From bf800e30d5d5fe688a2cd17a014f7068ad10886f Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Thu, 29 Jun 2017 17:54:04 -0700
Subject: [PATCH] Added manually converted widowx.urdf from
 https://github.com/RobotnikAutomation/widowx_arm Added simple pybullet file
 in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py
 file needs more work to be useful)
 https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
 See also http://www.trossenrobotics.com/widowxrobotarm

---
 data/widowx/bsd_license.txt                   |  22 ++
 data/widowx/meshes/base_link.stl              | Bin 0 -> 26684 bytes
 data/widowx/meshes/biceps_link.stl            | Bin 0 -> 18884 bytes
 data/widowx/meshes/forearm_link.stl           | Bin 0 -> 21084 bytes
 .../widowx/meshes/gripper_hand_fixed_link.stl | Bin 0 -> 5284 bytes
 data/widowx/meshes/gripper_rail_link.stl      | Bin 0 -> 17484 bytes
 data/widowx/meshes/shoulder_link.stl          | Bin 0 -> 11884 bytes
 data/widowx/meshes/wrist_1_link.stl           | Bin 0 -> 31884 bytes
 data/widowx/meshes/wrist_2_link.stl           | Bin 0 -> 33084 bytes
 data/widowx/widowx.urdf                       | 279 ++++++++++++++++++
 examples/pybullet/examples/widows.py          |  21 ++
 11 files changed, 322 insertions(+)
 create mode 100644 data/widowx/bsd_license.txt
 create mode 100644 data/widowx/meshes/base_link.stl
 create mode 100644 data/widowx/meshes/biceps_link.stl
 create mode 100644 data/widowx/meshes/forearm_link.stl
 create mode 100644 data/widowx/meshes/gripper_hand_fixed_link.stl
 create mode 100644 data/widowx/meshes/gripper_rail_link.stl
 create mode 100644 data/widowx/meshes/shoulder_link.stl
 create mode 100644 data/widowx/meshes/wrist_1_link.stl
 create mode 100644 data/widowx/meshes/wrist_2_link.stl
 create mode 100644 data/widowx/widowx.urdf
 create mode 100644 examples/pybullet/examples/widows.py

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.
+
+<package>
+  <name>widowx_arm_description</name>
+  <version>0.0.2</version>
+  <description>The widowx_arm_description package</description>
+
+	<maintainer email="jmrapado@robotnik.es">Jose Rapado García</maintainer>
+	<maintainer email="rnavarro@robotnik.es">Román Navarro</maintainer>
+	<maintainer email="cvillar@robotnik.es">Carlos Villar</maintainer>
+
+ 
\ 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
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diff --git a/data/widowx/meshes/shoulder_link.stl b/data/widowx/meshes/shoulder_link.stl
new file mode 100644
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diff --git a/data/widowx/meshes/wrist_1_link.stl b/data/widowx/meshes/wrist_1_link.stl
new file mode 100644
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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 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<robot name="widowx" xmlns:xacro="http://ros.org/wiki/xacro">
+ 
+	<material name="yellow">
+		<color rgba="0.15 0.15 0.15 1.0"/>
+	</material>
+
+	<material name="white">
+		<color rgba="0.86 0.85 0.81 1.0"/>
+	</material>
+
+	<material name="black">
+		<color rgba="0.15 0.15 0.15 1.0"/>
+	</material>
+
+	<material name="grey">
+		<color rgba="0.34 0.35 0.36 1.0"/>
+	</material>
+
+
+	<material name="greyish">
+		<color rgba="0.75 0.75 0.75 1.0"/>
+	</material>
+	
+	
+  
+  <link name="arm_base_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/base_link.stl"/>
+        </geometry>
+        <material name="black"/>
+   </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/base_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="13" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="shoulder_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/shoulder_link.stl" />
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/shoulder_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="biceps_link">
+     <visual>
+	      <origin xyz="0.04825 0 0.140" rpy="0 0 0" />
+        <!--origin xyz="0 0 0" rpy="0 0 0" /-->
+        <geometry>
+           <mesh filename="meshes/biceps_link.stl" />
+        </geometry>
+        <material name="black"/>
+     </visual>
+     <collision>
+        <origin xyz="0.04825 0 0.140" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/biceps_link.stl" />
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="forearm_link">
+     <visual>
+	      <origin xyz="0 0 0.14203" rpy="0 0 0" />
+	<!--origin xyz="0 0 0" rpy="0 0 0" /-->
+        <geometry>
+           <mesh filename="meshes/forearm_link.stl"/>
+        </geometry>
+       <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0.14203" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/forearm_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+     </inertial>
+  </link>
+  <link name="wrist_1_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_1_link.stl"/>
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_1_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="wrist_2_link">
+     <visual>
+        <origin xyz="0 0 0.043" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_2_link.stl"/>
+        </geometry>
+        <material name="black"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0.043" rpy="0 0 0" />
+        <geometry>
+           <mesh filename="meshes/wrist_2_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="gripper_rail_link">
+     <visual>
+        <origin xyz="0 0 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_rail_link.stl"/>
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+        <origin xyz="0 0 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_rail_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="gripper_aux_link">
+  </link>
+  <link name="gripper_1_link">
+     <visual>
+        <origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+        <material name="black"/>
+     </visual>
+     <collision>
+        <origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <link name="gripper_2_link">
+     <visual>
+        <origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+        <material name="greyish"/>
+     </visual>
+     <collision>
+         <origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
+        <geometry>
+           <mesh filename="meshes/gripper_hand_fixed_link.stl"/>
+        </geometry>
+     </collision>
+     <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value=".1" />
+        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
+     </inertial>
+  </link>
+  <!-- joints -->
+ 
+  <joint name="joint_1" type="revolute">
+     <origin xyz="0 0 0.125" rpy="0 0 0" />
+     <parent link="arm_base_link" />
+     <child link="shoulder_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="-2.617" upper="2.617" effort="0" velocity="0.785" />
+  </joint>
+  <joint name="joint_2" type="revolute">
+     <!--origin xyz="0.04825 0 0.14203" rpy="0 0 0" /-->
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <parent link="shoulder_link" />
+     <child link="biceps_link" />
+     <axis xyz="0 1 0" />
+     <limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_3" type="revolute">
+     <origin xyz="0.04825 0 0.14203" rpy="0 1.5707963268 0" />
+     <parent link="biceps_link" />
+     <child link="forearm_link" />
+     <axis xyz="0 1 0" />
+     <limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_4" type="revolute">
+     <origin xyz="0 0 0.14203" rpy="0 0 0" />
+     <parent link="forearm_link" />
+     <child link="wrist_1_link" />
+     <axis xyz="0 1 0" />
+     <limit lower="-1.745" upper="1.745" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_5" type="revolute">
+     <origin xyz="0 0 0.0715" rpy="0 0 0" />
+     <parent link="wrist_1_link" />
+     <child link="wrist_2_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="-2.617" upper="2.617" effort="0" velocity="1.571" />
+  </joint>
+  <joint name="joint_6" type="fixed">
+     <origin xyz = "0 0 0.043" rpy="0 0 0" />
+     <parent link="wrist_2_link" />
+     <child link="gripper_rail_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="-0.31" upper="0.1" effort="0" velocity="0.5" />
+  </joint>
+  <joint name="gripper_revolute_joint" type="revolute">
+     <origin xyz = "0 0 0" rpy="0 0 0" />
+     <parent link="gripper_rail_link" />
+     <child link="gripper_aux_link" />
+     <axis xyz="0 0 1" />
+     <limit lower="0" upper="2.6" effort="0" velocity="0.5" />
+  </joint>
+  <joint name="gripper_prismatic_joint_1" type="prismatic">
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <parent link="gripper_rail_link" />
+     <child link="gripper_1_link" />
+     <axis xyz="0 -1 0" />
+     <limit lower="0" upper="0.027" effort="0" velocity="0.5" />
+  </joint>
+  <joint name="gripper_prismatic_joint_2" type="prismatic">
+     <origin xyz="0 0 0" rpy="0 0 0" />
+     <parent link="gripper_rail_link" />
+     <child link="gripper_2_link" />
+     <mimic joint="gripper_prismatic_joint_1" />
+     <axis xyz="0 1 0" />
+     <limit lower="0" upper="0.027" effort="0" velocity="0.5" />
+  </joint>
+
+</robot>
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)