add more URDF files to pybullet_data
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Erwin Coumans committed
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@@ -0,0 +1,48 @@
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# cube.obj
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#
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o cube
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mtllib cube.mtl
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v -0.500000 -0.500000 0.500000
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v 0.500000 -0.500000 0.500000
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v -0.500000 0.500000 0.500000
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v 0.500000 0.500000 0.500000
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v -0.500000 0.500000 -0.500000
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v 0.500000 0.500000 -0.500000
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v -0.500000 -0.500000 -0.500000
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v 0.500000 -0.500000 -0.500000
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vt 0.000000 0.000000
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vt 1.000000 0.000000
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vt 0.000000 1.000000
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vt 1.000000 1.000000
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vn 0.000000 0.000000 1.000000
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vn 0.000000 1.000000 0.000000
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vn 0.000000 0.000000 -1.000000
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vn 0.000000 -1.000000 0.000000
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vn 1.000000 0.000000 0.000000
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vn -1.000000 0.000000 0.000000
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g cube
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usemtl cube
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s 1
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f 1/1/1 2/2/1 3/3/1
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f 3/3/1 2/2/1 4/4/1
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s 2
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f 3/1/2 4/2/2 5/3/2
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f 5/3/2 4/2/2 6/4/2
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s 3
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f 5/4/3 6/3/3 7/2/3
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f 7/2/3 6/3/3 8/1/3
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s 4
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f 7/1/4 8/2/4 1/3/4
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f 1/3/4 8/2/4 2/4/4
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s 5
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f 2/1/5 8/2/5 4/3/5
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f 4/3/5 8/2/5 6/4/5
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s 6
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f 7/1/6 1/2/6 5/3/6
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f 5/3/6 1/2/6 3/4/6
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Binary file not shown.
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After Width: | Height: | Size: 6.7 KiB |
@@ -0,0 +1,30 @@
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<?xml version="0.0" ?>
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<robot name="cube.urdf">
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<link name="baseLink">
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<contact>
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<lateral_friction value="1.0"/>
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<inertia_scaling value="3.0"/>
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</contact>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value=".1"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="cube.obj" scale=".05 .05 .05"/>
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</geometry>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<box size=".05 .05 .05"/>
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</geometry>
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</collision>
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</link>
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</robot>
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@@ -0,0 +1,198 @@
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<?xml version="1.0"?>
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<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
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<asset>
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<contributor>
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<author>gcorson</author>
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<authoring_tool>Maya 8.0 | ColladaMaya v3.02 | FCollada v3.2</authoring_tool>
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<comments>Collada Maya Export Options: bakeTransforms=0;exportPolygonMeshes=1;bakeLighting=0;isSampling=0;
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curveConstrainSampling=0;exportCameraAsLookat=0;
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exportLights=1;exportCameras=1;exportJointsAndSkin=1;
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exportAnimations=1;exportTriangles=1;exportInvisibleNodes=0;
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exportNormals=1;exportTexCoords=1;exportVertexColors=1;exportTangents=0;
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exportTexTangents=0;exportConstraints=1;exportPhysics=0;exportXRefs=1;
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dereferenceXRefs=0;cameraXFov=0;cameraYFov=1</comments>
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<copyright>
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Copyright 2006 Sony Computer Entertainment Inc.
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Licensed under the SCEA Shared Source License, Version 1.0 (the
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"License"); you may not use this file except in compliance with the
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License. You may obtain a copy of the License at:
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http://research.scea.com/scea_shared_source_license.html
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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</copyright>
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<source_data>file:///C:/vs2005/sample_data/Complete_Packages/SCEA_Private/Maya_MoonLander/Moonlander/untitled</source_data>
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</contributor>
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<created>2006-08-23T22:29:59Z</created>
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<modified>2007-02-21T22:52:44Z</modified>
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<unit meter="0.01" name="centimeter"/>
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<up_axis>Y_UP</up_axis>
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</asset>
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<library_cameras>
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<camera id="cameraShape1" name="cameraShape1">
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<optics>
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<technique_common>
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<perspective>
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<yfov>37.8492</yfov>
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<aspect_ratio>1.5</aspect_ratio>
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<znear>1</znear>
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<zfar>10000</zfar>
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</perspective>
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</technique_common>
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</optics>
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</camera>
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</library_cameras>
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<library_lights>
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<light id="directionalLightShape1-lib" name="directionalLightShape1">
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<technique_common>
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<directional>
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<color>1 1 1</color>
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</directional>
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</technique_common>
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</light>
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</library_lights>
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<library_images>
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<image id="file2" name="file2" depth="1">
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<init_from>images/duckCM.png</init_from>
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</image>
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</library_images>
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<library_materials>
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<material id="blinn3" name="blinn3">
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<instance_effect url="#blinn3-fx"/>
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</material>
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</library_materials>
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<library_effects>
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<effect id="blinn3-fx">
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<profile_COMMON>
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<newparam sid="file2-surface">
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<surface type="2D">
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<init_from>file2</init_from>
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<format>A8R8G8B8</format>
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</surface>
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</newparam>
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<newparam sid="file2-sampler">
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<sampler2D>
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<source>file2-surface</source>
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<minfilter>LINEAR_MIPMAP_LINEAR</minfilter>
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<magfilter>LINEAR</magfilter>
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</sampler2D>
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</newparam>
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<technique sid="common">
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<blinn>
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<emission>
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<color>0 0 0 1</color>
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</emission>
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<ambient>
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<color>0 0 0 1</color>
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</ambient>
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<diffuse>
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<texture texture="file2-sampler" texcoord="TEX0"/>
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</diffuse>
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<specular>
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<color>0 0 0 1</color>
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</specular>
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<shininess>
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<float>0.3</float>
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</shininess>
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<reflective>
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<color>0 0 0 1</color>
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</reflective>
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<reflectivity>
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<float>0.5</float>
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</reflectivity>
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<transparent>
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<color>0 0 0 1</color>
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</transparent>
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<transparency>
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<float>1</float>
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</transparency>
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<index_of_refraction>
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<float>1</float>
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</index_of_refraction>
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</blinn>
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</technique>
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</profile_COMMON>
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</effect>
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</library_effects>
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<library_geometries>
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<geometry id="LOD3spShape-lib" name="LOD3spShape">
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<mesh>
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<source id="LOD3spShape-lib-positions" name="position">
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<float_array id="LOD3spShape-lib-positions-array" count="6324">35.0226 89.3874 23.3732 19.5676 89.7173 22.4879 9.22909 91.5427 17.1037 4.33048 88.7008 4.57726 45.0571 89.4178 19.824 -30.5196 11.6272 25.1326 -15.6992 11.4278 34.2321 51.8411 17.7055 36.5602 65.7206 18.372 27.0862 56.0117 11.4345 22.6963 -23.2343 18.1488 41.0429 -40.9218 18.6322 29.6382 62.4487 11.3989 12.9806 60.2326 28.1944 39.5949 71.2984 29.0359 29.3335 -32.9737 29.6914 43.477 -48.95 28.9358 31.4102 73.8118 41.7425 29.8584 65.2513 41.3955 39.884 72.6597 55.003 29.2468 64.6263 55.4849 38.2648 66.5829 66.4165 27.9218 55.5179 67.734 35.7358 43.4971 75.6992 31.8699 56.934 75.0037 25.7495 14.7601 73.8701 35.1574 -12.1248 73.9991 28.9191 14.7016 78.8465 28.8886 -3.37962 78.0576 23.1953 -24.7824 78.2304 7.65121 4.94216 81.4267 15.8195 -54.7257 89.9761 8.84491 -53.6566 74.7375 26.9735 -44.1714 77.8938 26.1268 -64.7587 73.8997 7.15297 -61.5691 65.6958 25.2253 -42.9296 61.2502 39.4496 -64.9663 57.2673 21.7398 -48.9596 49.2561 39.8218 -58.3698 43.9468 28.036 -31.7993 70.8398 33.4366 -33.1153 82.3349 8.62471 48.2452 81.0789 22.327 34.1225 80.5718 26.6473 15.5527 81.3807 24.423 0.65596 81.0723 3.99376 15.1798 11.41 36.4164 17.2973 17.3674 43.2976 43.8649 67.7941 39.8677 55.9835 56.1625 42.7808 56.4187 41.7648 44.4371 46.9566 29.0085 44.2399 18.041 21.337 45.4158 -24.2634 29.7596 46.4694 -37.1346 44.6474 44.4312 -35.8668 57.8953 42.7333 -24.1626 66.8013 39.6298 -14.2645 43.4767 51.8892 10.1522 43.8267 53.9252 -10.3735 36.316 51.8336 -14.5047 52.2745 51.0455 9.35439 52.1796 53.5056 24.5685 36.9247 52.4691 11.2191 35.6243 52.5988 27.0248 44.5585 52.8835 25.4374 55.0852 52.0724 9.23132 59.258 51.2115 21.2751 61.6417 50.3945 -11.0645 57.3325 50.3033 -22.8339 53.8174 48.6047 -22.3883 43.3299 49.8488 -13.3437 34.4469 50.7719 -15.0193 59.7488 48.0109 12.3031 31.6369 51.4681 28.2 34.9703 51.4911 34.9314 44.1559 51.2583 33.7281 55.8993 50.0475 24.8495 63.37 48.6114 9.96162 62.8873 48.4038 6.73344 84.5266 2.83788 10.2211 84.9641 13.1445 19.05 85.0093 20.4734 35.2584 84.9759 22.0089 44.8651 85.199 18.7578 54.1484 90.1992 13.1393 25.84 89.3162 23.5593 14.5318 90.4728 20.5795 5.99276 89.5698 10.1098 59.1034 90.0324 3.37689 -23.9364 11.5353 30.6125 -11.459 10.0413 29.8243 -24.5326 10.1147 22.2069 -35.1528 11.6836 17.7191 61.5472 14.2726 25.2082 43.6854 11.43 30.0164 47.7677 14.1162 33.6212 -19.459 14.309 37.9267 -36.067 14.5054 27.6816 -32.9292 18.5574 36.7248 -46.1733 18.6604 20.5246 73.3418 18.3468 14.9194 68.8732 23.4107 28.4208 55.7803 22.4988 38.5465 -27.0171 23.4671 43.0366 -45.2302 23.6628 30.9246 -41.0731 29.3325 39.4763 79.4615 29.1894 16.0672 76.9844 23.4678 15.5749 72.8865 35.1223 29.8369 63.2406 34.5574 39.8307 81.8608 42.114 16.7292 80.9318 35.3877 16.409 66.0817 48.5555 39.2449 73.9987 48.5347 29.6857 80.1688 55.1853 16.948 81.5894 48.8387 16.9628 61.1927 62.0057 37.295 70.17 61.0152 28.6395 74.8647 66.3268 16.601 77.7874 61.0196 16.7611 61.7637 71.037 26.8557 67.1835 75.4493 16.6366 71.6321 71.1772 16.667 -7.40039 76.1581 26.3759 14.8335 76.3145 32.0471 -20.947 75.0059 21.3995 -9.30957 78.0917 17.6635 2.33308 81.2658 10.7014 -55.3055 81.4823 20.1865 -44.1025 82.8784 21.08 -48.3998 77.2606 26.9595 -63.8341 69.8359 17.705 -58.2579 70.6396 26.4175 -58.1459 60.4109 31.5845 -50.1918 68.7831 33.097 -53.5557 46.1592 34.9928 -63.069 52.729 24.0553 -63.6495 60.7883 23.3658 -54.4261 28.5392 21.6382 -12.4228 39.2454 51.9419 -52.1766 34.1006 30.9987 -39.3582 37.1753 42.8245 -63.2047 33.3562 7.77354 -14.9689 48.0973 51.5712 -13.2184 68.1588 38.5488 -20.841 71.9312 31.5875 -34.0814 73.6573 23.1685 39.0864 77.6536 29.4959 52.286 78.2905 24.2985 28.6752 75.0467 34.74 24.5284 79.4248 29.0977 58.2456 81.6454 14.9372 62.5867 78.8584 16.1198 -40.058 73.3058 29.0169 -62.4832 42.7738 19.6053 -66.2542 57.7677 16.0138 -46.3972 55.562 40.3341 46.1403 83.2928 20.059 52.8472 87.516 12.3304 24.3957 81.2413 26.4145 17.5457 83.2299 21.6568 35.0308 86.9496 21.9178 5.66061 83.0193 2.97282 39.2717 10.0042 25.9897 49.7414 9.99683 19.7068 14.6156 10.0124 31.7958 28.2119 11.4278 34.5791 55.179 10.0309 11.4214 16.1259 13.9798 40.2177 33.0793 17.7336 41.3765 18.9195 36.2041 52.5892 10.6044 39.6524 53.4314 18.2523 44.3116 53.7955 25.9535 39.9994 52.7745 9.73549 48.0914 53.8815 16.9236 53.6009 53.2898 26.8721 49.8693 52.6952 9.12603 55.8675 52.7181 15.9783 60.8706 50.8542 23.2428 59.2083 51.1997 15.2006 70.9348 38.4909 -38.0814 66.6122 37.6368 -31.4745 63.2943 41.295 -12.9337 55.4359 50.6592 -29.8093 42.9681 46.5354 -18.6612 31.1764 47.8255 -30.266 55.8423 44.7033 36.2897 31.2217 48.0605 46.511 42.7776 47.7899 45.6636 56.4673 46.2574 32.8524 66.1703 44.2955 12.3579 67.2602 43.2175 -19.149 38.1518 50.4005 -23.6628 48.8825 49.2194 21.1045 32.7401 51.4785 32.4268 38.9651 51.46 35.2465 50.0413 50.7771 17.9201 63.7837 48.4371 30.018 60.597 49.2453 -20.4236 57.6424 48.1257 -7.11345 60.5511 48.2081 -5.54756 57.4675 50.6459 -6.2067 51.4293 52.475 -5.95461 43.3855 53.166 -4.66971Line truncated
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<technique_common>
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<accessor count="2108" offset="0" source="#LOD3spShape-lib-positions-array" stride="3">
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<param name="X" type="float"/>
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<param name="Y" type="float"/>
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<param name="Z" type="float"/>
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</accessor>
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</technique_common>
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</source>
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<source id="LOD3spShape-lib-normals" name="normal">
|
||||
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@@ -0,0 +1,13 @@
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|
||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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|
||||
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||||
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|
||||
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||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
f 195 187 198
|
||||
f 195 199 200
|
||||
f 193 187 200
|
||||
f 191 193 200
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 191 197 208
|
||||
@@ -0,0 +1,32 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.02 0.0"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="duck.obj" scale=".05 .05 .05"/>
|
||||
</geometry>
|
||||
<material name="yellow">
|
||||
<color rgba="1 1 0.4 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="duck_vhacd.obj" scale=".05 .05 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,388 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='wsg50_with_gripper'>
|
||||
<pose frame=''>0 0 0.26 3.14 0 0</pose>
|
||||
|
||||
<link name='world'>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint' type='prismatic'>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.5</lower>
|
||||
<upper>10</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 0 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>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<link name='motor'>
|
||||
<pose frame=''>0 0 0.03 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 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='motor_visual'>
|
||||
<pose frame=''>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.02 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint_motor' type='prismatic'>
|
||||
<child>motor</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.047</lower>
|
||||
<upper>0.001</upper>
|
||||
<effort>10.0</effort>
|
||||
<velocity>10.0</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_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_left_hinge_joint' type='revolute'>
|
||||
<child>left_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='right_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_right_hinge_joint' type='revolute'>
|
||||
<child>right_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_left'>
|
||||
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 0 -0 0</pose>
|
||||
<mass>0.2</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
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|
||||
<iyy>0.1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
|
||||
<visual name='gripper_left_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name='gripper_left_hinge_joint' type='revolute'>
|
||||
<child>gripper_left</child>
|
||||
<parent>left_hinge</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.0</lower>
|
||||
<upper>1.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.01</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_right'>
|
||||
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_right_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_right_hinge_joint' type='revolute'>
|
||||
<child>gripper_right</child>
|
||||
<parent>right_hinge</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-1.0</lower>
|
||||
<upper>1.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.01</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='finger_right'>
|
||||
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_right_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_right_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_right' type='fixed'>
|
||||
<parent>gripper_right</parent>
|
||||
<child>finger_right</child>
|
||||
</joint>
|
||||
|
||||
<link name='finger_left'>
|
||||
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_left_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_left_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_left' type='fixed'>
|
||||
<parent>gripper_left</parent>
|
||||
<child>finger_left</child>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,394 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='wsg50_with_gripper'>
|
||||
|
||||
<pose frame=''>0 -2.3 2.1 0 0 0</pose>
|
||||
<link name='world'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 0 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>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<link name='motor'>
|
||||
<pose frame=''>0 0 0.03 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 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='motor_visual'>
|
||||
<pose frame=''>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.02 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint_motor' type='prismatic'>
|
||||
<child>motor</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.047</lower>
|
||||
<upper>0.001</upper>
|
||||
<effort>10.0</effort>
|
||||
<velocity>10.0</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_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_left_hinge_joint' type='revolute'>
|
||||
<child>left_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='right_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_right_hinge_joint' type='revolute'>
|
||||
<child>right_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_left'>
|
||||
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_left_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name='gripper_left_hinge_joint' type='revolute'>
|
||||
<child>gripper_left</child>
|
||||
<parent>left_hinge</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-4.0</lower>
|
||||
<upper>4.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.01</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_right'>
|
||||
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_right_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_right_hinge_joint' type='revolute'>
|
||||
<child>gripper_right</child>
|
||||
<parent>right_hinge</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-4.0</lower>
|
||||
<upper>4.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.01</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='finger_right'>
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="1.5"/>
|
||||
</contact>
|
||||
<pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_right_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_right_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_right' type='fixed'>
|
||||
<parent>gripper_right</parent>
|
||||
<child>finger_right</child>
|
||||
</joint>
|
||||
|
||||
<link name='finger_left'>
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="1.5"/>
|
||||
</contact>
|
||||
<pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_left_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_left_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_left' type='fixed'>
|
||||
<parent>gripper_left</parent>
|
||||
<child>finger_left</child>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,27 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="left_finger.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<mass value=".2"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 4.71239" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.042"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.02 0.15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,394 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='wsg50_with_gripper'>
|
||||
<pose frame=''>0 0 0.7 3.14 0 0</pose>
|
||||
|
||||
<link name='world'>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint' type='prismatic'>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.5</lower>
|
||||
<upper>10</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 0 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>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<link name='motor'>
|
||||
<pose frame=''>0 0 0.03 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 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='motor_visual'>
|
||||
<pose frame=''>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.02 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint_motor' type='prismatic'>
|
||||
<child>motor</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.055</lower>
|
||||
<upper>0.001</upper>
|
||||
<effort>10.0</effort>
|
||||
<velocity>10.0</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_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_left_hinge_joint' type='revolute'>
|
||||
<child>left_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='right_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_right_hinge_joint' type='revolute'>
|
||||
<child>right_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_left'>
|
||||
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_left_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name='gripper_left_hinge_joint' type='prismatic'>
|
||||
<child>gripper_left</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.05</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_right'>
|
||||
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_right_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_right_hinge_joint' type='prismatic'>
|
||||
<child>gripper_right</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.05</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='finger_right'>
|
||||
<contact>
|
||||
<spinning_friction>.3</spinning_friction>
|
||||
<rolling_friction>0.04</rolling_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_right_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_right_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_right' type='fixed'>
|
||||
<parent>gripper_right</parent>
|
||||
<child>finger_right</child>
|
||||
</joint>
|
||||
|
||||
<link name='finger_left'>
|
||||
<contact>
|
||||
<spinning_friction>.3</spinning_friction>
|
||||
<rolling_friction>0.04</rolling_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_left_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_left_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_left' type='fixed'>
|
||||
<parent>gripper_left</parent>
|
||||
<child>finger_left</child>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
+391
@@ -0,0 +1,391 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='wsg50_with_gripper'>
|
||||
<pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
|
||||
<link name='world'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint' type='fixed'>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 0 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>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<link name='motor'>
|
||||
<pose frame=''>0 0 0.03 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 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='motor_visual'>
|
||||
<pose frame=''>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.02 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint_motor' type='prismatic'>
|
||||
<child>motor</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.055</lower>
|
||||
<upper>0.001</upper>
|
||||
<effort>10.0</effort>
|
||||
<velocity>10.0</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_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_left_hinge_joint' type='revolute'>
|
||||
<child>left_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='right_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_right_hinge_joint' type='revolute'>
|
||||
<child>right_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_left'>
|
||||
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_left_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name='gripper_left_hinge_joint' type='prismatic'>
|
||||
<child>gripper_left</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.05</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_right'>
|
||||
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_right_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_right_hinge_joint' type='prismatic'>
|
||||
<child>gripper_right</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.05</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='finger_right'>
|
||||
<contact>
|
||||
<lateral_friction>1.0</lateral_friction>
|
||||
<spinning_friction>1.5</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_right_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_right_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_right' type='fixed'>
|
||||
<parent>gripper_right</parent>
|
||||
<child>finger_right</child>
|
||||
</joint>
|
||||
|
||||
<link name='finger_left'>
|
||||
<contact>
|
||||
<lateral_friction>1.0</lateral_friction>
|
||||
<spinning_friction>1.5</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_left_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_left_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_left' type='fixed'>
|
||||
<parent>gripper_left</parent>
|
||||
<child>finger_left</child>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,307 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='wsg50_with_gripper'>
|
||||
<pose frame=''>0 0 0.4 3.14 0 0</pose>
|
||||
|
||||
<link name='world'>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint' type='prismatic'>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-10</lower>
|
||||
<upper>10</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 0 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>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<link name='motor'>
|
||||
<pose frame=''>0 0 0.03 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0 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='motor_visual'>
|
||||
<pose frame=''>0 0 0.01 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.02 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint_motor' type='prismatic'>
|
||||
<child>motor</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.055</lower>
|
||||
<upper>0.001</upper>
|
||||
<effort>10.0</effort>
|
||||
<velocity>10.0</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_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_left_hinge_joint' type='revolute'>
|
||||
<child>left_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='right_hinge'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.035 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='motor_visual'>
|
||||
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.07 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='motor_right_hinge_joint' type='revolute'>
|
||||
<child>right_hinge</child>
|
||||
<parent>motor</parent>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-20.0</lower>
|
||||
<upper>20.0</upper>
|
||||
<effort>10</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
<use_parent_model_frame>0</use_parent_model_frame>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_left'>
|
||||
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_left_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
|
||||
<joint name='gripper_left_hinge_joint' type='prismatic'>
|
||||
<child>gripper_left</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.04</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_right'>
|
||||
<pose frame=''>0.055 0 0.06 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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='gripper_right_visual'>
|
||||
<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
|
||||
<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_right_hinge_joint' type='prismatic'>
|
||||
<child>gripper_right</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.04</lower>
|
||||
<upper>0.01</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,27 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="right_finger.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<mass value=".2"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 1.5708" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.042"/>
|
||||
<geometry>
|
||||
<box size="0.02 0.02 0.15"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,306 @@
|
||||
<?xml version="1.0" ?>
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='wsg50_with_gripper'>
|
||||
<pose frame=''>0 0 0.27 3.14 0 0</pose>
|
||||
|
||||
<link name='world'>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint' type='prismatic'>
|
||||
<parent>world</parent>
|
||||
<child>base_link</child>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-0.5</lower>
|
||||
<upper>10</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>100</damping>
|
||||
<friction>100</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 0 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>
|
||||
<collision name='base_link_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.2 0.05 0.05 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='base_link_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
|
||||
</material>
|
||||
</visual>
|
||||
<gravity>1</gravity>
|
||||
<velocity_decay/>
|
||||
<self_collide>0</self_collide>
|
||||
</link>
|
||||
|
||||
<link name='gripper_left'>
|
||||
<pose frame=''>-0.055 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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>
|
||||
|
||||
<collision name='gripper_left_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
|
||||
<pose frame=''>0 0 0.023 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='gripper_left_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
|
||||
<pose frame=''>0 0 0.023 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
<joint name='base_joint_gripper_left' type='prismatic'>
|
||||
<child>gripper_left</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.001</lower>
|
||||
<upper>0.055</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>100</damping>
|
||||
<friction>100</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='gripper_right'>
|
||||
<pose frame=''>0.055 0 0 0 -0 3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.0115 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>
|
||||
|
||||
<collision name='gripper_right_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
|
||||
<pose frame=''>0 0 0.023 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='gripper_right_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/GUIDE_WSG50_110.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
|
||||
<pose frame=''>0 0 0.023 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.001 0.001 0.001</scale>
|
||||
<uri>meshes/WSG-FMF.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_joint_gripper_right' type='prismatic'>
|
||||
<child>gripper_right</child>
|
||||
<parent>base_link</parent>
|
||||
<axis>
|
||||
<xyz>-1 0 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.055</lower>
|
||||
<upper>0.001</upper>
|
||||
<effort>1</effort>
|
||||
<velocity>1</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>100</damping>
|
||||
<friction>100</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<link name='finger_right'>
|
||||
<contact>
|
||||
<lateral_friction>1.0</lateral_friction>
|
||||
<spinning_friction>1.5</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_right_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_right_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_right' type='fixed'>
|
||||
<parent>gripper_right</parent>
|
||||
<child>finger_right</child>
|
||||
</joint>
|
||||
|
||||
<link name='finger_left'>
|
||||
<contact>
|
||||
<lateral_friction>1.0</lateral_friction>
|
||||
<spinning_friction>1.5</spinning_friction>
|
||||
</contact>
|
||||
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
|
||||
<inertial>
|
||||
<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>
|
||||
|
||||
<collision name='finger_left_collision'>
|
||||
<pose frame=''>0 0 0.042 0 0 0 </pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.02 0.02 0.15 </size>
|
||||
</box>
|
||||
|
||||
</geometry>
|
||||
</collision>
|
||||
|
||||
<visual name='finger_left_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/l_gripper_tip_scaled.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='gripper_finger_left' type='fixed'>
|
||||
<parent>gripper_left</parent>
|
||||
<child>finger_left</child>
|
||||
</joint>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
@@ -0,0 +1,373 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from ../urdf/husky.urdf.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<!--
|
||||
Software License Agreement (BSD)
|
||||
|
||||
\file husky.urdf.xacro
|
||||
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
|
||||
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
|
||||
the following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
|
||||
following disclaimer.
|
||||
* 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.
|
||||
* Neither the name of Clearpath Robotics 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 WAR-
|
||||
RANTIES, 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, IN-
|
||||
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
|
||||
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
||||
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
-->
|
||||
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
|
||||
<!-- Included URDF/XACRO Files -->
|
||||
<material name="Black">
|
||||
<color rgba="0.1 0.1 0.1 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="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
<material name="DarkGrey">
|
||||
<color rgba="0.3 0.3 0.3 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="Yellow">
|
||||
<color rgba="0.8 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<!-- Base Size -->
|
||||
<!-- Wheel Mounting Positions -->
|
||||
<!-- Wheel Properties -->
|
||||
<!-- Base link is on the ground under the robot -->
|
||||
<link name="base_footprint"/>
|
||||
<gazebo reference="base_footprint">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<joint name="chassis_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.14493"/>
|
||||
<parent link="base_footprint"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
<!-- Chassis link is the center of the robot's bottom plate -->
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/base_link.stl"/>
|
||||
</geometry>
|
||||
<material name="Black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.12498"/>
|
||||
<geometry>
|
||||
<!-- Make collision box slightly bigger in x and z directions. -->
|
||||
<box size="1.0074 0.5709 0.2675"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="33.455"/>
|
||||
<origin xyz="-0.08748 -0.00085 0.09947"/>
|
||||
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<gazebo reference="base_link">
|
||||
</gazebo>
|
||||
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
|
||||
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
|
||||
<link name="imu_link"/>
|
||||
<joint name="imu_joint" type="fixed">
|
||||
<origin rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="imu_link"/>
|
||||
</joint>
|
||||
<gazebo reference="imu_link">
|
||||
</gazebo>
|
||||
<!-- Husky wheel macros -->
|
||||
<link name="front_left_wheel_link">
|
||||
<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="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.1143" radius="0.17775"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="front_left_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Grey</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
<joint name="front_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="front_left_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="front_left_wheel">
|
||||
<hardwareInterface>VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<link name="front_right_wheel_link">
|
||||
<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="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.1143" radius="0.17775"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="front_right_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Grey</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
<joint name="front_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="front_right_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="front_right_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="front_right_wheel">
|
||||
<hardwareInterface>VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<link name="rear_left_wheel_link">
|
||||
<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="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.1143" radius="0.17775"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="rear_left_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Grey</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
<joint name="rear_left_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_left_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="rear_left_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="rear_left_wheel">
|
||||
<hardwareInterface>VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<link name="rear_right_wheel_link">
|
||||
<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="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/wheel.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.1143" radius="0.17775"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<gazebo reference="rear_right_wheel_link">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Grey</material>
|
||||
<turnGravityOff>false</turnGravityOff>
|
||||
</gazebo>
|
||||
<joint name="rear_right_wheel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_right_wheel_link"/>
|
||||
<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<actuator name="rear_right_wheel_motor">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
<joint name="rear_right_wheel">
|
||||
<hardwareInterface>VelocityJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
</transmission>
|
||||
<link name="top_plate_link">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/top_plate.stl"/>
|
||||
</geometry>
|
||||
<material name="Yellow"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="top_plate" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="top_plate_link"/>
|
||||
</joint>
|
||||
<gazebo reference="top_plate_link">
|
||||
<material>Gazebo/Yellow</material>
|
||||
</gazebo>
|
||||
<link name="user_rail_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/user_rail.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="user_rail" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.272 0 0.245"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="user_rail_link"/>
|
||||
</joint>
|
||||
<gazebo reference="user_rail_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<link name="front_bumper_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/bumper.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="front_bumper" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="front_bumper_link"/>
|
||||
</joint>
|
||||
<gazebo reference="front_bumper_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
<link name="rear_bumper_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<mesh filename="meshes/bumper.stl"/>
|
||||
</geometry>
|
||||
<material name="DarkGrey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="rear_bumper" type="fixed">
|
||||
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="rear_bumper_link"/>
|
||||
</joint>
|
||||
<gazebo reference="rear_bumper_link">
|
||||
<material>Gazebo/DarkGrey</material>
|
||||
</gazebo>
|
||||
</robot>
|
||||
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
@@ -0,0 +1,16 @@
|
||||
newmtl jenga
|
||||
Ns 10.0000
|
||||
Ni 1.5000
|
||||
d 1.0000
|
||||
Tr 0.0000
|
||||
Tf 1.0000 1.0000 1.0000
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.5880 0.5880 0.5880
|
||||
Ks 0.0000 0.0000 0.0000
|
||||
Ke 0.0000 0.0000 0.0000
|
||||
map_Ka jenga.tga
|
||||
map_Kd jenga.png
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,113 @@
|
||||
# jenga.obj
|
||||
#
|
||||
|
||||
o jenga
|
||||
mtllib jenga.mtl
|
||||
|
||||
v -0.5 -0.5 0.5
|
||||
v 0.5 -0.5 0.5
|
||||
v 0.5 0.5 0.5
|
||||
v -0.5 0.5 0.5
|
||||
|
||||
v -0.5 -0.5 -0.5
|
||||
v 0.5 -0.5 -0.5
|
||||
v 0.5 0.5 -0.5
|
||||
v -0.5 0.5 -0.5
|
||||
|
||||
v -0.5 -0.5 -0.5
|
||||
v -0.5 0.5 -0.5
|
||||
v -0.5 0.5 0.5
|
||||
v -0.5 -0.5 0.5
|
||||
|
||||
v 0.5 -0.5 -0.5
|
||||
v 0.5 0.5 -0.5
|
||||
v 0.5 0.5 0.5
|
||||
v 0.5 -0.5 0.5
|
||||
v -0.5 -0.5 -0.5
|
||||
v -0.5 -0.5 0.5
|
||||
v 0.5 -0.5 0.5
|
||||
v 0.5 -0.5 -0.5
|
||||
v -0.5 0.5 -0.5
|
||||
v -0.5 0.5 0.5
|
||||
v 0.5 0.5 0.5
|
||||
v 0.5 0.5 -0.5
|
||||
|
||||
vt 0 1
|
||||
vt 0 0.75
|
||||
vt 0.25 0.75
|
||||
vt 0.25 1
|
||||
|
||||
vt 0.25 0.5
|
||||
vt 0.25 0.75
|
||||
vt 0.5 0.75
|
||||
vt 0.5 0.5
|
||||
|
||||
vt 1 0.75
|
||||
vt 0.75 0.75
|
||||
vt 0.75 1
|
||||
vt 1 1
|
||||
|
||||
vt 0.25 0.75
|
||||
vt 0.5 0.75
|
||||
vt 0.5 1
|
||||
vt 0.25 1
|
||||
|
||||
vt 0 0.5
|
||||
vt 0 0.75
|
||||
vt 0.25 0.75
|
||||
vt 0.25 0.5
|
||||
|
||||
|
||||
vt 0.75 0.75
|
||||
vt 0.75 1
|
||||
vt 0.5 1
|
||||
vt 0.5 0.75
|
||||
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn 0 0 -1
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn -1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 1 0 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 -1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
vn 0 1 0
|
||||
|
||||
|
||||
g jenga
|
||||
usemtl jenga
|
||||
s 1
|
||||
f 1/1/1 2/2/2 3/3/3
|
||||
f 1/1/1 3/3/3 4/4/4
|
||||
s 2
|
||||
f 7/7/7 6/6/6 5/5/5
|
||||
f 8/8/8 7/7/7 5/5/5
|
||||
s 3
|
||||
f 11/11/11 10/10/10 9/9/9
|
||||
f 12/12/12 11/11/11 9/9/9
|
||||
s 4
|
||||
f 13/13/13 14/14/14 15/15/15
|
||||
f 13/13/13 15/15/15 16/16/16
|
||||
s 5
|
||||
f 19/19/19 18/18/18 17/17/17
|
||||
f 20/20/20 19/19/19 17/17/17
|
||||
s 6
|
||||
f 21/21/21 22/22/22 23/23/23
|
||||
f 21/21/21 23/23/23 24/24/24
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Binary file not shown.
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Binary file not shown.
Binary file not shown.
Binary file not shown.
File diff suppressed because it is too large.
Load diff
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<?xml version="0.0" ?>
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File diff suppressed because it is too large.
Load diff
@@ -0,0 +1,149 @@
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<?xml version="1.0"?>
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</robot>
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@@ -0,0 +1,418 @@
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<?xml version="1.0"?>
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|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_right_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="right_leg"/>
|
||||
<origin xyz="0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_base_joint" type="fixed">
|
||||
<parent link="right_leg"/>
|
||||
<child link="right_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_front_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black">
|
||||
<color rgba="0.5 0.5 0.5 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_base"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="right_base"/>
|
||||
<child link="right_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_leg">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.6 .2 .1"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="base_to_left_leg" type="fixed">
|
||||
<parent link="base_link"/>
|
||||
<child link="left_leg"/>
|
||||
<origin xyz="-0.22 0 .25"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".1 0.4 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_base_joint" type="fixed">
|
||||
<parent link="left_leg"/>
|
||||
<child link="left_base"/>
|
||||
<origin xyz="0 0 -0.6"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_front_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_back_wheel">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
<material name="black"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius="0.035"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_back_wheel_joint" type="continuous">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="left_base"/>
|
||||
<child link="left_back_wheel"/>
|
||||
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
|
||||
<limit effort="100" velocity="100"/>
|
||||
<joint_properties damping="0.0" friction="0.0"/>
|
||||
</joint>
|
||||
<joint name="gripper_extension" type="prismatic">
|
||||
<axis xyz="1 0 0"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="gripper_pole"/>
|
||||
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
|
||||
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
|
||||
</joint>
|
||||
|
||||
<link name="gripper_pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
<material name="Gray">
|
||||
<color rgba=".7 .7 .7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.2" radius=".01"/>
|
||||
</geometry>
|
||||
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_gripper_joint" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
||||
<origin rpy="0 0 0" xyz="0.2 0.02 0"/>
|
||||
<parent link="gripper_pole"/>
|
||||
<child link="left_gripper"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_gripper">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="l_finger.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="left_tip_joint" type="fixed">
|
||||
<parent link="left_gripper"/>
|
||||
<child link="left_tip"/>
|
||||
</joint>
|
||||
|
||||
<link name="left_tip">
|
||||
<visual>
|
||||
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger_tip.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="l_finger_tip.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_gripper_joint" type="revolute">
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
|
||||
<origin rpy="0 0 0" xyz="0.2 -0.02 0"/>
|
||||
<parent link="gripper_pole"/>
|
||||
<child link="right_gripper"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_gripper">
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="l_finger.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="right_tip_joint" type="fixed">
|
||||
<parent link="right_gripper"/>
|
||||
<child link="right_tip"/>
|
||||
</joint>
|
||||
|
||||
<link name="right_tip">
|
||||
<visual>
|
||||
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
||||
<geometry>
|
||||
<mesh filename="l_finger_tip.stl"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<mesh filename="l_finger_tip.stl"/>
|
||||
</geometry>
|
||||
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.05"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.16"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<sphere radius="0.16"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="head_swivel" type="continuous">
|
||||
<parent link="base_link"/>
|
||||
<child link="head"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<origin xyz="0 0 0.3"/>
|
||||
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="box">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size=".08 .08 .08"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="tobox" type="fixed">
|
||||
<parent link="head"/>
|
||||
<child link="box"/>
|
||||
<origin xyz="0 0.1214 0.1214"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,26 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link concave="yes" name="baseLink">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.5707963 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="samurai_monastry.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision concave="yes">
|
||||
<origin rpy="1.5707963 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="samurai_monastry.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,740 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 82
|
||||
|
||||
newmtl Arena_02:Arena:blinn1SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:Arena:blinn2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:Arena:blinn3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:Arena:blinn4SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:Arena:blinn5SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:Arena:sda:sda:Material3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:blinn2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Arena_02:blinn3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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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 Floor_04:Arena:blinn3SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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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 MainEntrance:MainEntrance:blinn1SG
|
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Ns 96.078431
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
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newmtl MainEntrance:MainEntrance:blinn2SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
||||
|
||||
newmtl MainEntrance:MainEntrance:blinn3SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
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illum 2
|
||||
|
||||
newmtl MainEntrance:MainEntrance:blinn5SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MainEntrance:MainEntrance:blinn6SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
||||
|
||||
newmtl MainEntrance:MainEntrance:blinn7SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
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illum 2
|
||||
|
||||
newmtl MainEntrance:MainEntrance:lambert2SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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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 MainEntrance:MainTemple:blinn3SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
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newmtl MainTemple1:MainTemple3:Stairs_side_Material5SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MainTemple1:MainTemple3:blinn1SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
||||
|
||||
newmtl MainTemple1:MainTemple3:blinn3SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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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 MainTemple1:MainTemple3:blinn6SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MainTemple1:MainTemple3:sda:Material3SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MainTemple1:MainTemple4:sda:Material3SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MainTemple1:SideTemple5:Material7SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl MainTemple1:blinn7SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MainTemple1:pasted__blinn1SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
||||
|
||||
newmtl MainTemple:MainTemple:blinn2SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
|
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illum 2
|
||||
|
||||
newmtl MainTemple:MainTemple:blinn5SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
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newmtl Material
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MediumTemple:MediumTemple:blinn1SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl MediumTemple:MediumTemple:blinn2SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MediumTemple:MediumTemple:blinn4SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl MediumTemple:MediumTemple:blinn5SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
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newmtl MediumTemple:SmallTemple:blinn1SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl Out_Temple1:Out_Temple:lambert2SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
|
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d 1.000000
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illum 2
|
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|
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newmtl Out_Temple1:Out_Temple:lambert3SG
|
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Ns 96.078431
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
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newmtl Out_Temple1:Out_Temple:lambert4SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
|
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illum 2
|
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|
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newmtl Out_Temple1:Out_Temple:lambert6SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
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Ni 1.000000
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d 1.000000
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illum 2
|
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|
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newmtl Out_Temple1:Out_Temple:lambert7SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl Out_Temple:Out_Temple:lambert2SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl Out_Temple:Out_Temple:lambert3SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl Out_Temple:Out_Temple:lambert4SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl Out_Temple:Out_Temple:lambert6SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl Out_Temple:Out_Temple:lambert7SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl PaperLanterns1:Paper_Lantern1:scene_material
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl SideTemple03:Arena:blinn4SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
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Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl SideTemple03:SideTemple1:Material2SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl SideTemple03:SideTemple1:Material3SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
|
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illum 2
|
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|
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newmtl SideTemple03:SideTemple1:Material7SG
|
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Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
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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 SideTemple03:SideTemple1:Material8SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
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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 SideTemple03:SideTemple1:Material9SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
|
||||
illum 2
|
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|
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newmtl SideTemple03:SideTemple4:Material5SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple03:SideTemple4:Stairs_blinn6SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple03:SmallTemple1:phong2
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple03:blinn4SG
|
||||
Ns 96.078431
|
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Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple03:blinn6SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple03:side_temple_blinn3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
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illum 2
|
||||
|
||||
newmtl SideTemple03:side_temple_floor_blinn2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
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d 1.000000
|
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illum 2
|
||||
|
||||
newmtl SideTemple04:Arena:blinn4SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple04:SideTemple1:Material2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
|
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Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple04:SmallTemple1:phong2
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple04:blinn4SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
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Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple04:blinn6SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:SideTemple:Material3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:SideTemple:Material5SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:SideTemple:Material7SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:SideTemple:Material8SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:SideTemple:Material9SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:blinn2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SideTemple:blinn3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SmallTemple:SmallTemple:floor
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SmallTemple:SmallTemple:lambert2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SmallTemple:SmallTemple:polymsh47_XSIPOLYCLS_scene_material1
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl SmallTemple:SmallTemple:window
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl StoneLanterns:Lantern1:blinn1SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl blinn2SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl blinn3SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl blinn4SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl blinn5SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl blinn6SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl blinn7SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl pagodas:pagoda1:blinn1SG
|
||||
Ns 96.078431
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
File diff suppressed because it is too large.
Load diff
Binary file not shown.
|
After Width: | Height: | Size: 32 KiB |
@@ -0,0 +1,16 @@
|
||||
newmtl table
|
||||
Ns 10.0000
|
||||
Ni 1.5000
|
||||
d 1.0000
|
||||
Tr 0.0000
|
||||
Tf 1.0000 1.0000 1.0000
|
||||
illum 2
|
||||
Ka 0.0000 0.0000 0.0000
|
||||
Kd 0.5880 0.5880 0.5880
|
||||
Ks 0.0000 0.0000 0.0000
|
||||
Ke 0.0000 0.0000 0.0000
|
||||
map_Ka table.tga
|
||||
map_Kd checker_grid.jpg
|
||||
|
||||
|
||||
|
||||
@@ -0,0 +1,48 @@
|
||||
# table.obj
|
||||
#
|
||||
|
||||
o table
|
||||
mtllib table.mtl
|
||||
|
||||
v -0.500000 -0.500000 0.500000
|
||||
v 0.500000 -0.500000 0.500000
|
||||
v -0.500000 0.500000 0.500000
|
||||
v 0.500000 0.500000 0.500000
|
||||
v -0.500000 0.500000 -0.500000
|
||||
v 0.500000 0.500000 -0.500000
|
||||
v -0.500000 -0.500000 -0.500000
|
||||
v 0.500000 -0.500000 -0.500000
|
||||
|
||||
vt 0.000000 0.000000
|
||||
vt 1.000000 0.000000
|
||||
vt 0.000000 1.000000
|
||||
vt 1.000000 1.000000
|
||||
|
||||
vn 0.000000 0.000000 1.000000
|
||||
vn 0.000000 1.000000 0.000000
|
||||
vn 0.000000 0.000000 -1.000000
|
||||
vn 0.000000 -1.000000 0.000000
|
||||
vn 1.000000 0.000000 0.000000
|
||||
vn -1.000000 0.000000 0.000000
|
||||
|
||||
g table
|
||||
usemtl table
|
||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 3/3/1 2/2/1 4/4/1
|
||||
s 2
|
||||
f 3 4 5
|
||||
f 5 4 6
|
||||
s 3
|
||||
f 5 6 7
|
||||
f 7 6 8
|
||||
s 4
|
||||
f 7 8 1
|
||||
f 1 8 2
|
||||
s 5
|
||||
f 2 8 4
|
||||
f 4 8 6
|
||||
s 6
|
||||
f 7 1 5
|
||||
f 5 1 3
|
||||
|
||||
@@ -0,0 +1,61 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="urdf_table">
|
||||
<link name="world"/>
|
||||
<joint name="fixed" type="fixed">
|
||||
<parent link="world"/>
|
||||
<child link="baseLink"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="baseLink">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||
<geometry>
|
||||
<mesh filename="table.obj" scale="0.6 0.6 0.08"/>
|
||||
</geometry>
|
||||
<material name="framemat0">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.56"/>
|
||||
</geometry>
|
||||
<material name="framemat0"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.56"/>
|
||||
</geometry>
|
||||
<material name="framemat0"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.56"/>
|
||||
</geometry>
|
||||
<material name="framemat0"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 0.56"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.6"/>
|
||||
<geometry>
|
||||
<box size="0.6 0.6 0.08"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
File diff suppressed because it is too large.
Load diff
@@ -0,0 +1,32 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="0.5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.07 0.05 0.03"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="teddy2_VHACD_CHs.obj" scale=".1 .1 .1"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 0.4 0.4 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="teddy2_VHACD_CHs.obj" scale=".1 .1 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
Reference in new issue
Block a user