diff --git a/data/widowx/bsd_license.txt b/data/widowx/bsd_license.txt new file mode 100644 index 000000000..cf5bb8ce7 --- /dev/null +++ b/data/widowx/bsd_license.txt @@ -0,0 +1,22 @@ +Converted from https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml + +Copyright 2017 robotnik + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. +3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + + + widowx_arm_description + 0.0.2 + The widowx_arm_description package + + Jose Rapado García + Román Navarro + Carlos Villar + + \ No newline at end of file diff --git a/data/widowx/meshes/base_link.stl b/data/widowx/meshes/base_link.stl new file mode 100644 index 000000000..f9a359037 Binary files /dev/null and b/data/widowx/meshes/base_link.stl differ diff --git a/data/widowx/meshes/biceps_link.stl b/data/widowx/meshes/biceps_link.stl new file mode 100644 index 000000000..9d9115212 Binary files /dev/null and b/data/widowx/meshes/biceps_link.stl differ diff --git a/data/widowx/meshes/forearm_link.stl b/data/widowx/meshes/forearm_link.stl new file mode 100644 index 000000000..1aaf44e48 Binary files /dev/null and b/data/widowx/meshes/forearm_link.stl differ diff --git a/data/widowx/meshes/gripper_hand_fixed_link.stl b/data/widowx/meshes/gripper_hand_fixed_link.stl new file mode 100644 index 000000000..aa0ec60fd Binary files /dev/null and b/data/widowx/meshes/gripper_hand_fixed_link.stl differ diff --git a/data/widowx/meshes/gripper_rail_link.stl b/data/widowx/meshes/gripper_rail_link.stl new file mode 100644 index 000000000..e480ed586 Binary files /dev/null and b/data/widowx/meshes/gripper_rail_link.stl differ diff --git a/data/widowx/meshes/shoulder_link.stl b/data/widowx/meshes/shoulder_link.stl new file mode 100644 index 000000000..636d41403 Binary files /dev/null and b/data/widowx/meshes/shoulder_link.stl differ diff --git a/data/widowx/meshes/wrist_1_link.stl b/data/widowx/meshes/wrist_1_link.stl new file mode 100644 index 000000000..254878f25 Binary files /dev/null and b/data/widowx/meshes/wrist_1_link.stl differ diff --git a/data/widowx/meshes/wrist_2_link.stl b/data/widowx/meshes/wrist_2_link.stl new file mode 100644 index 000000000..281f20559 Binary files /dev/null and b/data/widowx/meshes/wrist_2_link.stl differ diff --git a/data/widowx/widowx.urdf b/data/widowx/widowx.urdf new file mode 100644 index 000000000..0463f9336 --- /dev/null +++ b/data/widowx/widowx.urdf @@ -0,0 +1,279 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/examples/pybullet/examples/widows.py b/examples/pybullet/examples/widows.py new file mode 100644 index 000000000..aa1af8cb5 --- /dev/null +++ b/examples/pybullet/examples/widows.py @@ -0,0 +1,21 @@ +import pybullet as p +import time + +p.connect(p.GUI) +p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0) +p.setGravity(0,0,-10) +arm = p.loadURDF("widowx/widowx.urdf",useFixedBase=True) + +p.resetBasePositionAndOrientation(arm,[-0.098612,-0.000726,-0.194018],[0.000000,0.000000,0.000000,1.000000]) + + +while (1): + p.stepSimulation() + time.sleep(0.01) + #p.saveWorld("test.py") + viewMat = p.getDebugVisualizerCamera()[2] + #projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0] + projMatrix = p.getDebugVisualizerCamera()[3] + width=640 + height=480 + img_arr = p.getCameraImage(width=width,height=height,viewMatrix=viewMat,projectionMatrix=projMatrix)