more fixes in pybullet_envs: fix path, add missing data resources
This commit is contained in:
Erwin Coumans
@@ -5,7 +5,7 @@ from gym.utils import seeding
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import numpy as np
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import time
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import pybullet as p
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import minitaur_new
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from . import minitaur_new
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class MinitaurGymEnv(gym.Env):
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metadata = {
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@@ -1,3 +1,4 @@
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import os
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import pybullet as p
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import numpy as np
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import copy
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@@ -11,7 +12,7 @@ class Racecar:
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self.reset()
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def reset(self):
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self.racecarUniqueId = p.loadURDF("racecar/racecar.urdf", [0,0,.2])
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self.racecarUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","racecar/racecar.urdf"), [0,0,.2])
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self.maxForce = 20
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self.nMotors = 2
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self.motorizedwheels=[2]
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@@ -54,4 +55,4 @@ class Racecar:
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p.setJointMotorControl2(self.racecarUniqueId,motor,p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)
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for steer in self.steeringLinks:
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p.setJointMotorControl2(self.racecarUniqueId,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
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@@ -1,3 +1,4 @@
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import os
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import math
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import gym
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from gym import spaces
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@@ -48,8 +49,8 @@ class RacecarGymEnv(gym.Env):
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p.resetSimulation()
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#p.setPhysicsEngineParameter(numSolverIterations=300)
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p.setTimeStep(self._timeStep)
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#p.loadURDF("%splane.urdf" % self._urdfRoot)
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stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
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#p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
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stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
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#move the stadium objects slightly above 0
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for i in stadiumobjects:
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pos,orn = p.getBasePositionAndOrientation(i)
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@@ -63,7 +64,7 @@ class RacecarGymEnv(gym.Env):
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bally = dist * math.cos(ang)
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ballz = 1
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self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
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self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2.urdf"),[ballx,bally,ballz])
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p.setGravity(0,0,-10)
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self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
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self._envStepCounter = 0
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@@ -1,3 +1,4 @@
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import os
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import math
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import gym
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from gym import spaces
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@@ -50,8 +51,8 @@ class RacecarZEDGymEnv(gym.Env):
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p.resetSimulation()
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#p.setPhysicsEngineParameter(numSolverIterations=300)
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p.setTimeStep(self._timeStep)
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#p.loadURDF("%splane.urdf" % self._urdfRoot)
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stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
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#p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
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stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
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#move the stadium objects slightly above 0
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for i in stadiumobjects:
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pos,orn = p.getBasePositionAndOrientation(i)
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@@ -65,7 +66,7 @@ class RacecarZEDGymEnv(gym.Env):
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bally = dist * math.cos(ang)
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ballz = 1
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self._ballUniqueId = p.loadURDF("sphere2red.urdf",[ballx,bally,ballz])
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self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2red.urdf"),[ballx,bally,ballz])
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p.setGravity(0,0,-10)
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self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
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self._envStepCounter = 0
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@@ -1,3 +1,4 @@
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import os
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import pybullet as p
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import numpy as np
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import copy
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@@ -18,7 +19,7 @@ class SimpleHumanoid:
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def reset(self):
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self.initial_z = None
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objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
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objs = p.loadMJCF(os.path.join(os.path.dirname(__file__),"../data","mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
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self.human = objs[0]
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self.jdict = {}
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self.ordered_joints = []
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@@ -1,3 +1,4 @@
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import os
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import math
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import gym
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from gym import spaces
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@@ -47,7 +48,7 @@ class SimpleHumanoidGymEnv(gym.Env):
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p.resetSimulation()
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#p.setPhysicsEngineParameter(numSolverIterations=300)
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p.setTimeStep(self._timeStep)
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p.loadURDF("%splane.urdf" % self._urdfRoot)
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p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
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dist = 5 +2.*random.random()
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ang = 2.*3.1415925438*random.random()
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@@ -99,4 +100,4 @@ class SimpleHumanoidGymEnv(gym.Env):
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def _reward(self):
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reward=self._humanoid.distance
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print(reward)
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return reward
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return reward
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BIN
examples/pybullet/gym/pybullet_envs/data/checker_huge.gif
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examples/pybullet/gym/pybullet_envs/data/checker_huge.gif
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123
examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.dae
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123
examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.dae
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@@ -0,0 +1,123 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
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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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<authoring_tool>SketchUp 15.3.331</authoring_tool>
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</contributor>
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<created>2016-03-10T00:21:04Z</created>
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<modified>2016-03-10T00:21:04Z</modified>
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<unit meter="0.0254" name="inch" />
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<up_axis>Z_UP</up_axis>
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</asset>
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<library_visual_scenes>
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<visual_scene id="ID1">
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<node name="SketchUp">
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<instance_geometry url="#ID2">
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<bind_material>
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</technique_common>
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</bind_material>
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</instance_geometry>
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<instance_geometry url="#ID10">
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<bind_material>
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<technique_common>
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<instance_material symbol="Material2" target="#ID3">
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<bind_vertex_input semantic="UVSET0" input_semantic="TEXCOORD" input_set="0" />
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</instance_material>
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</technique_common>
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</bind_material>
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</instance_geometry>
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</node>
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</visual_scene>
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</library_visual_scenes>
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<library_geometries>
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<accessor count="36" source="#ID8" stride="3">
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</triangles>
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</mesh>
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</geometry>
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</library_geometries>
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<library_materials>
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<material id="ID3" name="material_1">
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<instance_effect url="#ID4" />
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</material>
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</library_materials>
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<library_effects>
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<profile_COMMON>
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<technique sid="COMMON">
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<lambert>
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<diffuse>
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<color>0.7529412 0.3764706 0.0627451 1</color>
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||||
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||||
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<scene>
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||||
</scene>
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||||
</COLLADA>
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||||
@@ -0,0 +1,11 @@
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# Blender MTL File: 'None'
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# Material Count: 1
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||||
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||||
newmtl material_1
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||||
Ns 96.078431
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Ka 0.000000 0.000000 0.000000
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Kd 0.602353 0.301176 0.050196
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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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||||
125
examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.obj
Normal file
125
examples/pybullet/gym/pybullet_envs/data/racecar/meshes/cone.obj
Normal file
@@ -0,0 +1,125 @@
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||||
# Blender v2.71 (sub 0) OBJ File: ''
|
||||
# www.blender.org
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||||
mtllib cone.mtl
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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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|
||||
vn -0.244200 -0.911300 0.331400
|
||||
vn 0.244200 0.911300 0.331400
|
||||
vn 0.244200 -0.911300 0.331400
|
||||
vn 0.667100 0.667100 0.331400
|
||||
vn 0.667100 -0.667100 0.331400
|
||||
vn 0.911300 0.244200 0.331400
|
||||
vn 0.911300 -0.244200 0.331400
|
||||
usemtl material_1
|
||||
s 1
|
||||
f 1//1 2//1 3//1
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||||
f 2//2 4//2 5//2
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||||
f 6//3 1//3 7//3
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||||
f 8//4 4//4 9//4
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||||
f 10//5 11//5 6//5
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||||
f 12//6 9//6 13//6
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||||
f 14//7 15//7 11//7
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||||
f 16//8 13//8 17//8
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||||
f 18//9 19//9 15//9
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||||
f 20//10 17//10 21//10
|
||||
f 19//11 22//11 23//11
|
||||
f 23//12 24//12 21//12
|
||||
o SketchUp_ID2
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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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|
||||
v 0.075000 -0.075000 0.000000
|
||||
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|
||||
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|
||||
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|
||||
v -0.075000 -0.075000 0.005000
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examples/pybullet/gym/pybullet_envs/data/racecar/meshes/hokuyo.obj
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<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
|
||||
<instance_light url="#Lamp-light"/>
|
||||
</node>
|
||||
<node id="Cube" name="Cube" type="NODE">
|
||||
<matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_002-mesh" name="Cube"/>
|
||||
</node>
|
||||
<node id="Cube_001" name="Cube_001" type="NODE">
|
||||
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
|
||||
</node>
|
||||
<node id="Cube_003" name="Cube_003" type="NODE">
|
||||
<matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
|
||||
<instance_geometry url="#Cube-mesh" name="Cube_003">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd wheel.jpg
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd wheel.jpg
|
||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
485
examples/pybullet/gym/pybullet_envs/data/racecar/racecar.urdf
Normal file
485
examples/pybullet/gym/pybullet_envs/data/racecar/racecar.urdf
Normal file
@@ -0,0 +1,485 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- inertial parameter macros -->
|
||||
<!-- geometry macros -->
|
||||
<!-- transmission macros -->
|
||||
<!-- Add chassis and it's inertia link -->
|
||||
<link name="base_link"/>
|
||||
<link name="chassis">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/chassis.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="base_link_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="chassis"/>
|
||||
</joint>
|
||||
<link name="chassis_inertia">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
|
||||
<mass value="4.0"/>
|
||||
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="chassis_inertia_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="chassis_inertia"/>
|
||||
</joint>
|
||||
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||
<link name="left_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
robot
|
||||
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||
<link name="right_rear_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_rear_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_rear_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_rear_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_rear_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||
<link name="left_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_steering_hinge_joint" type="revolute">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||
<link name="right_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_steering_hinge_joint" type="continuous">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="left_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_steering_hinge"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="right_front_wheel">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_steering_hinge"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add Hokuyo laser scanner -->
|
||||
<link name="laser">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.130"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hokuyo.obj"/>
|
||||
<material name="grey"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="laser"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- zed camera -->
|
||||
<link name="zed_camera_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="zed_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="zed_camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||
</joint>
|
||||
<!-- zed camera lenses -->
|
||||
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||
<link name="camera_link">
|
||||
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="zed_camera_right_link">
|
||||
<inertial>
|
||||
<mass value="1e-5"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="zed_camera_left_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<joint name="zed_camera_right_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="zed_camera_right_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- Add the remaining xacros -->
|
||||
<!-- Gazebo references -->
|
||||
<gazebo reference="chassis">
|
||||
<mu1 value="0.0"/>
|
||||
<mu2 value="0.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<material>Gazebo/Blue</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_rear_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="1 0 0"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="left_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<gazebo reference="right_front_wheel">
|
||||
<mu1 value="1.0"/>
|
||||
<mu2 value="1.0"/>
|
||||
<kp value="10000000.0"/>
|
||||
<kd value="1.0"/>
|
||||
<fdir1 value="0 0 1"/>
|
||||
<material>Gazebo/Black</material>
|
||||
</gazebo>
|
||||
<!-- Gazebo plugins -->
|
||||
<gazebo>
|
||||
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||
<robotNamespace>/racecar</robotNamespace>
|
||||
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||
</plugin>
|
||||
</gazebo>
|
||||
<gazebo reference="laser">
|
||||
<material>Gazebo/Grey</material>
|
||||
<sensor name="hokuyo_sensor" type="ray">
|
||||
<pose>0 0 0.0124 0 0 0</pose>
|
||||
<visualize>true</visualize>
|
||||
<update_rate>40</update_rate>
|
||||
<ray>
|
||||
<scan>
|
||||
<horizontal>
|
||||
<samples>1081</samples>
|
||||
<resolution>1</resolution>
|
||||
<min_angle>-2.3561944902</min_angle>
|
||||
<max_angle>2.3561944902</max_angle>
|
||||
</horizontal>
|
||||
</scan>
|
||||
<range>
|
||||
<min>0.1</min>
|
||||
<max>10.0</max>
|
||||
<resolution>0.01</resolution>
|
||||
</range>
|
||||
<noise>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.01</stddev>
|
||||
</noise>
|
||||
</ray>
|
||||
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
|
||||
<topicName>/scan</topicName>
|
||||
<frameName>laser</frameName>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<gazebo reference="camera_link">
|
||||
<sensor name="zed_camera_left_sensor" type="camera">
|
||||
<update_rate>30.0</update_rate>
|
||||
<!-- math.atan(320 / 687.8065795898438) * 2 -->
|
||||
<camera name="zed_camera_left_camera">
|
||||
<horizontal_fov>0.8709216071359963</horizontal_fov>
|
||||
<image>
|
||||
<width>640</width>
|
||||
<height>480</height>
|
||||
<format>B8G8R8</format>
|
||||
</image>
|
||||
<clip>
|
||||
<near>0.02</near>
|
||||
<far>300</far>
|
||||
</clip>
|
||||
<noise>
|
||||
<type>gaussian</type>
|
||||
<mean>0.0</mean>
|
||||
<stddev>0.007</stddev>
|
||||
</noise>
|
||||
</camera>
|
||||
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
|
||||
<alwaysOn>true</alwaysOn>
|
||||
<updateRate>30.0</updateRate>
|
||||
<cameraName>/camera/zed</cameraName>
|
||||
<imageTopicName>rgb/image_rect_color</imageTopicName>
|
||||
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||
<frameName>camera_link</frameName>
|
||||
<hackBaseline>0</hackBaseline>
|
||||
<!-- set this to 0.12 for the second camera -->
|
||||
<distortionK1>0.0</distortionK1>
|
||||
<distortionK2>0.0</distortionK2>
|
||||
<distortionK3>0.0</distortionK3>
|
||||
<distortionT1>0.0</distortionT1>
|
||||
<distortionT2>0.0</distortionT2>
|
||||
</plugin>
|
||||
</sensor>
|
||||
</gazebo>
|
||||
<material name="white">
|
||||
<color rgba="1. 1. 1. 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0. 0. 0. 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,743 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<!-- inertial parameter macros -->
|
||||
<!-- geometry macros -->
|
||||
<!-- transmission macros -->
|
||||
<!-- Add chassis and it's inertia link -->
|
||||
|
||||
<link name="chassis">
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0.2 0 0."/>
|
||||
<mass value="4.0"/>
|
||||
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||
<link name="left_rear_wheel">
|
||||
<contact>
|
||||
<lateral_friction value=".5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_rear_wheel_joint" type="fixed">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||
<parent link="diff_sideA"/>
|
||||
<child link="left_rear_wheel"/>
|
||||
</joint>
|
||||
|
||||
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||
<link name="right_rear_wheel">
|
||||
<contact>
|
||||
<lateral_friction value=".5"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_rear_wheel_joint" type="fixed">
|
||||
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||
<parent link="diff_sideB"/>
|
||||
<child link="right_rear_wheel"/>
|
||||
</joint>
|
||||
|
||||
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||
<link name="left_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="left_steering_hinge_joint" type="revolute">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="left_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||
<link name="right_steering_hinge">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.100"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="right_steering_hinge_joint" type="continuous">
|
||||
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="right_steering_hinge"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_steering_hinge_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_steering_hinge_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="left_front_wheel">
|
||||
<contact>
|
||||
<lateral_friction value=".8"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="left_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="left_steering_hinge"/>
|
||||
<child link="left_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="left_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="left_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||
<link name="right_front_wheel">
|
||||
<contact>
|
||||
<lateral_friction value="0.8"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<mass value="0.34055"/>
|
||||
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||
<geometry>
|
||||
<cylinder length="0.045" radius="0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="right_front_wheel_joint" type="continuous">
|
||||
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||
<parent link="right_steering_hinge"/>
|
||||
<child link="right_front_wheel"/>
|
||||
<axis xyz="0 0 -1"/>
|
||||
<limit effort="10" velocity="100"/>
|
||||
</joint>
|
||||
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="right_front_wheel_joint">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="right_front_wheel_motor">
|
||||
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<!-- Add Hokuyo laser scanner -->
|
||||
<link name="laser">
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.130"/>
|
||||
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes/hokuyo.obj"/>
|
||||
<material name="grey"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="hokuyo_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="laser"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- zed camera -->
|
||||
<link name="zed_camera_link">
|
||||
<inertial>
|
||||
<mass value="0.1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.033 0.175 0.030"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name="zed_camera_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||
<parent link="chassis"/>
|
||||
<child link="zed_camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||
</joint>
|
||||
<!-- zed camera lenses -->
|
||||
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||
<link name="camera_link">
|
||||
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="zed_camera_right_link">
|
||||
<inertial>
|
||||
<mass value="0.01"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="zed_camera_left_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="camera_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<joint name="zed_camera_right_joint" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||
<parent link="zed_camera_link"/>
|
||||
<child link="zed_camera_right_link"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</joint>
|
||||
<!-- Add the remaining xacros -->
|
||||
<link name="diff_ring">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.0637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.025"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="diff_ring_chassis" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="diff_ring"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="diff_spiderA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
|
||||
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_spiderA_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_spiderA"/>
|
||||
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff_spiderB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||
</geometry>
|
||||
<material name="brown"/>
|
||||
</visual>
|
||||
|
||||
|
||||
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_spiderB_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_spiderB"/>
|
||||
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="diff_sideA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_sideA_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_sideA"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff_sideB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff_sideB_ring" type="continuous">
|
||||
<parent link="diff_ring"/>
|
||||
<child link="diff_sideB"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff2_ring">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.0637"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||
</geometry>
|
||||
<material name="green"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.025"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="diff2_ring_chassis" type="continuous">
|
||||
<parent link="chassis"/>
|
||||
<child link="diff2_ring"/>
|
||||
<origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<link name="diff2_spiderA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||
</geometry>
|
||||
<material name="red"/>
|
||||
</visual>
|
||||
|
||||
|
||||
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff2_spiderA_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_spiderA"/>
|
||||
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff2_spiderB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||
</geometry>
|
||||
<material name="brown"/>
|
||||
</visual>
|
||||
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff2_spiderB_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_spiderB"/>
|
||||
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="diff2_sideA">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff2_sideA_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_sideA"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="diff2_sideB">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="30000"/>
|
||||
<damping value="1000"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<mass value="0.056"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||
<geometry>
|
||||
<cylinder length="0.01" radius="0.015"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="diff2_sideB_ring" type="continuous">
|
||||
<parent link="diff2_ring"/>
|
||||
<child link="diff2_sideB"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||
</joint>
|
||||
<material name="white">
|
||||
<color rgba="1. 1. 1. 1.0"/>
|
||||
</material>
|
||||
<material name="black">
|
||||
<color rgba="0. 0. 0. 1.0"/>
|
||||
</material>
|
||||
<material name="blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
<material name="green">
|
||||
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="grey">
|
||||
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||
</material>
|
||||
<material name="orange">
|
||||
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||
</material>
|
||||
<material name="brown">
|
||||
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||
</material>
|
||||
<material name="red">
|
||||
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
|
||||
32
examples/pybullet/gym/pybullet_envs/data/sphere2.urdf
Normal file
32
examples/pybullet/gym/pybullet_envs/data/sphere2.urdf
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="urdf_robot">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<rolling_friction value="0.03"/>
|
||||
<spinning_friction value="0.03"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="10.0"/>
|
||||
<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="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
<specular rgb="11 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
32
examples/pybullet/gym/pybullet_envs/data/sphere2red.urdf
Normal file
32
examples/pybullet/gym/pybullet_envs/data/sphere2red.urdf
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="0.0" ?>
|
||||
<robot name="urdf_robot">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<rolling_friction value="0.03"/>
|
||||
<spinning_friction value="0.03"/>
|
||||
</contact>
|
||||
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="10.0"/>
|
||||
<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="sphere_smooth.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="1 0.2 0.2 1"/>
|
||||
<specular rgb="1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
10
examples/pybullet/gym/pybullet_envs/data/sphere_smooth.mtl
Normal file
10
examples/pybullet/gym/pybullet_envs/data/sphere_smooth.mtl
Normal file
@@ -0,0 +1,10 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 1. 0.2 0.2
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
3725
examples/pybullet/gym/pybullet_envs/data/sphere_smooth.obj
Normal file
3725
examples/pybullet/gym/pybullet_envs/data/sphere_smooth.obj
Normal file
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.8 0.8 0.8
|
||||
Ks 0.8 0.8 0.8
|
||||
d 1
|
||||
illum 2
|
||||
map_Kd checker_huge.gif
|
||||
3725
examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.obj
Normal file
3725
examples/pybullet/gym/pybullet_envs/data/textured_sphere_smooth.obj
Normal file
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user