIBRARY_DEBUG is defined, then basename_LIBRARY will
|
||||
# take the debug value, and basename_LIBRARY_RELEASE will be set to
|
||||
# basename_LIBRARY_RELEASE-NOTFOUND.
|
||||
#
|
||||
# If the generator supports configuration types, then basename_LIBRARY
|
||||
# and basename_LIBRARIES will be set with debug and optimized flags
|
||||
# specifying the library to be used for the given configuration. If no
|
||||
# build type has been set or the generator in use does not support
|
||||
# configuration types, then basename_LIBRARY and basename_LIBRARIES will
|
||||
# take only the release value, or the debug value if the release one is
|
||||
# not set.
|
||||
|
||||
# This macro was adapted from the FindQt4 CMake module and is maintained by Will
|
||||
# Dicharry <wdicharry@stellarscience.com>.
|
||||
|
||||
macro( select_library_configurations basename )
|
||||
if(NOT ${basename}_LIBRARY_RELEASE)
|
||||
set(${basename}_LIBRARY_RELEASE "${basename}_LIBRARY_RELEASE-NOTFOUND" CACHE FILEPATH "Path to a library.")
|
||||
endif()
|
||||
if(NOT ${basename}_LIBRARY_DEBUG)
|
||||
set(${basename}_LIBRARY_DEBUG "${basename}_LIBRARY_DEBUG-NOTFOUND" CACHE FILEPATH "Path to a library.")
|
||||
endif()
|
||||
|
||||
if( ${basename}_LIBRARY_DEBUG AND ${basename}_LIBRARY_RELEASE AND
|
||||
NOT ${basename}_LIBRARY_DEBUG STREQUAL ${basename}_LIBRARY_RELEASE AND
|
||||
( CMAKE_CONFIGURATION_TYPES OR CMAKE_BUILD_TYPE ) )
|
||||
# if the generator supports configuration types or CMAKE_BUILD_TYPE
|
||||
# is set, then set optimized and debug options.
|
||||
set( ${basename}_LIBRARY "" )
|
||||
foreach( _libname IN LISTS ${basename}_LIBRARY_RELEASE )
|
||||
list( APPEND ${basename}_LIBRARY optimized "${_libname}" )
|
||||
endforeach()
|
||||
foreach( _libname IN LISTS ${basename}_LIBRARY_DEBUG )
|
||||
list( APPEND ${basename}_LIBRARY debug "${_libname}" )
|
||||
endforeach()
|
||||
elseif( ${basename}_LIBRARY_RELEASE )
|
||||
set( ${basename}_LIBRARY ${${basename}_LIBRARY_RELEASE} )
|
||||
elseif( ${basename}_LIBRARY_DEBUG )
|
||||
set( ${basename}_LIBRARY ${${basename}_LIBRARY_DEBUG} )
|
||||
else()
|
||||
set( ${basename}_LIBRARY "${basename}_LIBRARY-NOTFOUND")
|
||||
endif()
|
||||
|
||||
set( ${basename}_LIBRARIES "${${basename}_LIBRARY}" )
|
||||
|
||||
if( ${basename}_LIBRARY )
|
||||
set( ${basename}_FOUND TRUE )
|
||||
endif()
|
||||
|
||||
mark_as_advanced( ${basename}_LIBRARY_RELEASE
|
||||
${basename}_LIBRARY_DEBUG
|
||||
)
|
||||
endmacro()
|
||||
29
data/block.urdf
Normal file
29
data/block.urdf
Normal file
@@ -0,0 +1,29 @@
|
||||
<?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>
|
||||
BIN
data/differential/diff_arm.stl
Normal file
BIN
data/differential/diff_arm.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_carrier.stl
Normal file
BIN
data/differential/diff_carrier.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_carrier_cover.stl
Normal file
BIN
data/differential/diff_carrier_cover.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_leftshaft.stl
Normal file
BIN
data/differential/diff_leftshaft.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_motor_cover.stl
Normal file
BIN
data/differential/diff_motor_cover.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_pinion.stl
Normal file
BIN
data/differential/diff_pinion.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_rightshaft.stl
Normal file
BIN
data/differential/diff_rightshaft.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_ring.stl
Normal file
BIN
data/differential/diff_ring.stl
Normal file
Binary file not shown.
198
data/differential/diff_ring.urdf
Normal file
198
data/differential/diff_ring.urdf
Normal file
@@ -0,0 +1,198 @@
|
||||
|
||||
<?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>
|
||||
BIN
data/differential/diff_side.stl
Normal file
BIN
data/differential/diff_side.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_spider.stl
Normal file
BIN
data/differential/diff_spider.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_spider_shaft.stl
Normal file
BIN
data/differential/diff_spider_shaft.stl
Normal file
Binary file not shown.
BIN
data/differential/diff_stand.stl
Normal file
BIN
data/differential/diff_stand.stl
Normal file
Binary file not shown.
2
data/differential/modelorigin.txt
Normal file
2
data/differential/modelorigin.txt
Normal file
@@ -0,0 +1,2 @@
|
||||
stl files were copied from http://www.otvinta.com/download09.html
|
||||
URDF file was manually created, along with mimicJointConstraint.py
|
||||
@@ -4291,45 +4291,7 @@
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
<model name='part110.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
|
||||
<link name='link_d110'>
|
||||
<inertial>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.166667</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.166667</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.166667</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision concave='yes' name='collision_110'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part110.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>.1 .1 .1</scale>
|
||||
<uri>fatihrmutfak/part110.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.000000 1.000000 1.000000 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
|
||||
<model name='part111.obj'>
|
||||
<static>1</static>
|
||||
<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
|
||||
|
||||
802
data/kuka_iiwa/kuka_with_gripper.sdf
Normal file
802
data/kuka_iiwa/kuka_with_gripper.sdf
Normal file
@@ -0,0 +1,802 @@
|
||||
<?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>
|
||||
857
data/kuka_iiwa/kuka_with_gripper2.sdf
Normal file
857
data/kuka_iiwa/kuka_with_gripper2.sdf
Normal file
@@ -0,0 +1,857 @@
|
||||
<?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>
|
||||
BIN
data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
Binary file not shown.
10
data/kuka_iiwa/meshes/link_0.mtl
Normal file
10
data/kuka_iiwa/meshes/link_0.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
6055
data/kuka_iiwa/meshes/link_0.obj
Normal file
6055
data/kuka_iiwa/meshes/link_0.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_1.mtl
Normal file
10
data/kuka_iiwa/meshes/link_1.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
5576
data/kuka_iiwa/meshes/link_1.obj
Normal file
5576
data/kuka_iiwa/meshes/link_1.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_2.mtl
Normal file
10
data/kuka_iiwa/meshes/link_2.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
2948
data/kuka_iiwa/meshes/link_2.obj
Normal file
2948
data/kuka_iiwa/meshes/link_2.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_3.mtl
Normal file
10
data/kuka_iiwa/meshes/link_3.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3924
data/kuka_iiwa/meshes/link_3.obj
Normal file
3924
data/kuka_iiwa/meshes/link_3.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_4.mtl
Normal file
10
data/kuka_iiwa/meshes/link_4.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3168
data/kuka_iiwa/meshes/link_4.obj
Normal file
3168
data/kuka_iiwa/meshes/link_4.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_5.mtl
Normal file
10
data/kuka_iiwa/meshes/link_5.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
2732
data/kuka_iiwa/meshes/link_5.obj
Normal file
2732
data/kuka_iiwa/meshes/link_5.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_6.mtl
Normal file
10
data/kuka_iiwa/meshes/link_6.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
2328
data/kuka_iiwa/meshes/link_6.obj
Normal file
2328
data/kuka_iiwa/meshes/link_6.obj
Normal file
File diff suppressed because it is too large
Load Diff
10
data/kuka_iiwa/meshes/link_7.mtl
Normal file
10
data/kuka_iiwa/meshes/link_7.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3155
data/kuka_iiwa/meshes/link_7.obj
Normal file
3155
data/kuka_iiwa/meshes/link_7.obj
Normal file
File diff suppressed because it is too large
Load Diff
@@ -70,7 +70,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_0.stl"/>
|
||||
<mesh filename="meshes/link_0.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
@@ -99,7 +99,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_1.stl"/>
|
||||
<mesh filename="meshes/link_1.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
@@ -128,7 +128,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_2.stl"/>
|
||||
<mesh filename="meshes/link_2.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
@@ -157,7 +157,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_3.stl"/>
|
||||
<mesh filename="meshes/link_3.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -186,7 +186,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_4.stl"/>
|
||||
<mesh filename="meshes/link_4.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
@@ -215,7 +215,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_5.stl"/>
|
||||
<mesh filename="meshes/link_5.obj"/>
|
||||
</geometry>
|
||||
<material name="Blue"/>
|
||||
</visual>
|
||||
@@ -244,7 +244,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_6.stl"/>
|
||||
<mesh filename="meshes/link_6.obj"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
@@ -273,7 +273,7 @@
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/link_7.stl"/>
|
||||
<mesh filename="meshes/link_7.obj"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
|
||||
@@ -6,62 +6,53 @@
|
||||
</custom>
|
||||
<default>
|
||||
<joint armature="1" damping="1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" density="5.0" friction="1 0.5 0.5" margin="0.01" rgba="0.8 0.6 0.4 1"/>
|
||||
<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>
|
||||
<asset>
|
||||
<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 conaffinity="1" condim="3" material="MatPlane" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="40 40 40" type="plane"/>
|
||||
<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"/>
|
||||
<!--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"/>
|
||||
<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="-30 30" 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"/>
|
||||
<body pos="0.2 0.2 0">
|
||||
<joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 70" 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"/>
|
||||
<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="-30 30" type="hinge"/>
|
||||
<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">
|
||||
<joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
|
||||
<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="back_leg" pos="0 0 0">
|
||||
<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="-30 30" type="hinge"/>
|
||||
<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">
|
||||
<joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-70 -30" type="hinge"/>
|
||||
<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"/>
|
||||
<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="-30 30" 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"/>
|
||||
<body pos="0.2 -0.2 0">
|
||||
<joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 70" 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"/>
|
||||
<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>
|
||||
|
||||
5
data/mjcf/ground_plane.xml
Normal file
5
data/mjcf/ground_plane.xml
Normal file
@@ -0,0 +1,5 @@
|
||||
<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>
|
||||
88
data/mjcf/half_cheetah.xml
Normal file
88
data/mjcf/half_cheetah.xml
Normal file
@@ -0,0 +1,88 @@
|
||||
<!-- 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>
|
||||
@@ -1,28 +1,31 @@
|
||||
<mujoco model="hopper">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="1" damping="1" />
|
||||
<geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
|
||||
<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>
|
||||
<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 conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
|
||||
<body name="torso" pos="0 0 1.25">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
|
||||
<joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
|
||||
<geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
|
||||
<body name="thigh" pos="0 0 1.05">
|
||||
<!-- 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 friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
|
||||
<body name="leg" pos="0 0 0.35">
|
||||
<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 friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
|
||||
<body name="foot" pos="0.13/2 0 0.1">
|
||||
<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 friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
<geom fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
@@ -33,12 +36,4 @@
|
||||
<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>
|
||||
<asset>
|
||||
<texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
|
||||
width="100" height="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>
|
||||
</mujoco>
|
||||
</mujoco>
|
||||
|
||||
115
data/mjcf/humanoid_fixed.xml
Normal file
115
data/mjcf/humanoid_fixed.xml
Normal file
@@ -0,0 +1,115 @@
|
||||
<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>
|
||||
@@ -2,7 +2,7 @@
|
||||
<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"/>
|
||||
<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">
|
||||
@@ -12,18 +12,7 @@
|
||||
<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"/>
|
||||
<!-- <geom condim="3" material="MatPlane" name="floor" pos="0 0 0" size="10 10 0.125" type="plane"/>-->
|
||||
<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"/>
|
||||
|
||||
@@ -36,7 +36,7 @@
|
||||
<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"/>
|
||||
<!--site name="tip" pos="0 0 .6" size="0.01 0.01"/-->
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
@@ -44,4 +44,4 @@
|
||||
<actuator>
|
||||
<motor ctrllimited="true" ctrlrange="-1 1" gear="500" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
</mujoco>
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<compiler inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0" damping="1" limited="true"/>
|
||||
<geom friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
<geom contype="0" friction="1 0.1 0.1" rgba="0.7 0.7 0 1"/>
|
||||
<tendon/>
|
||||
<motor ctrlrange="-3 3"/>
|
||||
</default>
|
||||
@@ -10,12 +10,12 @@
|
||||
<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="cart1" 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" range="-90 90" type="hinge"/>
|
||||
<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>
|
||||
@@ -24,4 +24,4 @@
|
||||
<actuator>
|
||||
<motor gear="100" joint="slider" name="slide"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
</mujoco>
|
||||
|
||||
90
data/mjcf/pusher.xml
Normal file
90
data/mjcf/pusher.xml
Normal file
@@ -0,0 +1,90 @@
|
||||
<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>
|
||||
@@ -26,9 +26,9 @@
|
||||
</body>
|
||||
</body>
|
||||
<!-- Target -->
|
||||
<body name="target" pos=".1 -.1 .01">
|
||||
<joint armature="0" axis="1 0 0" damping="0" limited="true" name="target_x" pos="0 0 0" range="-.27 .27" ref=".1" 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" ref="-.1" stiffness="0" type="slide"/>
|
||||
<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>
|
||||
@@ -36,4 +36,4 @@
|
||||
<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>
|
||||
</mujoco>
|
||||
|
||||
100
data/mjcf/striker.xml
Normal file
100
data/mjcf/striker.xml
Normal file
@@ -0,0 +1,100 @@
|
||||
<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>
|
||||
127
data/mjcf/thrower.xml
Normal file
127
data/mjcf/thrower.xml
Normal file
@@ -0,0 +1,127 @@
|
||||
<mujoco model="thrower">
|
||||
<compiler inertiafromgeom="true" angle="radian" coordinate="local"/>
|
||||
<default>
|
||||
<joint armature='0.75' damping="0" limited="true"/>
|
||||
<geom friction=".8 .1 .1" density="300" margin="0.002" condim="1" contype="0" conaffinity="0"/>
|
||||
</default>
|
||||
|
||||
<worldbody>
|
||||
<!--Arena-->
|
||||
<geom 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" density="0.0001"/>
|
||||
<geom name="e2" type="sphere" rgba="0.6 0.6 0.6 1" pos=" 0.06 0.05 0.2" size="0.05" density="0.0001"/>
|
||||
<geom name="e1p" type="sphere" rgba="0.1 0.1 0.1 1" pos="-0.06 0.09 0.2" size="0.03" density="0.0001"/>
|
||||
<geom name="e2p" type="sphere" rgba="0.1 0.1 0.1 1" pos=" 0.06 0.09 0.2" size="0.03" density="0.0001"/>
|
||||
<geom name="sp" type="capsule" fromto="0 0 -0.4 0 0 0.2" size="0.1" density="1"/>
|
||||
<joint name="shoulder_pan_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-0.4854 1.214602" damping="1.0"/>
|
||||
|
||||
<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" density="0.0001"/>
|
||||
<joint name="shoulder_lift_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.5236 0.7963" damping="1.0"/>
|
||||
|
||||
<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" density="0.0001"/>
|
||||
<joint name="upper_arm_roll_joint" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.5 1.7" damping="1.0"/>
|
||||
|
||||
<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" density="0.0001"/>
|
||||
|
||||
<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" density="0.0001"/>
|
||||
<joint name="elbow_flex_joint" type="hinge" pos="0 0 0" axis="0 1 0" range="-0.7 0.7" damping="1.0"/>
|
||||
|
||||
<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" density="0.0001"/>
|
||||
<joint name="forearm_roll_joint" type="hinge" limited="true" pos="0 0 0" axis="1 0 0" damping="1.0" range="-1.5 1.5"/>
|
||||
|
||||
<body name="forearm_link" pos="0 0 0" axisangle="1 0 0 0.392">
|
||||
<geom name="fa" type="capsule" fromto="0 0 0 0 0 0.291" size="0.05" density="0.0001"/>
|
||||
|
||||
<body name="wrist_flex_link" pos="0 0 0.321" axisangle="0 0 1 1.57">
|
||||
<geom name="wf" type="capsule" fromto="0 -0.02 0 0 0.02 0" size="0.01" density="0.0001"/>
|
||||
<joint name="wrist_flex_joint" type="hinge" pos="0 0 0" axis="0 0 1" range="-1.0 1.0" damping="1.0" />
|
||||
|
||||
<body name="wrist_roll_link" pos="0 0 0" axisangle="0 1 0 -1.178">
|
||||
<joint name="wrist_roll_joint" type="hinge" pos="0 0 0" limited="true" axis="0 1 0" damping="1.0" range="0 2.25"/>
|
||||
<geom type="capsule" fromto="0 -0.05 0 0 0.05 0" size="0.01" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<body name="fingertip" pos="0 0 0" axisangle="0 0 1 0.392">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density=".0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.57">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.178">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 0.785">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 1.96">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 2.355">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
<body pos="0 0 0" axisangle="0 0 1 2.74">
|
||||
<geom type="capsule" fromto="0 0.025 0 0 0.075 0.075" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.075 0 0.075 0.15" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
<geom type="capsule" fromto="0 0.075 0.15 0 0 0.225" size="0.005" contype="1" conaffinity="1" density="0.0001"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!--Object-->
|
||||
<body name="object" pos="0.5 -0.8 0.275">
|
||||
<geom rgba="1. 1. 1. 1" type="sphere" size="0.03 0.03 0.1" density='25' contype="1" conaffinity="1"/>
|
||||
<joint name="object_free" type="free" armature='0' damping="0" limited="false"/>
|
||||
</body>
|
||||
|
||||
<!--Target-->
|
||||
<body name="target" pos="0.575 0.5 -0.328">
|
||||
<geom rgba="1 1 1 1" type="box" pos="0 0 0.005" size="0.075 0.075 0.001" contype="1" conaffinity="1" density="1000"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.0 0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.0 -0.075 0.034" size="0.075 0.001 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="0.075 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="box" pos="-0.076 0 0.034" size="0.001 0.075 0.03" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 0.073 0.0075 0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="0.073 -0.073 0.0075 0.073 -0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 0.073 0.0075 -0.073 0.073 0.06" size="0.005" contype="1" conaffinity="0"/>
|
||||
<geom rgba="1 1 1 1" type="capsule" fromto="-0.073 -0.073 0.0075 -0.073 -0.073 0.06" size="0.005" contype="1" 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="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="shoulder_lift_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="upper_arm_roll_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="elbow_flex_joint" ctrlrange="-10.0 10.0" ctrllimited="true" />
|
||||
<motor joint="forearm_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
|
||||
<motor joint="wrist_flex_joint" ctrlrange="-15.0 15.0" ctrllimited="true" />
|
||||
<motor joint="wrist_roll_joint" ctrlrange="-15.0 15.0" ctrllimited="true"/>
|
||||
</actuator>
|
||||
|
||||
</mujoco>
|
||||
52
data/mjcf/walker2d.xml
Normal file
52
data/mjcf/walker2d.xml
Normal file
@@ -0,0 +1,52 @@
|
||||
<mujoco model="walker2d">
|
||||
<compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
|
||||
<default>
|
||||
<joint armature="0.01" damping=".1" limited="true"/>
|
||||
<geom conaffinity="0" condim="3" contype="1" density="1000" friction="0.8 .1 .1" rgba="0.8 0.6 .4 1"/>
|
||||
</default>
|
||||
<option integrator="RK4" timestep="0.002"/>
|
||||
<worldbody>
|
||||
<!-- CHANGES: see hopper.xml -->
|
||||
<body name="torso">
|
||||
<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" ref="1.25" 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="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="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
<!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
|
||||
<body name="thigh_left">
|
||||
<joint axis="0 -1 0" name="thigh_left_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 1.05 0 0 0.6" name="thigh_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
|
||||
<body name="leg_left">
|
||||
<joint axis="0 -1 0" name="leg_left_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
|
||||
<geom fromto="0 0 0.6 0 0 0.1" name="leg_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
|
||||
<body name="foot_left">
|
||||
<joint axis="0 -1 0" name="foot_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
|
||||
<geom fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
<actuator>
|
||||
<!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
|
||||
<motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
|
||||
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|
||||
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||||
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Binary file not shown.
14
data/plane_transparent.mtl
Normal file
14
data/plane_transparent.mtl
Normal file
@@ -0,0 +1,14 @@
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newmtl Material
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map_Kd tex4x4.png
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data/plane_transparent.obj
Normal file
18
data/plane_transparent.obj
Normal file
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# www.blender.org
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mtllib plane_transparent.mtl
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29
data/plane_transparent.urdf
Normal file
29
data/plane_transparent.urdf
Normal file
@@ -0,0 +1,29 @@
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||||
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29
data/plane_with_restitution.urdf
Normal file
29
data/plane_with_restitution.urdf
Normal file
@@ -0,0 +1,29 @@
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<?xml version="0.0" ?>
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BIN
data/racecar/meshes/chassis.STL
Normal file
BIN
data/racecar/meshes/chassis.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/chassis.dae
Normal file
68
data/racecar/meshes/chassis.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/chassis_differential.STL
Normal file
BIN
data/racecar/meshes/chassis_differential.STL
Normal file
Binary file not shown.
BIN
data/racecar/meshes/checker_blue.png
Normal file
BIN
data/racecar/meshes/checker_blue.png
Normal file
Binary file not shown.
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123
data/racecar/meshes/cone.dae
Normal file
123
data/racecar/meshes/cone.dae
Normal file
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11
data/racecar/meshes/cone.mtl
Normal file
11
data/racecar/meshes/cone.mtl
Normal file
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
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# Material Count: 1
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newmtl material_1
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|
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125
data/racecar/meshes/cone.obj
Normal file
125
data/racecar/meshes/cone.obj
Normal file
@@ -0,0 +1,125 @@
|
||||
# Blender v2.71 (sub 0) OBJ File: ''
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# www.blender.org
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mtllib cone.mtl
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|
||||
f 33//15 34//15 35//15
|
||||
f 34//15 33//15 36//15
|
||||
f 37//16 38//16 39//16
|
||||
f 38//16 37//16 40//16
|
||||
f 41//17 42//17 43//17
|
||||
f 42//17 41//17 44//17
|
||||
f 45//18 46//18 47//18
|
||||
f 46//18 45//18 48//18
|
||||
f 48//18 45//18 49//18
|
||||
f 49//18 45//18 50//18
|
||||
f 50//18 45//18 51//18
|
||||
f 50//18 51//18 52//18
|
||||
f 52//18 51//18 53//18
|
||||
f 53//18 51//18 54//18
|
||||
f 47//18 55//18 56//18
|
||||
f 55//18 47//18 57//18
|
||||
f 57//18 47//18 58//18
|
||||
f 58//18 47//18 46//18
|
||||
f 56//18 55//18 59//18
|
||||
f 56//18 59//18 60//18
|
||||
f 56//18 60//18 54//18
|
||||
f 56//18 54//18 51//18
|
||||
253
data/racecar/meshes/hokuyo.dae
Normal file
253
data/racecar/meshes/hokuyo.dae
Normal file
File diff suppressed because one or more lines are too long
20
data/racecar/meshes/hokuyo.mtl
Normal file
20
data/racecar/meshes/hokuyo.mtl
Normal file
@@ -0,0 +1,20 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 2
|
||||
|
||||
newmtl black-material
|
||||
Ns 21.568627
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.016250 0.016250 0.016250
|
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Ks 0.125000 0.125000 0.125000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
||||
|
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newmtl white_001-material
|
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Ns -1.960784
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.556090 0.556090 0.556090
|
||||
Ks 0.031250 0.031250 0.031250
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
2473
data/racecar/meshes/hokuyo.obj
Normal file
2473
data/racecar/meshes/hokuyo.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/left_front_wheel.STL
Normal file
BIN
data/racecar/meshes/left_front_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/left_front_wheel.dae
Normal file
68
data/racecar/meshes/left_front_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
11
data/racecar/meshes/left_front_wheel.mtl
Normal file
11
data/racecar/meshes/left_front_wheel.mtl
Normal file
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
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Ns 0
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd wheel.jpg
|
||||
3978
data/racecar/meshes/left_front_wheel.obj
Normal file
3978
data/racecar/meshes/left_front_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/left_rear_wheel.STL
Normal file
BIN
data/racecar/meshes/left_rear_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/left_rear_wheel.dae
Normal file
68
data/racecar/meshes/left_rear_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
11
data/racecar/meshes/left_rear_wheel.mtl
Normal file
11
data/racecar/meshes/left_rear_wheel.mtl
Normal file
@@ -0,0 +1,11 @@
|
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# Blender MTL File: 'None'
|
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# Material Count: 1
|
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|
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newmtl None
|
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Ns 0
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd wheel.jpg
|
||||
3979
data/racecar/meshes/left_rear_wheel.obj
Normal file
3979
data/racecar/meshes/left_rear_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/left_steering_hinge.STL
Normal file
BIN
data/racecar/meshes/left_steering_hinge.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/left_steering_hinge.dae
Normal file
68
data/racecar/meshes/left_steering_hinge.dae
Normal file
File diff suppressed because one or more lines are too long
310
data/racecar/meshes/parking_1.dae
Normal file
310
data/racecar/meshes/parking_1.dae
Normal file
@@ -0,0 +1,310 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
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|
||||
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
|
||||
<instance_light url="#Lamp-light"/>
|
||||
</node>
|
||||
<node id="Cube" name="Cube" type="NODE">
|
||||
<matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_002-mesh" name="Cube"/>
|
||||
</node>
|
||||
<node id="Cube_001" name="Cube_001" type="NODE">
|
||||
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
|
||||
</node>
|
||||
<node id="Cube_003" name="Cube_003" type="NODE">
|
||||
<matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh" name="Cube_003">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
BIN
data/racecar/meshes/right_front_wheel.STL
Normal file
BIN
data/racecar/meshes/right_front_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_front_wheel.dae
Normal file
68
data/racecar/meshes/right_front_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
11
data/racecar/meshes/right_front_wheel.mtl
Normal file
11
data/racecar/meshes/right_front_wheel.mtl
Normal file
@@ -0,0 +1,11 @@
|
||||
# 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
|
||||
map_Kd wheel.jpg
|
||||
3625
data/racecar/meshes/right_front_wheel.obj
Normal file
3625
data/racecar/meshes/right_front_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/right_rear_wheel.STL
Normal file
BIN
data/racecar/meshes/right_rear_wheel.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_rear_wheel.dae
Normal file
68
data/racecar/meshes/right_rear_wheel.dae
Normal file
File diff suppressed because one or more lines are too long
11
data/racecar/meshes/right_rear_wheel.mtl
Normal file
11
data/racecar/meshes/right_rear_wheel.mtl
Normal file
@@ -0,0 +1,11 @@
|
||||
# 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
|
||||
map_Kd wheel.jpg
|
||||
3625
data/racecar/meshes/right_rear_wheel.obj
Normal file
3625
data/racecar/meshes/right_rear_wheel.obj
Normal file
File diff suppressed because it is too large
Load Diff
BIN
data/racecar/meshes/right_steering_hinge.STL
Normal file
BIN
data/racecar/meshes/right_steering_hinge.STL
Normal file
Binary file not shown.
68
data/racecar/meshes/right_steering_hinge.dae
Normal file
68
data/racecar/meshes/right_steering_hinge.dae
Normal file
File diff suppressed because one or more lines are too long
506
data/racecar/meshes/walker_racecourse.dae
Normal file
506
data/racecar/meshes/walker_racecourse.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
data/racecar/meshes/wheel.jpg
Normal file
BIN
data/racecar/meshes/wheel.jpg
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
485
data/racecar/racecar.urdf
Normal file
485
data/racecar/racecar.urdf
Normal file
@@ -0,0 +1,485 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- inertial parameter macros -->
|
||||
<!-- geometry macros -->
|
||||
<!-- transmission macros -->
|
||||
<!-- Add chassis and it's inertia link -->
|
||||
<link name="base_link"/>
|
||||
<link name="chassis">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/chassis.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="base_link_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis"/>
|
||||
</joint>
|
||||
<link name="chassis_inertia">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
|
||||
<mass value="4.0"/>
|
||||
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_inertia_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="chassis_inertia"/>
|
||||
</joint>
|
||||
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||
<link name="left_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
robot
|
||||
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||
<link name="right_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||
<link name="left_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_steering_hinge_joint" type="revolute">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||
<link name="right_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_steering_hinge_joint" type="continuous">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="left_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_steering_hinge"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="right_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_steering_hinge"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add Hokuyo laser scanner -->
|
||||
<link name="laser">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.130"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hokuyo.obj"/>
|
||||
<material name="grey"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="laser"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- zed camera -->
|
||||
<link name="zed_camera_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="zed_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="zed_camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||
</joint>
|
||||
<!-- zed camera lenses -->
|
||||
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||
<link name="camera_link">
|
||||
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="zed_camera_right_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="zed_camera_left_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<joint name="zed_camera_right_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="zed_camera_right_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- Add the remaining xacros -->
|
||||
<!-- Gazebo references -->
|
||||
<gazebo reference="chassis">
|
||||
<mu1 value="0.0"/>
|
||||
<mu2 value="0.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<material>Gazebo/Blue</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<!-- Gazebo plugins -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/racecar</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo reference="laser">
|
||||
<material>Gazebo/Grey</material>
|
||||
<sensor name="hokuyo_sensor" type="ray">
|
||||
<pose>0 0 0.0124 0 0 0</pose>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1081</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.3561944902</min_angle>
|
||||
<max_angle>2.3561944902</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.1</min>
|
||||
<max>10.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>laser</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="camera_link">
|
||||
<sensor name="zed_camera_left_sensor" type="camera">
|
||||
<update_rate>30.0</update_rate>
|
||||
<!-- math.atan(320 / 687.8065795898438) * 2 -->
|
||||
<camera name="zed_camera_left_camera">
|
||||
<horizontal_fov>0.8709216071359963</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>B8G8R8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>/camera/zed</cameraName>
|
||||
<imageTopicName>rgb/image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
<!-- set this to 0.12 for the second camera -->
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<material name="white">
|
||||
<color rgba="1. 1. 1. 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0. 0. 0. 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<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="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
|
||||
743
data/racecar/racecar_differential.urdf
Normal file
743
data/racecar/racecar_differential.urdf
Normal file
@@ -0,0 +1,743 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- inertial parameter macros -->
|
||||
<!-- geometry macros -->
|
||||
<!-- transmission macros -->
|
||||
<!-- Add chassis and it's inertia link -->
|
||||
|
||||
<link name="chassis">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.2 0 0."/>
|
||||
<mass value="4.0"/>
|
||||
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||
<link name="left_rear_wheel">
|
||||
<contact>
|
||||
<lateral_friction value=".5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_rear_wheel_joint" type="fixed">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||
<parent link="diff_sideA"/>
|
||||
<child link="left_rear_wheel"/>
|
||||
</joint>
|
||||
|
||||
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||
<link name="right_rear_wheel">
|
||||
<contact>
|
||||
<lateral_friction value=".5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_rear_wheel_joint" type="fixed">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||
<parent link="diff_sideB"/>
|
||||
<child link="right_rear_wheel"/>
|
||||
</joint>
|
||||
|
||||
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||
<link name="left_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_steering_hinge_joint" type="revolute">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||
<link name="right_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_steering_hinge_joint" type="continuous">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="left_front_wheel">
|
||||
<contact>
|
||||
<lateral_friction value=".8"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_steering_hinge"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="right_front_wheel">
|
||||
<contact>
|
||||
<lateral_friction value="0.8"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_steering_hinge"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add Hokuyo laser scanner -->
|
||||
<link name="laser">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.130"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hokuyo.obj"/>
|
||||
<material name="grey"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="laser"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- zed camera -->
|
||||
<link name="zed_camera_link">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="zed_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="zed_camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||
</joint>
|
||||
<!-- zed camera lenses -->
|
||||
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||
<link name="camera_link">
|
||||
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="zed_camera_right_link">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="zed_camera_left_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<joint name="zed_camera_right_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="zed_camera_right_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- Add the remaining xacros -->
|
||||
<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="0.0637"/>
|
||||
<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="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</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="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.025"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="diff_ring_chassis" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="diff_ring"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
|
||||
<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="0.056"/>
|
||||
<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="red"/>
|
||||
</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="0.056"/>
|
||||
<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="brown"/>
|
||||
</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="0.056"/>
|
||||
<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="white"/>
|
||||
</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="0.056"/>
|
||||
<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="white"/>
|
||||
</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>
|
||||
|
||||
<link name="diff2_ring">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.0637"/>
|
||||
<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="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</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="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.025"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="diff2_ring_chassis" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="diff2_ring"/>
|
||||
<origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="diff2_spiderA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<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="red"/>
|
||||
</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="diff2_spiderA_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_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="diff2_spiderB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<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="brown"/>
|
||||
</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="diff2_spiderB_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_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="diff2_sideA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<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="white"/>
|
||||
</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="diff2_sideA_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_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="diff2_sideB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<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="white"/>
|
||||
</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="diff2_sideB_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_sideB"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<material name="white">
|
||||
<color rgba="1. 1. 1. 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0. 0. 0. 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<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="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
|
||||
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user