Merge remote-tracking branch 'bp/master'
This commit is contained in:
Erwin Coumans
@@ -1,314 +0,0 @@
|
|||||||
<?xml version="1.0" encoding="utf-8"?>
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||||||
<!-- =================================================================================== -->
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|
||||||
<!-- | This document was autogenerated by xacro from src/xarm_ros/xarm_description/urdf/xarm6_robot.urdf.xacro | -->
|
|
||||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
|
||||||
<!-- =================================================================================== -->
|
|
||||||
<robot name="xarm6" xmlns:xacro="http://ros.org/wiki/xacro">
|
|
||||||
<!--
|
|
||||||
Author: Jason Peng <jason@ufactory.cc>
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|
||||||
Contributers:
|
|
||||||
-->
|
|
||||||
<gazebo>
|
|
||||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
|
||||||
<robotNamespace>/xarm</robotNamespace>
|
|
||||||
<!-- <controlPeriod>0.0001</controlPeriod> -->
|
|
||||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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|
||||||
<legacyModeNS>true</legacyModeNS>
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|
||||||
</plugin>
|
|
||||||
</gazebo>
|
|
||||||
<link name="base"/>
|
|
||||||
<joint name="base_joint" type="fixed">
|
|
||||||
<parent link="base"/>
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|
||||||
<child link="link_base"/>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
||||||
</joint>
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|
||||||
<!-- added tool0 to comply with ROS industrial-->
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|
||||||
<link name="tool0"/>
|
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||||||
<joint name="tool_joint" type="fixed">
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||||||
<parent link="link6"/>
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|
||||||
<child link="tool0"/>
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|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
||||||
</joint>
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|
||||||
<material name="Black">
|
|
||||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
|
||||||
</material>
|
|
||||||
<material name="Red">
|
|
||||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
|
||||||
</material>
|
|
||||||
<material name="White">
|
|
||||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
|
||||||
</material>
|
|
||||||
<material name="Silver">
|
|
||||||
<color rgba="0.753 0.753 0.753 1.0"/>
|
|
||||||
</material>
|
|
||||||
<link name="link_base">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/base.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
||||||
<material name="White"/>
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|
||||||
</visual>
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|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/base.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
|
|
||||||
<mass value="2.7"/>
|
|
||||||
<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<link name="link1">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<material name="White"/>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link1.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
|
|
||||||
<mass value="2.16"/>
|
|
||||||
<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<joint name="joint1" type="revolute">
|
|
||||||
<parent link="link_base"/>
|
|
||||||
<child link="link1"/>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0.267"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
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|
||||||
<dynamics damping="1.0" friction="1.0"/>
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|
||||||
</joint>
|
|
||||||
<link name="link2">
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|
||||||
<visual>
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|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link2.stl"/>
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|
||||||
</geometry>
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|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<material name="White"/>
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|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link2.stl"/>
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|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
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|
||||||
<mass value="1.71"/>
|
|
||||||
<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
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||||||
</inertial>
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||||||
</link>
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|
||||||
<joint name="joint2" type="revolute">
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||||||
<parent link="link1"/>
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||||||
<child link="link2"/>
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|
||||||
<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
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||||||
<axis xyz="0 0 1"/>
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||||||
<limit effort="50.0" lower="-2.18" upper="2.18" velocity="3.14"/>
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||||||
<dynamics damping="1.0" friction="1.0"/>
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|
||||||
</joint>
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|
||||||
<link name="link3">
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|
||||||
<visual>
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|
||||||
<geometry>
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|
||||||
<mesh filename="meshes/xarm6/visual/link3.stl"/>
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|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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|
||||||
<material name="White"/>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link3.stl"/>
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|
||||||
</geometry>
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|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
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|
||||||
<mass value="1.384"/>
|
|
||||||
<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
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|
||||||
<joint name="joint3" type="revolute">
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|
||||||
<parent link="link2"/>
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|
||||||
<child link="link3"/>
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|
||||||
<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="32.0" lower="-4.01" upper="0.11" velocity="3.14"/>
|
|
||||||
<dynamics damping="1.0" friction="1.0"/>
|
|
||||||
</joint>
|
|
||||||
<link name="link4">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<material name="White"/>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link4.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
|
|
||||||
<mass value="1.115"/>
|
|
||||||
<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<joint name="joint4" type="revolute">
|
|
||||||
<parent link="link3"/>
|
|
||||||
<child link="link4"/>
|
|
||||||
<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
|
||||||
<dynamics damping="1.0" friction="1.0"/>
|
|
||||||
</joint>
|
|
||||||
<link name="link5">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<material name="White"/>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link5.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
|
|
||||||
<mass value="1.275"/>
|
|
||||||
<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<joint name="joint5" type="revolute">
|
|
||||||
<parent link="link4"/>
|
|
||||||
<child link="link5"/>
|
|
||||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="32.0" lower="-1.75" upper="3.14159265359" velocity="3.14"/>
|
|
||||||
<dynamics damping="1.0" friction="1.0"/>
|
|
||||||
</joint>
|
|
||||||
<link name="link6">
|
|
||||||
<visual>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
<material name="Silver"/>
|
|
||||||
</visual>
|
|
||||||
<collision>
|
|
||||||
<geometry>
|
|
||||||
<mesh filename="meshes/xarm6/visual/link6.stl"/>
|
|
||||||
</geometry>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
|
||||||
</collision>
|
|
||||||
<inertial>
|
|
||||||
<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
|
|
||||||
<mass value="0.1096"/>
|
|
||||||
<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
|
|
||||||
</inertial>
|
|
||||||
</link>
|
|
||||||
<joint name="joint6" type="revolute">
|
|
||||||
<parent link="link5"/>
|
|
||||||
<child link="link6"/>
|
|
||||||
<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
|
|
||||||
<axis xyz="0 0 1"/>
|
|
||||||
<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
|
|
||||||
<dynamics damping="1.0" friction="1.0"/>
|
|
||||||
</joint>
|
|
||||||
<transmission name="tran1">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="joint1">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="motor1">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>100</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="tran2">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="joint2">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="motor2">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>reduction</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="tran3">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="joint3">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="motor3">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>reduction</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="tran4">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="joint4">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="motor3">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>reduction</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="tran5">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="joint5">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="motor5">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>reduction</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<transmission name="tran6">
|
|
||||||
<type>transmission_interface/SimpleTransmission</type>
|
|
||||||
<joint name="joint6">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
</joint>
|
|
||||||
<actuator name="motor6">
|
|
||||||
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
|
|
||||||
<mechanicalReduction>reduction</mechanicalReduction>
|
|
||||||
</actuator>
|
|
||||||
</transmission>
|
|
||||||
<gazebo reference="link_base">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link1">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link2">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link3">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link4">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link5">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
<gazebo reference="link6">
|
|
||||||
<selfCollide>true</selfCollide>
|
|
||||||
</gazebo>
|
|
||||||
</robot>
|
|
||||||
|
|
||||||
@@ -27,7 +27,16 @@
|
|||||||
<color rgba="0.0 0.0 0.0 1.0"/>
|
<color rgba="0.0 0.0 0.0 1.0"/>
|
||||||
</material>
|
</material>
|
||||||
<material name="Red">
|
<material name="Red">
|
||||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
<color rgba="0.85 0.19 0.21 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="Blue">
|
||||||
|
<color rgba="0.28 0.52 0.92 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="Green">
|
||||||
|
<color rgba="0.23 0.72 0.32 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="Yellow">
|
||||||
|
<color rgba="0.95 0.76 0.05 1.0"/>
|
||||||
</material>
|
</material>
|
||||||
<material name="White">
|
<material name="White">
|
||||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||||
@@ -41,11 +50,11 @@
|
|||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<material name="White"/>
|
<material name="Blue"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
@@ -61,11 +70,11 @@
|
|||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<material name="White"/>
|
<material name="Red"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
@@ -89,11 +98,11 @@
|
|||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<material name="White"/>
|
<material name="Yellow"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
@@ -117,11 +126,11 @@
|
|||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<material name="White"/>
|
<material name="Blue"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
@@ -145,11 +154,11 @@
|
|||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<material name="White"/>
|
<material name="Green"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
@@ -173,11 +182,11 @@
|
|||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
<material name="White"/>
|
<material name="Red"/>
|
||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
@@ -205,7 +214,7 @@
|
|||||||
</visual>
|
</visual>
|
||||||
<collision>
|
<collision>
|
||||||
<geometry>
|
<geometry>
|
||||||
<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
|
<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
|
||||||
</geometry>
|
</geometry>
|
||||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
</collision>
|
</collision>
|
||||||
|
|||||||
@@ -0,0 +1,10 @@
|
|||||||
|
# Blender MTL File: 'None'
|
||||||
|
# Material Count: 1
|
||||||
|
|
||||||
|
newmtl None
|
||||||
|
Ns 500
|
||||||
|
Ka 0.8 0.8 0.8
|
||||||
|
Kd 0.8 0.8 0.8
|
||||||
|
Ks 0.8 0.8 0.8
|
||||||
|
d 1
|
||||||
|
illum 2
|
||||||
@@ -0,0 +1,189 @@
|
|||||||
|
o convex_0
|
||||||
|
v 0.033187 0.018503 -0.027247
|
||||||
|
v -0.037691 -0.004112 -0.027247
|
||||||
|
v -0.036680 -0.006625 -0.028254
|
||||||
|
v 0.013576 -0.034758 0.000399
|
||||||
|
v -0.012050 0.035092 0.000399
|
||||||
|
v 0.001516 -0.051863 -0.020710
|
||||||
|
v -0.035174 -0.014657 -0.000608
|
||||||
|
v 0.037202 0.000916 0.000399
|
||||||
|
v -0.009541 0.036598 -0.027749
|
||||||
|
v 0.032685 -0.018178 -0.028254
|
||||||
|
v 0.016093 0.034593 -0.000608
|
||||||
|
v -0.032658 0.019510 -0.000608
|
||||||
|
v -0.005016 -0.051863 -0.008652
|
||||||
|
v -0.024620 -0.028233 -0.028254
|
||||||
|
v 0.028153 -0.025719 -0.000608
|
||||||
|
v -0.028642 0.025037 -0.027247
|
||||||
|
v 0.013074 0.035092 -0.028254
|
||||||
|
v 0.006542 -0.051863 -0.011667
|
||||||
|
v -0.029646 -0.022706 0.000399
|
||||||
|
v 0.028662 0.025046 -0.000608
|
||||||
|
v 0.013576 -0.034758 -0.028254
|
||||||
|
v 0.037711 -0.000091 -0.027749
|
||||||
|
v -0.037691 0.004927 -0.000608
|
||||||
|
v -0.034673 0.013984 -0.028254
|
||||||
|
v 0.005029 0.037614 -0.000608
|
||||||
|
v 0.036700 -0.009629 -0.000608
|
||||||
|
v -0.031654 -0.021191 -0.027247
|
||||||
|
v -0.007024 -0.051855 -0.014175
|
||||||
|
v -0.022103 0.031072 -0.000608
|
||||||
|
v -0.013054 -0.034767 0.000399
|
||||||
|
v 0.022123 0.031072 -0.027247
|
||||||
|
v 0.036700 0.009963 -0.000608
|
||||||
|
v 0.028153 -0.025719 -0.027247
|
||||||
|
v 0.001014 -0.051863 -0.007143
|
||||||
|
v -0.014058 -0.034767 -0.028254
|
||||||
|
v 0.005029 0.037614 -0.027247
|
||||||
|
v -0.034171 0.014982 0.000399
|
||||||
|
v 0.021119 0.030572 0.000399
|
||||||
|
v -0.016073 0.034593 -0.027247
|
||||||
|
v -0.028133 -0.025719 -0.000608
|
||||||
|
v -0.008028 0.037098 -0.000608
|
||||||
|
v 0.034692 -0.015664 -0.027247
|
||||||
|
v 0.035194 0.012477 -0.028254
|
||||||
|
v -0.005016 -0.051863 -0.019201
|
||||||
|
v -0.036680 0.009955 -0.027247
|
||||||
|
v 0.006542 -0.051863 -0.017193
|
||||||
|
v -0.037691 -0.004112 -0.000608
|
||||||
|
v 0.031674 -0.021191 -0.000608
|
||||||
|
v -0.035174 -0.014657 -0.027247
|
||||||
|
v -0.023616 0.029066 -0.028254
|
||||||
|
v 0.033187 0.018503 -0.000608
|
||||||
|
v 0.023636 -0.028732 0.000399
|
||||||
|
v 0.028662 0.025046 -0.027247
|
||||||
|
v 0.036700 0.009963 -0.027247
|
||||||
|
v -0.005016 0.037614 -0.027247
|
||||||
|
v 0.037711 0.004936 -0.000608
|
||||||
|
v 0.037711 -0.004112 -0.027247
|
||||||
|
v -0.032658 0.019510 -0.027247
|
||||||
|
v -0.035676 0.012976 -0.000608
|
||||||
|
v 0.022123 0.031072 -0.000608
|
||||||
|
v -0.016073 0.034593 -0.000608
|
||||||
|
v 0.020617 -0.031246 -0.028254
|
||||||
|
v -0.028642 0.025037 -0.000608
|
||||||
|
v 0.016093 0.034593 -0.027247
|
||||||
|
f 36 11 64
|
||||||
|
f 5 4 8
|
||||||
|
f 3 10 14
|
||||||
|
f 10 3 17
|
||||||
|
f 13 6 18
|
||||||
|
f 4 5 19
|
||||||
|
f 14 10 21
|
||||||
|
f 17 3 24
|
||||||
|
f 3 14 27
|
||||||
|
f 27 14 28
|
||||||
|
f 4 19 30
|
||||||
|
f 15 18 33
|
||||||
|
f 13 18 34
|
||||||
|
f 4 30 34
|
||||||
|
f 30 13 34
|
||||||
|
f 21 6 35
|
||||||
|
f 14 21 35
|
||||||
|
f 17 9 36
|
||||||
|
f 25 11 36
|
||||||
|
f 19 5 37
|
||||||
|
f 5 29 37
|
||||||
|
f 5 8 38
|
||||||
|
f 25 5 38
|
||||||
|
f 11 25 38
|
||||||
|
f 19 7 40
|
||||||
|
f 7 27 40
|
||||||
|
f 27 28 40
|
||||||
|
f 28 13 40
|
||||||
|
f 13 30 40
|
||||||
|
f 30 19 40
|
||||||
|
f 5 25 41
|
||||||
|
f 9 39 41
|
||||||
|
f 33 10 42
|
||||||
|
f 10 17 43
|
||||||
|
f 22 10 43
|
||||||
|
f 6 13 44
|
||||||
|
f 13 28 44
|
||||||
|
f 28 14 44
|
||||||
|
f 35 6 44
|
||||||
|
f 14 35 44
|
||||||
|
f 3 2 45
|
||||||
|
f 2 23 45
|
||||||
|
f 24 3 45
|
||||||
|
f 18 6 46
|
||||||
|
f 33 18 46
|
||||||
|
f 2 7 47
|
||||||
|
f 7 19 47
|
||||||
|
f 23 2 47
|
||||||
|
f 19 37 47
|
||||||
|
f 37 23 47
|
||||||
|
f 26 8 48
|
||||||
|
f 15 33 48
|
||||||
|
f 42 26 48
|
||||||
|
f 33 42 48
|
||||||
|
f 2 3 49
|
||||||
|
f 7 2 49
|
||||||
|
f 3 27 49
|
||||||
|
f 27 7 49
|
||||||
|
f 9 17 50
|
||||||
|
f 24 16 50
|
||||||
|
f 17 24 50
|
||||||
|
f 16 29 50
|
||||||
|
f 39 9 50
|
||||||
|
f 29 39 50
|
||||||
|
f 1 20 51
|
||||||
|
f 32 1 51
|
||||||
|
f 8 32 51
|
||||||
|
f 38 8 51
|
||||||
|
f 20 38 51
|
||||||
|
f 8 4 52
|
||||||
|
f 18 15 52
|
||||||
|
f 4 34 52
|
||||||
|
f 34 18 52
|
||||||
|
f 48 8 52
|
||||||
|
f 15 48 52
|
||||||
|
f 20 1 53
|
||||||
|
f 17 31 53
|
||||||
|
f 31 20 53
|
||||||
|
f 43 17 53
|
||||||
|
f 1 43 53
|
||||||
|
f 1 32 54
|
||||||
|
f 22 43 54
|
||||||
|
f 43 1 54
|
||||||
|
f 36 9 55
|
||||||
|
f 25 36 55
|
||||||
|
f 41 25 55
|
||||||
|
f 9 41 55
|
||||||
|
f 8 26 56
|
||||||
|
f 32 8 56
|
||||||
|
f 54 32 56
|
||||||
|
f 22 54 56
|
||||||
|
f 10 22 57
|
||||||
|
f 42 10 57
|
||||||
|
f 26 42 57
|
||||||
|
f 56 26 57
|
||||||
|
f 22 56 57
|
||||||
|
f 12 16 58
|
||||||
|
f 16 24 58
|
||||||
|
f 24 45 58
|
||||||
|
f 58 45 59
|
||||||
|
f 37 12 59
|
||||||
|
f 23 37 59
|
||||||
|
f 45 23 59
|
||||||
|
f 12 58 59
|
||||||
|
f 31 11 60
|
||||||
|
f 20 31 60
|
||||||
|
f 38 20 60
|
||||||
|
f 11 38 60
|
||||||
|
f 29 5 61
|
||||||
|
f 39 29 61
|
||||||
|
f 5 41 61
|
||||||
|
f 41 39 61
|
||||||
|
f 6 21 62
|
||||||
|
f 21 10 62
|
||||||
|
f 10 33 62
|
||||||
|
f 46 6 62
|
||||||
|
f 33 46 62
|
||||||
|
f 16 12 63
|
||||||
|
f 29 16 63
|
||||||
|
f 12 37 63
|
||||||
|
f 37 29 63
|
||||||
|
f 31 17 64
|
||||||
|
f 11 31 64
|
||||||
|
f 17 36 64
|
||||||
@@ -1,29 +0,0 @@
|
|||||||
import functools
|
|
||||||
import inspect
|
|
||||||
import pybullet
|
|
||||||
|
|
||||||
|
|
||||||
class BulletClient(object):
|
|
||||||
"""A wrapper for pybullet to manage different clients."""
|
|
||||||
|
|
||||||
def __init__(self, connection_mode=pybullet.DIRECT, options=""):
|
|
||||||
"""Create a simulation and connect to it."""
|
|
||||||
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
|
|
||||||
if (self._client < 0):
|
|
||||||
print("options=", options)
|
|
||||||
self._client = pybullet.connect(connection_mode, options=options)
|
|
||||||
self._shapes = {}
|
|
||||||
|
|
||||||
def __del__(self):
|
|
||||||
"""Clean up connection if not already done."""
|
|
||||||
try:
|
|
||||||
pybullet.disconnect(physicsClientId=self._client)
|
|
||||||
except pybullet.error:
|
|
||||||
pass
|
|
||||||
|
|
||||||
def __getattr__(self, name):
|
|
||||||
"""Inject the client id into Bullet functions."""
|
|
||||||
attribute = getattr(pybullet, name)
|
|
||||||
if inspect.isbuiltin(attribute):
|
|
||||||
attribute = functools.partial(attribute, physicsClientId=self._client)
|
|
||||||
return attribute
|
|
||||||
@@ -17,7 +17,7 @@ from gym import spaces
|
|||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import pybullet
|
import pybullet
|
||||||
from . import bullet_client
|
import pybullet_utils.bullet_client as bc
|
||||||
from . import minitaur
|
from . import minitaur
|
||||||
import pybullet_data
|
import pybullet_data
|
||||||
from . import minitaur_env_randomizer
|
from . import minitaur_env_randomizer
|
||||||
@@ -150,9 +150,9 @@ class MinitaurBulletDuckEnv(gym.Env):
|
|||||||
self._action_repeat *= NUM_SUBSTEPS
|
self._action_repeat *= NUM_SUBSTEPS
|
||||||
|
|
||||||
if self._is_render:
|
if self._is_render:
|
||||||
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
|
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
|
||||||
else:
|
else:
|
||||||
self._pybullet_client = bullet_client.BulletClient()
|
self._pybullet_client = bc.BulletClient()
|
||||||
|
|
||||||
self.seed()
|
self.seed()
|
||||||
self.reset()
|
self.reset()
|
||||||
|
|||||||
@@ -14,7 +14,7 @@ from gym import spaces
|
|||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import pybullet
|
import pybullet
|
||||||
from . import bullet_client
|
import pybullet_utils.bullet_client as bc
|
||||||
from . import minitaur
|
from . import minitaur
|
||||||
import os
|
import os
|
||||||
import pybullet_data
|
import pybullet_data
|
||||||
@@ -145,9 +145,9 @@ class MinitaurBulletEnv(gym.Env):
|
|||||||
self._action_repeat *= NUM_SUBSTEPS
|
self._action_repeat *= NUM_SUBSTEPS
|
||||||
|
|
||||||
if self._is_render:
|
if self._is_render:
|
||||||
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
|
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
|
||||||
else:
|
else:
|
||||||
self._pybullet_client = bullet_client.BulletClient()
|
self._pybullet_client = bc.BulletClient()
|
||||||
|
|
||||||
self.seed()
|
self.seed()
|
||||||
self.reset()
|
self.reset()
|
||||||
|
|||||||
@@ -12,7 +12,7 @@ import numpy as np
|
|||||||
import pybullet
|
import pybullet
|
||||||
from . import racecar
|
from . import racecar
|
||||||
import random
|
import random
|
||||||
from . import bullet_client
|
import pybullet_utils.bullet_client as bc
|
||||||
import pybullet_data
|
import pybullet_data
|
||||||
from pkg_resources import parse_version
|
from pkg_resources import parse_version
|
||||||
|
|
||||||
@@ -40,9 +40,9 @@ class RacecarGymEnv(gym.Env):
|
|||||||
self._renders = renders
|
self._renders = renders
|
||||||
self._isDiscrete = isDiscrete
|
self._isDiscrete = isDiscrete
|
||||||
if self._renders:
|
if self._renders:
|
||||||
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
|
self._p = bc.BulletClient(connection_mode=pybullet.GUI)
|
||||||
else:
|
else:
|
||||||
self._p = bullet_client.BulletClient()
|
self._p = bc.BulletClient()
|
||||||
|
|
||||||
self.seed()
|
self.seed()
|
||||||
#self.reset()
|
#self.reset()
|
||||||
|
|||||||
@@ -10,7 +10,7 @@ from gym.utils import seeding
|
|||||||
import numpy as np
|
import numpy as np
|
||||||
import time
|
import time
|
||||||
import pybullet
|
import pybullet
|
||||||
from . import bullet_client
|
import pybullet_utils.bullet_client as bc
|
||||||
from . import racecar
|
from . import racecar
|
||||||
import random
|
import random
|
||||||
import pybullet_data
|
import pybullet_data
|
||||||
@@ -42,9 +42,9 @@ class RacecarZEDGymEnv(gym.Env):
|
|||||||
|
|
||||||
self._isDiscrete = isDiscrete
|
self._isDiscrete = isDiscrete
|
||||||
if self._renders:
|
if self._renders:
|
||||||
self._p = bullet_client.BulletClient(connection_mode=pybullet.GUI)
|
self._p = bc.BulletClient(connection_mode=pybullet.GUI)
|
||||||
else:
|
else:
|
||||||
self._p = bullet_client.BulletClient()
|
self._p = bc.BulletClient()
|
||||||
|
|
||||||
self.seed()
|
self.seed()
|
||||||
self.reset()
|
self.reset()
|
||||||
|
|||||||
@@ -7,7 +7,12 @@ p.setAdditionalSearchPath(pd.getDataPath())
|
|||||||
|
|
||||||
useFixedBase = True
|
useFixedBase = True
|
||||||
flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION
|
flags = p.URDF_INITIALIZE_SAT_FEATURES#0#p.URDF_USE_SELF_COLLISION
|
||||||
xarm = p.loadURDF("xarm/xarm6_with_gripper.urdf", flags = flags, useFixedBase=useFixedBase)
|
|
||||||
|
#plane_pos = [0,0,0]
|
||||||
|
#plane = p.loadURDF("plane.urdf", plane_pos, flags = flags, useFixedBase=useFixedBase)
|
||||||
|
table_pos = [0,0,-0.625]
|
||||||
|
table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
|
||||||
|
xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
|
||||||
|
|
||||||
while (1):
|
while (1):
|
||||||
p.stepSimulation()
|
p.stepSimulation()
|
||||||
|
|||||||
@@ -1,54 +0,0 @@
|
|||||||
"""A wrapper for pybullet to manage different clients."""
|
|
||||||
from __future__ import absolute_import
|
|
||||||
from __future__ import division
|
|
||||||
import functools
|
|
||||||
import inspect
|
|
||||||
import pybullet
|
|
||||||
|
|
||||||
|
|
||||||
class BulletClient(object):
|
|
||||||
"""A wrapper for pybullet to manage different clients."""
|
|
||||||
|
|
||||||
def __init__(self, connection_mode=None):
|
|
||||||
"""Creates a Bullet client and connects to a simulation.
|
|
||||||
|
|
||||||
Args:
|
|
||||||
connection_mode:
|
|
||||||
`None` connects to an existing simulation or, if fails, creates a
|
|
||||||
new headless simulation,
|
|
||||||
`pybullet.GUI` creates a new simulation with a GUI,
|
|
||||||
`pybullet.DIRECT` creates a headless simulation,
|
|
||||||
`pybullet.SHARED_MEMORY` connects to an existing simulation.
|
|
||||||
"""
|
|
||||||
self._shapes = {}
|
|
||||||
|
|
||||||
if connection_mode is None:
|
|
||||||
self._client = pybullet.connect(pybullet.SHARED_MEMORY)
|
|
||||||
if self._client >= 0:
|
|
||||||
return
|
|
||||||
else:
|
|
||||||
connection_mode = pybullet.DIRECT
|
|
||||||
self._client = pybullet.connect(connection_mode)
|
|
||||||
|
|
||||||
def __del__(self):
|
|
||||||
"""Clean up connection if not already done."""
|
|
||||||
try:
|
|
||||||
pybullet.disconnect(physicsClientId=self._client)
|
|
||||||
except pybullet.error:
|
|
||||||
pass
|
|
||||||
|
|
||||||
def __getattr__(self, name):
|
|
||||||
"""Inject the client id into Bullet functions."""
|
|
||||||
attribute = getattr(pybullet, name)
|
|
||||||
if inspect.isbuiltin(attribute):
|
|
||||||
if name not in [
|
|
||||||
"invertTransform",
|
|
||||||
"multiplyTransforms",
|
|
||||||
"getMatrixFromQuaternion",
|
|
||||||
"getEulerFromQuaternion",
|
|
||||||
"computeViewMatrixFromYawPitchRoll",
|
|
||||||
"computeProjectionMatrixFOV",
|
|
||||||
"getQuaternionFromEuler",
|
|
||||||
]: # A temporary hack for now.
|
|
||||||
attribute = functools.partial(attribute, physicsClientId=self._client)
|
|
||||||
return attribute
|
|
||||||
@@ -14,7 +14,7 @@ from gym import spaces
|
|||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import pybullet
|
import pybullet
|
||||||
from pybullet_envs.minitaur.envs import bullet_client
|
import pybullet_utils.bullet_client as bc
|
||||||
import pybullet_data
|
import pybullet_data
|
||||||
from pybullet_envs.minitaur.envs import minitaur
|
from pybullet_envs.minitaur.envs import minitaur
|
||||||
from pybullet_envs.minitaur.envs import minitaur_derpy
|
from pybullet_envs.minitaur.envs import minitaur_derpy
|
||||||
@@ -223,9 +223,9 @@ class MinitaurGymEnv(gym.Env):
|
|||||||
self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else []
|
self._env_randomizers = convert_to_list(env_randomizer) if env_randomizer else []
|
||||||
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
|
self._episode_proto = minitaur_logging_pb2.MinitaurEpisode()
|
||||||
if self._is_render:
|
if self._is_render:
|
||||||
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI)
|
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI)
|
||||||
else:
|
else:
|
||||||
self._pybullet_client = bullet_client.BulletClient()
|
self._pybullet_client = bc.BulletClient()
|
||||||
if self._urdf_version is None:
|
if self._urdf_version is None:
|
||||||
self._urdf_version = DEFAULT_URDF_VERSION
|
self._urdf_version = DEFAULT_URDF_VERSION
|
||||||
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
|
self._pybullet_client.setPhysicsEngineParameter(enableConeFriction=0)
|
||||||
|
|||||||
@@ -14,7 +14,7 @@ from gym import spaces
|
|||||||
from gym.utils import seeding
|
from gym.utils import seeding
|
||||||
import numpy as np
|
import numpy as np
|
||||||
import pybullet
|
import pybullet
|
||||||
from pybullet_envs.bullet import bullet_client
|
import pybullet_utils.bullet_client as bc
|
||||||
|
|
||||||
from pybullet_envs.prediction import boxstack_pybullet_sim
|
from pybullet_envs.prediction import boxstack_pybullet_sim
|
||||||
|
|
||||||
@@ -71,10 +71,10 @@ class PyBulletSimGymEnv(gym.Env):
|
|||||||
print("urdf_root=" + self._urdf_root)
|
print("urdf_root=" + self._urdf_root)
|
||||||
|
|
||||||
if self._is_render:
|
if self._is_render:
|
||||||
self._pybullet_client = bullet_client.BulletClient(connection_mode=pybullet.GUI,
|
self._pybullet_client = bc.BulletClient(connection_mode=pybullet.GUI,
|
||||||
options=optionstring)
|
options=optionstring)
|
||||||
else:
|
else:
|
||||||
self._pybullet_client = bullet_client.BulletClient()
|
self._pybullet_client = bc.BulletClient()
|
||||||
|
|
||||||
if (debug_visualization == False):
|
if (debug_visualization == False):
|
||||||
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,
|
self._pybullet_client.configureDebugVisualizer(flag=self._pybullet_client.COV_ENABLE_GUI,
|
||||||
|
|||||||
@@ -2065,6 +2065,10 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
|
|||||||
{
|
{
|
||||||
b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping);
|
b3LoadSoftBodyAddNeoHookeanForce(command, NeoHookeanMu, NeoHookeanLambda, NeoHookeanDamping);
|
||||||
}
|
}
|
||||||
|
if (useSelfCollision)
|
||||||
|
{
|
||||||
|
b3LoadSoftBodySetSelfCollision(command, useSelfCollision);
|
||||||
|
}
|
||||||
b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
|
b3LoadSoftBodySetFrictionCoefficient(command, frictionCoeff);
|
||||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
|
||||||
statusType = b3GetStatusType(statusHandle);
|
statusType = b3GetStatusType(statusHandle);
|
||||||
|
|||||||
Reference in New Issue
Block a user