Add bullet thirdparty library
This commit is contained in:
Dane Johnson
32006
thirdparty/bullet/data/32006GPUAABBs.txt
vendored
Normal file
32006
thirdparty/bullet/data/32006GPUAABBs.txt
vendored
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File diff suppressed because it is too large
Load Diff
64006
thirdparty/bullet/data/64006GPUAABBs.txt
vendored
Normal file
64006
thirdparty/bullet/data/64006GPUAABBs.txt
vendored
Normal file
File diff suppressed because it is too large
Load Diff
65
thirdparty/bullet/data/Base_1.urdf
vendored
Normal file
65
thirdparty/bullet/data/Base_1.urdf
vendored
Normal file
@@ -0,0 +1,65 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--https://valerolab.org/-->
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||||
<!--
|
||||
Code used for PID control of an inverted pendulum actuated by strings.
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||||
-->
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||||
<robot name="myfirst">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
<material name="other">
|
||||
<color rgba="1 0 0.8 1"/>
|
||||
</material>
|
||||
<velocity name="vel">
|
||||
<speed spd="50"/>
|
||||
</velocity>
|
||||
|
||||
|
||||
<link name="Base">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.3 0.3 1.5"/>
|
||||
</geometry>
|
||||
<material name="other"/>
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||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.3 0.3 1.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="100"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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||||
</inertial>
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||||
</link>
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||||
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||||
<link name="pulley1">
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||||
<visual>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".5"/>
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||||
</geometry>
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||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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||||
</inertial>
|
||||
</link>
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||||
<joint name="Base_pulley1" type="revolute">
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||||
<axis xyz="0 0 1"/>
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||||
<parent link="Base"/>
|
||||
<child link="pulley1"/>
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||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
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||||
<origin rpy="-1.57075 0 0" xyz="0 .35 .15"/>
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||||
</joint>
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||||
<!---->
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</robot>
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||||
415
thirdparty/bullet/data/Base_2.urdf
vendored
Normal file
415
thirdparty/bullet/data/Base_2.urdf
vendored
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@@ -0,0 +1,415 @@
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||||
<?xml version="1.0"?>
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||||
<!--https://valerolab.org/-->
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||||
<!--
|
||||
Code used for PID control of an inverted pendulum actuated by strings.
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||||
-->
|
||||
<robot name="myfirst">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
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||||
</material>
|
||||
<material name="other">
|
||||
<color rgba="1 0 0.8 1"/>
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||||
</material>
|
||||
<velocity name="vel">
|
||||
<speed spd="50"/>
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||||
</velocity>
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||||
|
||||
|
||||
<link name="Base">
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||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.3 0.3 1.5"/>
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||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.3 0.3 1.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="100"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
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||||
</inertial>
|
||||
</link>
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||||
|
||||
<link name="pulley1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".5"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="2"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="Base_pulley1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="Base"/>
|
||||
<child link="pulley1"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="-1.57075 1.57075 0" xyz="0 .35 .15"/>
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||||
</joint>
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||||
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||||
<link name="tendon1_1">
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||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="pulley1_tendon1_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="pulley1"/>
|
||||
<child link="tendon1_1"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 3.1416" xyz="0 .55 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_1_tendon1_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_1"/>
|
||||
<child link="tendon1_2"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
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||||
<joint name="tendon1_2_tendon1_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_2"/>
|
||||
<child link="tendon1_3"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
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||||
|
||||
<link name="tendon1_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_3_tendon1_4" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_3"/>
|
||||
<child link="tendon1_4"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 1" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_4_tendon1_5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_4"/>
|
||||
<child link="tendon1_5"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 1" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_5_tendon1_6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_5"/>
|
||||
<child link="tendon1_6"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_6_tendon1_7" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_6"/>
|
||||
<child link="tendon1_7"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_8">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_7_tendon1_8" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_7"/>
|
||||
<child link="tendon1_8"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_9">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_8_tendon1_9" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_8"/>
|
||||
<child link="tendon1_9"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_10">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_9_tendon1_10" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_9"/>
|
||||
<child link="tendon1_10"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_11">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_10_tendon1_11" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_10"/>
|
||||
<child link="tendon1_11"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_12">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_11_tendon1_12" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_11"/>
|
||||
<child link="tendon1_12"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_13">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_12_tendon1_13" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_12"/>
|
||||
<child link="tendon1_13"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_14">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_13_tendon1_14" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_13"/>
|
||||
<child link="tendon1_14"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
BIN
thirdparty/bullet/data/BspDemo.bsp
vendored
Normal file
BIN
thirdparty/bullet/data/BspDemo.bsp
vendored
Normal file
Binary file not shown.
15
thirdparty/bullet/data/LICENSE.txt
vendored
Normal file
15
thirdparty/bullet/data/LICENSE.txt
vendored
Normal file
@@ -0,0 +1,15 @@
|
||||
URDF files in this directory were created by Erwin Coumans
|
||||
Check the subdirectories for various license files.
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
19
thirdparty/bullet/data/MPL/LICENSE.txt
vendored
Normal file
19
thirdparty/bullet/data/MPL/LICENSE.txt
vendored
Normal file
@@ -0,0 +1,19 @@
|
||||
<!--
|
||||
This file and the .stl mesh files referenced from it have been derived by Roboti LLC from the model of the Modular Prosthetic Limb developed by The Johns Hopkins University / Applied Physics Laboratory. The modifications are as follows: the original meshes have been replaced with their convex hulls; the original URDF model has been converted to the MJCF format and a number of MJCF-specific fields have been added.
|
||||
|
||||
The Johns Hopkins University / Applied Physics Laboratory has given Roboti LLC permission to distribute the modified model under the following license:
|
||||
|
||||
=========================
|
||||
|
||||
(C) 2013 The Johns Hopkins University / Applied Physics Laboratory All Rights Reserved.
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
|
||||
|
||||
========================
|
||||
|
||||
The modifications made by Roboti LLC are also licensed under the Apache License version 2.0.
|
||||
-->
|
||||
473
thirdparty/bullet/data/MPL/MPL.xml
vendored
Normal file
473
thirdparty/bullet/data/MPL/MPL.xml
vendored
Normal file
@@ -0,0 +1,473 @@
|
||||
<mujoco model="MPL">
|
||||
<!--
|
||||
This file and the .stl mesh files referenced from it have been derived by Roboti LLC from the model of the Modular Prosthetic Limb developed by The Johns Hopkins University / Applied Physics Laboratory. The modifications are as follows: the original meshes have been replaced with their convex hulls; the original URDF model has been converted to the MJCF format and a number of MJCF-specific fields have been added.
|
||||
|
||||
The Johns Hopkins University / Applied Physics Laboratory has given Roboti LLC permission to distribute the modified model under the following license:
|
||||
|
||||
=========================
|
||||
|
||||
(C) 2013 The Johns Hopkins University / Applied Physics Laboratory All Rights Reserved.
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
|
||||
|
||||
========================
|
||||
|
||||
The modifications made by Roboti LLC are also licensed under the Apache License version 2.0.
|
||||
-->
|
||||
|
||||
<compiler angle="radian" meshdir="mesh/" texturedir="texture/"/>
|
||||
<option timestep="0.002" iterations="50" apirate="50"/>
|
||||
<size njmax="600" nconmax="150" nstack="300000"/>
|
||||
|
||||
<default>
|
||||
<default class="MPL">
|
||||
<geom material="MatMesh" contype="1" conaffinity="1" condim="4" margin="0.001"/>
|
||||
<joint limited="true" damping="0.2" armature=".01"/>
|
||||
<site material="MatTouch" type="ellipsoid" group="3"/>
|
||||
<position ctrllimited="true" kp="10"/>
|
||||
</default>
|
||||
|
||||
<default class="IMU">
|
||||
<site material="MatIMU" type="box" group="4"/>
|
||||
</default>
|
||||
|
||||
<default class="free">
|
||||
<joint type="free" damping="0" armature="0" limited="false"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<statistic extent="1" center="0 -0.2 0.2"/>
|
||||
|
||||
<visual>
|
||||
<quality shadowsize="2048"/>
|
||||
<map fogstart="6" fogend="10"/>
|
||||
<headlight diffuse=".6 .6 .6" specular="0 0 0"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<mesh name="index0" file="index0_collision.stl"/>
|
||||
<mesh name="index1" file="index1_collision.stl"/>
|
||||
<mesh name="index2" file="index2_collision.stl"/>
|
||||
<mesh name="index3" file="index3_collision.stl"/>
|
||||
<mesh name="middle0" file="middle0_collision.stl"/>
|
||||
<mesh name="middle1" file="middle1_collision.stl"/>
|
||||
<mesh name="middle2" file="middle2_collision.stl"/>
|
||||
<mesh name="middle3" file="middle3_collision.stl"/>
|
||||
<mesh name="palm" file="palm.stl"/>
|
||||
<mesh name="pinky0" file="pinky0_collision.stl"/>
|
||||
<mesh name="pinky1" file="pinky1_collision.stl"/>
|
||||
<mesh name="pinky2" file="pinky2_collision.stl"/>
|
||||
<mesh name="pinky3" file="pinky3_collision.stl"/>
|
||||
<mesh name="ring0" file="ring0_collision.stl"/>
|
||||
<mesh name="ring1" file="ring1_collision.stl"/>
|
||||
<mesh name="ring2" file="ring2_collision.stl"/>
|
||||
<mesh name="ring3" file="ring3_collision.stl"/>
|
||||
<mesh name="thumb0" file="thumb0_collision.stl"/>
|
||||
<mesh name="thumb1" file="thumb1_collision.stl"/>
|
||||
<mesh name="thumb2" file="thumb2_collision.stl"/>
|
||||
<mesh name="thumb3" file="thumb3_collision.stl"/>
|
||||
<mesh name="wristx" file="wristx_collision.stl"/>
|
||||
<mesh name="wristy" file="wristy_collision.stl"/>
|
||||
<mesh name="wristz" file="wristz_collision.stl"/>
|
||||
|
||||
<texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
|
||||
width="100" height="100"/>
|
||||
<texture name="groundplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3"
|
||||
width="100" height="100"/>
|
||||
<texture name="skin" type="cube" file="skin.png"/>
|
||||
<texture name="marble2d" type="2d" file="marble.png"/>
|
||||
<texture name="marblecube" type="cube" file="marble.png"/>
|
||||
|
||||
<material name="groundplane" texture="groundplane" texrepeat="10 10"/>
|
||||
<material name="table2d" texture="marble2d" reflectance="0.3" rgba=".8 .8 .8 1"/>
|
||||
<material name="tablecube" texture="marblecube" rgba=".8 .8 .8 1"/>
|
||||
<material name="MatTouch" rgba=".3 .9 .3 .3"/>
|
||||
<material name="MatIMU" rgba=".1 .1 .9 1"/>
|
||||
<material name="MatMesh" texture="skin"/>
|
||||
</asset>
|
||||
|
||||
<contact>
|
||||
<exclude body1="wristz" body2="wristy"/>
|
||||
<exclude body1="wristx" body2="thumb0"/>
|
||||
<exclude body1="palm" body2="thumb1"/>
|
||||
<exclude body1="palm" body2="index1"/>
|
||||
<exclude body1="palm" body2="middle1"/>
|
||||
<exclude body1="palm" body2="ring1"/>
|
||||
<exclude body1="palm" body2="pinky1"/>
|
||||
</contact>
|
||||
|
||||
<worldbody>
|
||||
|
||||
|
||||
<!-- ======= ROBOT ======= -->
|
||||
<body childclass="MPL" name="forearm" pos="0 -0.35 0.2" axisangle="0 0 1 3.141592">
|
||||
<geom type="cylinder" size="0.02 0.01" zaxis="0 1 0"/>
|
||||
<body name="wristy" pos="0 0 0">
|
||||
<inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662" mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005" />
|
||||
<geom type="mesh" mesh="wristy"/>
|
||||
<joint name="wrist_PRO" type="hinge" damping="0.4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57"/>
|
||||
<body name="wristx" pos="-3.36826e-005 -0.0476452 0.00203763">
|
||||
<inertial pos="0.00139174 -0.00975189 -0.00252668" quat="-0.0729226 0.705959 0.0352732 0.703605" mass="0.010691" diaginertia="5.04455e-006 4.25035e-006 3.25677e-006" />
|
||||
<joint name="wrist_UDEV" damping="0.4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.261 0.785"/>
|
||||
<geom type="mesh" mesh="wristx"/>
|
||||
<body name="wristz" pos="0.0001872 -0.03 -0.002094">
|
||||
<inertial pos="0.000579016 -0.00125952 0.000455968" quat="0.527723 0.475346 0.521597 0.472749" mass="0.00602247" diaginertia="1.58133e-006 1.43102e-006 1.26861e-006" />
|
||||
<joint name="wrist_FLEX" damping="0.4" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.04 1.04"/>
|
||||
<geom type="mesh" mesh="wristz"/>
|
||||
|
||||
<!-- ======= PALM ======= -->
|
||||
<body name="palm" pos="0.025625 0 0">
|
||||
<inertial pos="-0.0217876 -0.0376147 0.00276997" quat="-0.146373 0.723094 0.0985561 0.66783" mass="0.119867" diaginertia="0.000123088 0.000100082 6.89467e-005" />
|
||||
<geom type="mesh" mesh="palm"/>
|
||||
<site name="palm_thumb" pos="-0.0052 -0.0438 -0.0182" size=".017 .03 .01"/>
|
||||
<site name="palm_pinky" pos="-0.0358 -0.0401 -0.0183" size=".017 .03 .01"/>
|
||||
<site name="palm_side" pos="-0.0604 -0.0329 -0.0048" size=".01 .03 .015"/>
|
||||
<site name="palm_back" pos="-0.0246 -0.0446 0.018" size=".03 .035 .015"/>
|
||||
|
||||
<!-- ======= THUMB ======= -->
|
||||
<body name="thumb0" pos="0.00835752 -0.0206978 -0.010093" quat="0.990237 0.0412644 -0.0209178 -0.13149">
|
||||
<inertial pos="0.00863339 -0.000156884 -0.000945846" quat="0.408795 0.551643 0.541079 0.485602" mass="0.00336696" diaginertia="4.50769e-007 4.48758e-007 2.35017e-007" />
|
||||
<joint name="thumb_ABD" type="hinge" pos="0 0 0" axis="0 1 0" range="0 2.07"/>
|
||||
<geom type="mesh" mesh="thumb0"/>
|
||||
<body name="thumb1" pos="0.0209172 -0.00084 0.0014476">
|
||||
<inertial pos="0.019024 0.000361131 -0.000186763" quat="0.5208 0.469572 0.484571 0.522934" mass="0.00596213" diaginertia="9.88001e-007 9.45125e-007 5.32989e-007" />
|
||||
<joint name="thumb_MCP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
|
||||
<geom type="mesh" mesh="thumb1"/>
|
||||
<site name="thumb_proximal" pos="0.0173 -0.008 0.0009" size=".015 .0075 .01"/>
|
||||
<body name="thumb2" pos="0.0335 0 -0.0007426">
|
||||
<inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
|
||||
<joint name="thumb_PIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
|
||||
<geom type="mesh" mesh="thumb2"/>
|
||||
<site name="thumb_medial" pos="0.0182 -0.008 0.0015" size=".015 .0075 .01"/>
|
||||
<body name="thumb3" pos="0.0335 0 0.0010854">
|
||||
<inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
|
||||
<joint name="thumb_DIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.819 1.28"/>
|
||||
<geom type="mesh" mesh="thumb3"/>
|
||||
<site name="thumb_distal" pos="0.0156 -0.007 0.0003" size=".015 .0075 .01" axisangle="0 0 1 0.2"/>
|
||||
<site class="IMU" name="thumb_IMU" pos="0.0099 -0.00052 0" quat=".5 .5 .5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= INDEX ======= -->
|
||||
<body name="index0" pos="0.00986485 -0.0658 0.00101221" quat="0.996195 0 0.0871557 0">
|
||||
<inertial pos="-0.000142572 -0.00548494 0.000206145" quat="0.699132 0.714861 -0.000723869 0.013694" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
|
||||
<joint name="index_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
|
||||
<geom type="mesh" mesh="index0"/>
|
||||
<body name="index1" pos="6.26e-005 -0.018 0">
|
||||
<inertial pos="0.000406487 -0.0213125 0.000655609" quat="0.698452 0.715642 -0.00415384 0.0023049" mass="0.00478235" diaginertia="8.18599e-007 7.95693e-007 3.06254e-007" />
|
||||
<joint name="index_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="index1"/>
|
||||
<site name="index_proximal" pos="0 -0.0235 -0.007" size=".009 .015 .0075"/>
|
||||
<body name="index2" pos="0.001086 -0.0435 0.0005">
|
||||
<inertial pos="-0.000841462 -0.012689 0.000572665" quat="0.734882 0.677481 -0.028511 0.0124827" mass="0.00344764" diaginertia="3.63962e-007 3.59059e-007 1.05304e-007" />
|
||||
<joint name="index_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
|
||||
<geom type="mesh" mesh="index2"/>
|
||||
<site name="index_medial" pos="0 -0.009 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="index3" pos="-0.000635 -0.0245 0">
|
||||
<inertial pos="4.32004e-005 -0.0125318 0.000903476" quat="0.516251 0.4829 -0.483241 0.516498" mass="0.00274415" diaginertia="1.19635e-007 1.09202e-007 7.77873e-008" />
|
||||
<joint name="index_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="index3"/>
|
||||
<site name="index_distal" pos="0 -0.0132 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="index_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= MIDDLE ======= -->
|
||||
<body name="middle0" pos="-0.012814 -0.0779014 0.00544608" quat="-3.14 0.0436194 0 0">
|
||||
<inertial pos="-0.000142567 -0.00548493 0.000206162" quat="0.699131 0.714862 -0.000723874 0.013694" mass="0.00295579" diaginertia="4.22461e-007 4.02281e-007 1.93868e-007" />
|
||||
<!--<joint name="middle0" type="hinge" pos="0 0 0" range="-0.345 0" axis="0 0 -1" />-->
|
||||
<geom type="mesh" mesh="middle0"/>
|
||||
<body name="middle1" pos="6.26e-005 -0.018 0">
|
||||
<inertial pos="0.000406411 -0.0213125 0.00065565" quat="0.698451 0.715642 -0.00415503 0.00230486" mass="0.00478229" diaginertia="8.18595e-007 7.9569e-007 3.06253e-007" />
|
||||
<joint name="middle_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="middle1"/>
|
||||
<site name="middle_proximal" pos="0 -0.025 -0.007" size=".009 .015 .0075"/>
|
||||
<body name="middle2" pos="0.001086 -0.0435 0.0005">
|
||||
<inertial pos="-0.000841444 -0.012689 0.00057266" quat="0.734883 0.677482 -0.0284727 0.0124412" mass="0.00344765" diaginertia="3.63962e-007 3.5906e-007 1.05304e-007" />
|
||||
<joint name="middle_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.73"/>
|
||||
<geom type="mesh" mesh="middle2"/>
|
||||
<site name="middle_medial" pos="0 -0.0146 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="middle3" pos="-0.000635 -0.0245 0">
|
||||
<inertial pos="4.31236e-005 -0.0125318 0.000903446" quat="0.516263 0.482913 -0.483228 0.516487" mass="0.00274417" diaginertia="1.19635e-007 1.09202e-007 7.77884e-008" />
|
||||
<joint name="middle_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="middle3"/>
|
||||
<site name="middle_distal" pos="0 -0.0129 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="middle_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= RING ======= -->
|
||||
<body name="ring0" pos="-0.0354928 -0.0666999 0.00151221" quat="0.996195 0 -0.0871557 0">
|
||||
<inertial pos="-0.000142559 -0.00548494 0.000206147" quat="0.699132 0.714861 -0.000720946 0.013691" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
|
||||
<joint name="ring_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
|
||||
<geom type="mesh" mesh="ring0"/>
|
||||
<body name="ring1" pos="6.26e-005 -0.018 0">
|
||||
<inertial pos="0.000406447 -0.0213125 0.00065563" quat="0.698451 0.715642 -0.00415675 0.00230715" mass="0.00478232" diaginertia="8.18597e-007 7.95692e-007 3.06254e-007" />
|
||||
<joint name="ring_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="ring1"/>
|
||||
<site name="ring_proximal" pos="0 -0.0259 -0.007" size=".009 .015 .0075"/>
|
||||
<body name="ring2" pos="0.001086 -0.0435 0.0005">
|
||||
<inertial pos="-0.000841518 -0.012689 0.000572674" quat="0.73488 0.677478 -0.0285773 0.0125557" mass="0.00344767" diaginertia="3.63963e-007 3.59061e-007 1.05305e-007" />
|
||||
<joint name="ring_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
|
||||
<geom type="mesh" mesh="ring2"/>
|
||||
<site name="ring_medial" pos="0 -0.0137 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="ring3" pos="-0.000635 -0.0245 0">
|
||||
<inertial pos="4.31973e-005 -0.0125318 0.000903457" quat="0.516255 0.482902 -0.483238 0.516495" mass="0.00274416" diaginertia="1.19635e-007 1.09202e-007 7.77877e-008" />
|
||||
<joint name="ring_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="ring3"/>
|
||||
<site name="ring_distal" pos="0 -0.0117 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="ring_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= LITTLE ======= -->
|
||||
<body name="pinky0" pos="-0.0562459 -0.0554001 -0.00563858" quat="0.996195 0 -0.0871557 0">
|
||||
<inertial pos="-0.000142559 -0.00538484 0.000206147" quat="0.699132 0.714861 -0.000721037 0.0136911" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
|
||||
<joint name="pinky_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
|
||||
<geom type="mesh" mesh="pinky0"/>
|
||||
<body name="pinky1" pos="6.26e-005 -0.0178999 0">
|
||||
<inertial pos="0.000458624 -0.0160478 0.000924735" quat="0.685529 0.72723 0.021252 -0.0270914" mass="0.0034099" diaginertia="4.03391e-007 3.84061e-007 2.19866e-007" />
|
||||
<joint name="pinky_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="pinky1"/>
|
||||
<site name="pinky_proximal" pos="0 -0.021 -0.0066" size=".009 .013 .0075"/>
|
||||
<body name="pinky2" pos="0.000578 -0.033 0.0005">
|
||||
<inertial pos="-0.000270832 -0.00914628 0.000738493" quat="0.746786 0.664476 -4.11065e-005 -0.0279675" mass="0.00250622" diaginertia="1.79089e-007 1.75934e-007 7.44543e-008" />
|
||||
<joint name="pinky_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
|
||||
<geom type="mesh" mesh="pinky2"/>
|
||||
<site name="pinky_medial" pos="0 -0.0117 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="pinky3" pos="-4.78e-005 -0.0175 0">
|
||||
<inertial pos="3.85026e-005 -0.0125047 0.000912295" quat="0.516037 0.484447 -0.483043 0.515448" mass="0.00273265" diaginertia="1.19141e-007 1.08629e-007 7.77271e-008" />
|
||||
<joint name="pinky_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="pinky3"/>
|
||||
<site name="pinky_distal" pos="0 -0.0121 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="pinky_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
|
||||
|
||||
<sensor>
|
||||
<jointpos name="Sjp_wrist_PRO" joint="wrist_PRO"/>
|
||||
<jointpos name="Sjp_wrist_UDEV" joint="wrist_UDEV"/>
|
||||
<jointpos name="Sjp_wrist_FLEX" joint="wrist_FLEX"/>
|
||||
<jointpos name="Sjp_thumb_ABD" joint="thumb_ABD"/>
|
||||
<jointpos name="Sjp_thumb_MCP" joint="thumb_MCP"/>
|
||||
<jointpos name="Sjp_thumb_PIP" joint="thumb_PIP"/>
|
||||
<jointpos name="Sjp_thumb_DIP" joint="thumb_DIP"/>
|
||||
<jointpos name="Sjp_index_ABD" joint="index_ABD"/>
|
||||
<jointpos name="Sjp_index_MCP" joint="index_MCP"/>
|
||||
<jointpos name="Sjp_index_PIP" joint="index_PIP"/>
|
||||
<jointpos name="Sjp_index_DIP" joint="index_DIP"/>
|
||||
<jointpos name="Sjp_middle_MCP" joint="middle_MCP"/>
|
||||
<jointpos name="Sjp_middle_PIP" joint="middle_PIP"/>
|
||||
<jointpos name="Sjp_middle_DIP" joint="middle_DIP"/>
|
||||
<jointpos name="Sjp_ring_ABD" joint="ring_ABD"/>
|
||||
<jointpos name="Sjp_ring_MCP" joint="ring_MCP"/>
|
||||
<jointpos name="Sjp_ring_PIP" joint="ring_PIP"/>
|
||||
<jointpos name="Sjp_ring_DIP" joint="ring_DIP"/>
|
||||
<jointpos name="Sjp_pinky_ABD" joint="pinky_ABD"/>
|
||||
<jointpos name="Sjp_pinky_MCP" joint="pinky_MCP"/>
|
||||
<jointpos name="Sjp_pinky_PIP" joint="pinky_PIP"/>
|
||||
<jointpos name="Sjp_pinky_DIP" joint="pinky_DIP"/>
|
||||
|
||||
<jointvel name="Sjv_wrist_PRO" joint="wrist_PRO"/>
|
||||
<jointvel name="Sjv_wrist_UDEV" joint="wrist_UDEV"/>
|
||||
<jointvel name="Sjv_wrist_FLEX" joint="wrist_FLEX"/>
|
||||
<jointvel name="Sjv_thumb_ABD" joint="thumb_ABD"/>
|
||||
<jointvel name="Sjv_thumb_MCP" joint="thumb_MCP"/>
|
||||
<jointvel name="Sjv_thumb_PIP" joint="thumb_PIP"/>
|
||||
<jointvel name="Sjv_thumb_DIP" joint="thumb_DIP"/>
|
||||
<jointvel name="Sjv_index_ABD" joint="index_ABD"/>
|
||||
<jointvel name="Sjv_index_MCP" joint="index_MCP"/>
|
||||
<jointvel name="Sjv_index_PIP" joint="index_PIP"/>
|
||||
<jointvel name="Sjv_index_DIP" joint="index_DIP"/>
|
||||
<jointvel name="Sjv_middle_MCP" joint="middle_MCP"/>
|
||||
<jointvel name="Sjv_middle_PIP" joint="middle_PIP"/>
|
||||
<jointvel name="Sjv_middle_DIP" joint="middle_DIP"/>
|
||||
<jointvel name="Sjv_ring_ABD" joint="ring_ABD"/>
|
||||
<jointvel name="Sjv_ring_MCP" joint="ring_MCP"/>
|
||||
<jointvel name="Sjv_ring_PIP" joint="ring_PIP"/>
|
||||
<jointvel name="Sjv_ring_DIP" joint="ring_DIP"/>
|
||||
<jointvel name="Sjv_pinky_ABD" joint="pinky_ABD"/>
|
||||
<jointvel name="Sjv_pinky_MCP" joint="pinky_MCP"/>
|
||||
<jointvel name="Sjv_pinky_PIP" joint="pinky_PIP"/>
|
||||
<jointvel name="Sjv_pinky_DIP" joint="pinky_DIP"/>
|
||||
|
||||
<actuatorpos name="Sap_wrist_PRO" actuator="A_wrist_PRO" />
|
||||
<actuatorpos name="Sap_wrist_UDEV" actuator="A_wrist_UDEV" />
|
||||
<actuatorpos name="Sap_wrist_FLEX" actuator="A_wrist_FLEX" />
|
||||
<actuatorpos name="Sap_thumb_ABD" actuator="A_thumb_ABD" />
|
||||
<actuatorpos name="Sap_thumb_MCP" actuator="A_thumb_MCP" />
|
||||
<actuatorpos name="Sap_thumb_PIP" actuator="A_thumb_PIP" />
|
||||
<actuatorpos name="Sap_thumb_DIP" actuator="A_thumb_DIP" />
|
||||
<actuatorpos name="Sap_index_ABD" actuator="A_index_ABD" />
|
||||
<actuatorpos name="Sap_index_MCP" actuator="A_index_MCP" />
|
||||
<actuatorpos name="Sap_middle_MCP" actuator="A_middle_MCP"/>
|
||||
<actuatorpos name="Sap_ring_MCP" actuator="A_ring_MCP" />
|
||||
<actuatorpos name="Sap_pinky_ABD" actuator="A_pinky_ABD" />
|
||||
<actuatorpos name="Sap_pinky_MCP" actuator="A_pinky_MCP" />
|
||||
|
||||
<actuatorvel name="Sav_wrist_PRO" actuator="A_wrist_PRO" />
|
||||
<actuatorvel name="Sav_wrist_UDEV" actuator="A_wrist_UDEV"/>
|
||||
<actuatorvel name="Sav_wrist_FLEX" actuator="A_wrist_FLEX"/>
|
||||
<actuatorvel name="Sav_thumb_ABD" actuator="A_thumb_ABD" />
|
||||
<actuatorvel name="Sav_thumb_MCP" actuator="A_thumb_MCP" />
|
||||
<actuatorvel name="Sav_thumb_PIP" actuator="A_thumb_PIP" />
|
||||
<actuatorvel name="Sav_thumb_DIP" actuator="A_thumb_DIP" />
|
||||
<actuatorvel name="Sav_index_ABD" actuator="A_index_ABD" />
|
||||
<actuatorvel name="Sav_index_MCP" actuator="A_index_MCP" />
|
||||
<actuatorvel name="Sav_middle_MCP" actuator="A_middle_MCP"/>
|
||||
<actuatorvel name="Sav_ring_MCP" actuator="A_ring_MCP" />
|
||||
<actuatorvel name="Sav_pinky_ABD" actuator="A_pinky_ABD" />
|
||||
<actuatorvel name="Sav_pinky_MCP" actuator="A_pinky_MCP" />
|
||||
|
||||
<actuatorfrc name="Saf_wrist_PRO" actuator="A_wrist_PRO"/>
|
||||
<actuatorfrc name="Saf_wrist_UDEV" actuator="A_wrist_UDEV"/>
|
||||
<actuatorfrc name="Saf_wrist_FLEX" actuator="A_wrist_FLEX"/>
|
||||
<actuatorfrc name="Saf_thumb_ABD" actuator="A_thumb_ABD"/>
|
||||
<actuatorfrc name="Saf_thumb_MCP" actuator="A_thumb_MCP"/>
|
||||
<actuatorfrc name="Saf_thumb_PIP" actuator="A_thumb_PIP"/>
|
||||
<actuatorfrc name="Saf_thumb_DIP" actuator="A_thumb_DIP"/>
|
||||
<actuatorfrc name="Saf_index_ABD" actuator="A_index_ABD"/>
|
||||
<actuatorfrc name="Saf_index_MCP" actuator="A_index_MCP"/>
|
||||
<actuatorfrc name="Saf_middle_MCP" actuator="A_middle_MCP"/>
|
||||
<actuatorfrc name="Saf_ring_MCP" actuator="A_ring_MCP"/>
|
||||
<actuatorfrc name="Saf_pinky_ABD" actuator="A_pinky_ABD"/>
|
||||
<actuatorfrc name="Saf_pinky_MCP" actuator="A_pinky_MCP"/>
|
||||
|
||||
<accelerometer name="S_thumb_IMU" site="thumb_IMU"/>
|
||||
<accelerometer name="S_index_IMU" site="index_IMU"/>
|
||||
<accelerometer name="S_middle_IMU" site="middle_IMU"/>
|
||||
<accelerometer name="S_ring_IMU" site="ring_IMU"/>
|
||||
<accelerometer name="S_pinky_IMU" site="pinky_IMU"/>
|
||||
|
||||
<gyro site="thumb_IMU"/>
|
||||
<gyro site="index_IMU"/>
|
||||
<gyro site="middle_IMU"/>
|
||||
<gyro site="ring_IMU"/>
|
||||
<gyro site="pinky_IMU"/>
|
||||
|
||||
<touch name="S_palm_thumb" site="palm_thumb"/>
|
||||
<touch name="S_palm_pinky" site="palm_pinky"/>
|
||||
<touch name="S_palm_side" site="palm_side"/>
|
||||
<touch name="S_palm_back" site="palm_back"/>
|
||||
<touch name="S_thumb_proximal" site="thumb_proximal"/>
|
||||
<touch name="S_thumb_medial" site="thumb_medial"/>
|
||||
<touch name="S_thumb_distal" site="thumb_distal"/>
|
||||
<touch name="S_index_proximal" site="index_proximal"/>
|
||||
<touch name="S_index_medial" site="index_medial"/>
|
||||
<touch name="S_index_distal" site="index_distal"/>
|
||||
<touch name="S_middle_proximal" site="middle_proximal"/>
|
||||
<touch name="S_middle_medial" site="middle_medial"/>
|
||||
<touch name="S_middle_distal" site="middle_distal"/>
|
||||
<touch name="S_ring_proximal" site="ring_proximal"/>
|
||||
<touch name="S_ring_medial" site="ring_medial"/>
|
||||
<touch name="S_ring_distal" site="ring_distal"/>
|
||||
<touch name="S_pinky_proximal" site="pinky_proximal"/>
|
||||
<touch name="S_pinky_medial" site="pinky_medial"/>
|
||||
<touch name="S_pinky_distal" site="pinky_distal"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<tendon>
|
||||
<!--Index coupler tendons-->
|
||||
<fixed name="T_index32_cpl" range="0 1">
|
||||
<joint joint="index_DIP" coef="0.00705"/>
|
||||
<joint joint="index_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_index21_cpl" range="0 1">
|
||||
<joint joint="index_PIP" coef="0.010"/>
|
||||
<joint joint="index_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
<!--Middle coupler tendons-->
|
||||
<fixed name="T_middle32_cpl">
|
||||
<joint joint="middle_DIP" coef="0.00705"/>
|
||||
<joint joint="middle_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_middle21_cpl">
|
||||
<joint joint="middle_PIP" coef="0.010"/>
|
||||
<joint joint="middle_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
<!--Ring coupler tendons-->
|
||||
<fixed name="T_ring32_cpl">
|
||||
<joint joint="ring_DIP" coef="0.00705"/>
|
||||
<joint joint="ring_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_ring21_cpl">
|
||||
<joint joint="ring_PIP" coef="0.010"/>
|
||||
<joint joint="ring_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
<!--Little coupler tendons-->
|
||||
<fixed name="T_pinky32_cpl">
|
||||
<joint joint="pinky_DIP" coef="0.00705"/>
|
||||
<joint joint="pinky_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_pinky21_cpl">
|
||||
<joint joint="pinky_PIP" coef="0.010"/>
|
||||
<joint joint="pinky_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
</tendon>
|
||||
|
||||
|
||||
<equality>
|
||||
<weld body1="mocap" body2="forearm" solref="0.01 1" solimp=".9 .9 0.01"/>
|
||||
|
||||
<!-- DIP-PIP-MCP Couplings -->
|
||||
<tendon name="E_index32_cpl" tendon1="T_index32_cpl"/>
|
||||
<tendon name="E_index21_cpl" tendon1="T_index21_cpl"/>
|
||||
<tendon name="E_middle32_cpl" tendon1="T_middle32_cpl"/>
|
||||
<tendon name="E_middle21_cpl" tendon1="T_middle21_cpl"/>
|
||||
<tendon name="E_ring32_cpl" tendon1="T_ring32_cpl"/>
|
||||
<tendon name="E_ring21_cpl" tendon1="T_ring21_cpl"/>
|
||||
<tendon name="E_pinky32_cpl" tendon1="T_pinky32_cpl"/>
|
||||
<tendon name="E_pinky21_cpl" tendon1="T_pinky21_cpl"/>
|
||||
|
||||
<!-- AD-AB Coupling -->
|
||||
<joint name="ring_pinky_cpl" joint1="ring_ABD" joint2="pinky_ABD" polycoef="0 0.5 0 0 0"/>
|
||||
</equality>
|
||||
|
||||
|
||||
<actuator>
|
||||
<!-- Wrist -->
|
||||
<position name="A_wrist_PRO" class="MPL" joint="wrist_PRO" ctrlrange="-1.57 1.57"/>
|
||||
<position name="A_wrist_UDEV" class="MPL" joint="wrist_UDEV" ctrlrange="-0.26 0.79"/>
|
||||
<position name="A_wrist_FLEX" class="MPL" joint="wrist_FLEX" ctrlrange="-1 1"/>
|
||||
|
||||
<!-- Thumb -->
|
||||
<position name="A_thumb_ABD" class="MPL" joint="thumb_ABD" ctrlrange="0 2.1"/>
|
||||
<position name="A_thumb_MCP" class="MPL" joint="thumb_MCP" ctrlrange="0 1.0"/>
|
||||
<position name="A_thumb_PIP" class="MPL" joint="thumb_PIP" ctrlrange="0 1.0"/>
|
||||
<position name="A_thumb_DIP" class="MPL" joint="thumb_DIP" ctrlrange="-0.82 1.3"/>
|
||||
|
||||
<!-- Fingers -->
|
||||
<position name="A_index_ABD" class="MPL" joint="index_ABD" ctrlrange="0 0.34"/>
|
||||
<position name="A_index_MCP" class="MPL" joint="index_MCP" ctrlrange="0 1.6"/>
|
||||
<position name="A_middle_MCP" class="MPL" joint="middle_MCP" ctrlrange="0 1.6"/>
|
||||
<position name="A_ring_MCP" class="MPL" joint="ring_MCP" ctrlrange="0 1.6"/>
|
||||
<position name="A_pinky_ABD" class="MPL" joint="pinky_ABD" ctrlrange="0 0.34"/>
|
||||
<position name="A_pinky_MCP" class="MPL" joint="pinky_MCP" ctrlrange="0 1.6"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
BIN
thirdparty/bullet/data/MPL/mesh/index0.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/index0.stl
vendored
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Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index0_collision.stl
vendored
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BIN
thirdparty/bullet/data/MPL/mesh/index0_collision.stl
vendored
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Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index1.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/index1.stl
vendored
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Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index1_collision.stl
vendored
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BIN
thirdparty/bullet/data/MPL/mesh/index1_collision.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index2.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/index2.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index2_collision.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/index2_collision.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index3.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/index3.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/index3_collision.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/index3_collision.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle0.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle0.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle0_collision.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle0_collision.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle1.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle1.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle1_collision.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle1_collision.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle2.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle2.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle2_collision.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle2_collision.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/MPL/mesh/middle3.stl
vendored
Normal file
BIN
thirdparty/bullet/data/MPL/mesh/middle3.stl
vendored
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thirdparty/bullet/data/MPL/mpl2.xml
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thirdparty/bullet/data/MPL/mpl2.xml
vendored
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@@ -0,0 +1,471 @@
|
||||
<mujoco model="MPL">
|
||||
<!--
|
||||
This file and the .stl mesh files referenced from it have been derived by Roboti LLC from the model of the Modular Prosthetic Limb developed by The Johns Hopkins University / Applied Physics Laboratory. The modifications are as follows: the original meshes have been replaced with their convex hulls; the original URDF model has been converted to the MJCF format and a number of MJCF-specific fields have been added.
|
||||
|
||||
The Johns Hopkins University / Applied Physics Laboratory has given Roboti LLC permission to distribute the modified model under the following license:
|
||||
|
||||
=========================
|
||||
|
||||
(C) 2013 The Johns Hopkins University / Applied Physics Laboratory All Rights Reserved.
|
||||
|
||||
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
|
||||
|
||||
http://www.apache.org/licenses/LICENSE-2.0
|
||||
|
||||
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
|
||||
|
||||
========================
|
||||
|
||||
The modifications made by Roboti LLC are also licensed under the Apache License version 2.0.
|
||||
-->
|
||||
|
||||
<compiler angle="radian" meshdir="mesh/" texturedir="texture/"/>
|
||||
<option timestep="0.002" iterations="50" apirate="50"/>
|
||||
<size njmax="600" nconmax="150" nstack="300000"/>
|
||||
|
||||
<default>
|
||||
<default class="MPL">
|
||||
<geom material="MatMesh" contype="1" conaffinity="1" condim="4" friction="1 .5 0.5" margin="0.001"/>
|
||||
<joint limited="true" damping="0.2" armature=".01"/>
|
||||
<site material="MatTouch" type="ellipsoid" group="3"/>
|
||||
<position ctrllimited="true" kp="10"/>
|
||||
</default>
|
||||
|
||||
<default class="IMU">
|
||||
<site material="MatIMU" type="box" group="4"/>
|
||||
</default>
|
||||
|
||||
<default class="free">
|
||||
<joint type="free" damping="0" armature="0" limited="false"/>
|
||||
</default>
|
||||
</default>
|
||||
|
||||
<statistic extent="1" center="0 -0.2 0.2"/>
|
||||
|
||||
<visual>
|
||||
<quality shadowsize="2048"/>
|
||||
<map fogstart="6" fogend="10"/>
|
||||
<headlight diffuse=".6 .6 .6" specular="0 0 0"/>
|
||||
</visual>
|
||||
|
||||
<asset>
|
||||
<mesh name="index0" file="index0_collision.stl"/>
|
||||
<mesh name="index1" file="index1_collision.stl"/>
|
||||
<mesh name="index2" file="index2_collision.stl"/>
|
||||
<mesh name="index3" file="index3_collision.stl"/>
|
||||
<mesh name="middle0" file="middle0_collision.stl"/>
|
||||
<mesh name="middle1" file="middle1_collision.stl"/>
|
||||
<mesh name="middle2" file="middle2_collision.stl"/>
|
||||
<mesh name="middle3" file="middle3_collision.stl"/>
|
||||
<mesh name="palm" file="palm_collision.stl"/>
|
||||
<mesh name="pinky0" file="pinky0_collision.stl"/>
|
||||
<mesh name="pinky1" file="pinky1_collision.stl"/>
|
||||
<mesh name="pinky2" file="pinky2_collision.stl"/>
|
||||
<mesh name="pinky3" file="pinky3_collision.stl"/>
|
||||
<mesh name="ring0" file="ring0_collision.stl"/>
|
||||
<mesh name="ring1" file="ring1_collision.stl"/>
|
||||
<mesh name="ring2" file="ring2_collision.stl"/>
|
||||
<mesh name="ring3" file="ring3_collision.stl"/>
|
||||
<mesh name="thumb0" file="thumb0_collision.stl"/>
|
||||
<mesh name="thumb1" file="thumb1_collision.stl"/>
|
||||
<mesh name="thumb2" file="thumb2_collision.stl"/>
|
||||
<mesh name="thumb3" file="thumb3_collision.stl"/>
|
||||
<mesh name="wristx" file="wristx_collision.stl"/>
|
||||
<mesh name="wristy" file="wristy_collision.stl"/>
|
||||
<mesh name="wristz" file="wristz_collision.stl"/>
|
||||
|
||||
<texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0"
|
||||
width="100" height="100"/>
|
||||
<texture name="groundplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3"
|
||||
width="100" height="100"/>
|
||||
<texture name="skin" type="cube" file="skin.png"/>
|
||||
<texture name="marble2d" type="2d" file="marble.png"/>
|
||||
<texture name="marblecube" type="cube" file="marble.png"/>
|
||||
|
||||
<material name="groundplane" texture="groundplane" texrepeat="10 10"/>
|
||||
<material name="table2d" texture="marble2d" reflectance="0.3" rgba=".8 .8 .8 1"/>
|
||||
<material name="tablecube" texture="marblecube" rgba=".8 .8 .8 1"/>
|
||||
<material name="MatTouch" rgba=".3 .9 .3 .3"/>
|
||||
<material name="MatIMU" rgba=".1 .1 .9 1"/>
|
||||
<material name="MatMesh" texture="skin"/>
|
||||
</asset>
|
||||
|
||||
<contact>
|
||||
<exclude body1="wristz" body2="wristy"/>
|
||||
<exclude body1="wristx" body2="thumb0"/>
|
||||
<exclude body1="palm" body2="thumb1"/>
|
||||
<exclude body1="palm" body2="index1"/>
|
||||
<exclude body1="palm" body2="middle1"/>
|
||||
<exclude body1="palm" body2="ring1"/>
|
||||
<exclude body1="palm" body2="pinky1"/>
|
||||
</contact>
|
||||
|
||||
<worldbody>
|
||||
|
||||
|
||||
<!-- ======= ROBOT ======= -->
|
||||
<body childclass="MPL" name="wristy" pos="0 0 0">
|
||||
<inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662" mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005" />
|
||||
<geom type="mesh" mesh="wristy"/>
|
||||
<joint type="free"/>
|
||||
<body name="wristx" pos="-3.36826e-005 -0.0476452 0.00203763">
|
||||
<inertial pos="0.00139174 -0.00975189 -0.00252668" quat="-0.0729226 0.705959 0.0352732 0.703605" mass="0.010691" diaginertia="5.04455e-006 4.25035e-006 3.25677e-006" />
|
||||
<joint name="wrist_UDEV" damping="0.4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.261 0.785"/>
|
||||
<geom type="mesh" mesh="wristx"/>
|
||||
<body name="wristz" pos="0.0001872 -0.03 -0.002094">
|
||||
<inertial pos="0.000579016 -0.00125952 0.000455968" quat="0.527723 0.475346 0.521597 0.472749" mass="0.00602247" diaginertia="1.58133e-006 1.43102e-006 1.26861e-006" />
|
||||
<joint name="wrist_FLEX" damping="0.4" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.04 1.04"/>
|
||||
<geom type="mesh" mesh="wristz"/>
|
||||
|
||||
<!-- ======= PALM ======= -->
|
||||
<body name="palm" pos="0.025625 0 0">
|
||||
<inertial pos="-0.0217876 -0.0376147 0.00276997" quat="-0.146373 0.723094 0.0985561 0.66783" mass="0.119867" diaginertia="0.000123088 0.000100082 6.89467e-005" />
|
||||
<geom type="mesh" mesh="palm"/>
|
||||
<site name="palm_thumb" pos="-0.0052 -0.0438 -0.0182" size=".017 .03 .01"/>
|
||||
<site name="palm_pinky" pos="-0.0358 -0.0401 -0.0183" size=".017 .03 .01"/>
|
||||
<site name="palm_side" pos="-0.0604 -0.0329 -0.0048" size=".01 .03 .015"/>
|
||||
<site name="palm_back" pos="-0.0246 -0.0446 0.018" size=".03 .035 .015"/>
|
||||
|
||||
<!-- ======= THUMB ======= -->
|
||||
<body name="thumb0" pos="0.00835752 -0.0206978 -0.010093" quat="0.990237 0.0412644 -0.0209178 -0.13149">
|
||||
<inertial pos="0.00863339 -0.000156884 -0.000945846" quat="0.408795 0.551643 0.541079 0.485602" mass="0.00336696" diaginertia="4.50769e-007 4.48758e-007 2.35017e-007" />
|
||||
<joint name="thumb_ABD" type="hinge" pos="0 0 0" axis="0 1 0" range="0 2.07"/>
|
||||
<geom type="mesh" mesh="thumb0"/>
|
||||
<body name="thumb1" pos="0.0209172 -0.00084 0.0014476">
|
||||
<inertial pos="0.019024 0.000361131 -0.000186763" quat="0.5208 0.469572 0.484571 0.522934" mass="0.00596213" diaginertia="9.88001e-007 9.45125e-007 5.32989e-007" />
|
||||
<joint name="thumb_MCP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
|
||||
<geom type="mesh" mesh="thumb1"/>
|
||||
<site name="thumb_proximal" pos="0.0173 -0.008 0.0009" size=".015 .0075 .01"/>
|
||||
<body name="thumb2" pos="0.0335 0 -0.0007426">
|
||||
<inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
|
||||
<joint name="thumb_PIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
|
||||
<geom type="mesh" mesh="thumb2"/>
|
||||
<site name="thumb_medial" pos="0.0182 -0.008 0.0015" size=".015 .0075 .01"/>
|
||||
<body name="thumb3" pos="0.0335 0 0.0010854">
|
||||
<inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
|
||||
<joint name="thumb_DIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.819 1.28"/>
|
||||
<geom type="mesh" mesh="thumb3"/>
|
||||
<site name="thumb_distal" pos="0.0156 -0.007 0.0003" size=".015 .0075 .01" axisangle="0 0 1 0.2"/>
|
||||
<site class="IMU" name="thumb_IMU" pos="0.0099 -0.00052 0" quat=".5 .5 .5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= INDEX ======= -->
|
||||
<body name="index0" pos="0.00986485 -0.0658 0.00101221" quat="0.996195 0 0.0871557 0">
|
||||
<inertial pos="-0.000142572 -0.00548494 0.000206145" quat="0.699132 0.714861 -0.000723869 0.013694" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
|
||||
<joint name="index_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
|
||||
<geom type="mesh" mesh="index0"/>
|
||||
<body name="index1" pos="6.26e-005 -0.018 0">
|
||||
<inertial pos="0.000406487 -0.0213125 0.000655609" quat="0.698452 0.715642 -0.00415384 0.0023049" mass="0.00478235" diaginertia="8.18599e-007 7.95693e-007 3.06254e-007" />
|
||||
<joint name="index_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="index1"/>
|
||||
<site name="index_proximal" pos="0 -0.0235 -0.007" size=".009 .015 .0075"/>
|
||||
<body name="index2" pos="0.001086 -0.0435 0.0005">
|
||||
<inertial pos="-0.000841462 -0.012689 0.000572665" quat="0.734882 0.677481 -0.028511 0.0124827" mass="0.00344764" diaginertia="3.63962e-007 3.59059e-007 1.05304e-007" />
|
||||
<joint name="index_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
|
||||
<geom type="mesh" mesh="index2"/>
|
||||
<site name="index_medial" pos="0 -0.009 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="index3" pos="-0.000635 -0.0245 0">
|
||||
<inertial pos="4.32004e-005 -0.0125318 0.000903476" quat="0.516251 0.4829 -0.483241 0.516498" mass="0.00274415" diaginertia="1.19635e-007 1.09202e-007 7.77873e-008" />
|
||||
<joint name="index_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="index3"/>
|
||||
<site name="index_distal" pos="0 -0.0132 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="index_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= MIDDLE ======= -->
|
||||
<body name="middle0" pos="-0.012814 -0.0779014 0.00544608" quat="-3.14 0.0436194 0 0">
|
||||
<inertial pos="-0.000142567 -0.00548493 0.000206162" quat="0.699131 0.714862 -0.000723874 0.013694" mass="0.00295579" diaginertia="4.22461e-007 4.02281e-007 1.93868e-007" />
|
||||
<!--<joint name="middle0" type="hinge" pos="0 0 0" range="-0.345 0" axis="0 0 -1" />-->
|
||||
<geom type="mesh" mesh="middle0"/>
|
||||
<body name="middle1" pos="6.26e-005 -0.018 0">
|
||||
<inertial pos="0.000406411 -0.0213125 0.00065565" quat="0.698451 0.715642 -0.00415503 0.00230486" mass="0.00478229" diaginertia="8.18595e-007 7.9569e-007 3.06253e-007" />
|
||||
<joint name="middle_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="middle1"/>
|
||||
<site name="middle_proximal" pos="0 -0.025 -0.007" size=".009 .015 .0075"/>
|
||||
<body name="middle2" pos="0.001086 -0.0435 0.0005">
|
||||
<inertial pos="-0.000841444 -0.012689 0.00057266" quat="0.734883 0.677482 -0.0284727 0.0124412" mass="0.00344765" diaginertia="3.63962e-007 3.5906e-007 1.05304e-007" />
|
||||
<joint name="middle_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.73"/>
|
||||
<geom type="mesh" mesh="middle2"/>
|
||||
<site name="middle_medial" pos="0 -0.0146 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="middle3" pos="-0.000635 -0.0245 0">
|
||||
<inertial pos="4.31236e-005 -0.0125318 0.000903446" quat="0.516263 0.482913 -0.483228 0.516487" mass="0.00274417" diaginertia="1.19635e-007 1.09202e-007 7.77884e-008" />
|
||||
<joint name="middle_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="middle3"/>
|
||||
<site name="middle_distal" pos="0 -0.0129 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="middle_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= RING ======= -->
|
||||
<body name="ring0" pos="-0.0354928 -0.0666999 0.00151221" quat="0.996195 0 -0.0871557 0">
|
||||
<inertial pos="-0.000142559 -0.00548494 0.000206147" quat="0.699132 0.714861 -0.000720946 0.013691" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
|
||||
<joint name="ring_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
|
||||
<geom type="mesh" mesh="ring0"/>
|
||||
<body name="ring1" pos="6.26e-005 -0.018 0">
|
||||
<inertial pos="0.000406447 -0.0213125 0.00065563" quat="0.698451 0.715642 -0.00415675 0.00230715" mass="0.00478232" diaginertia="8.18597e-007 7.95692e-007 3.06254e-007" />
|
||||
<joint name="ring_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="ring1"/>
|
||||
<site name="ring_proximal" pos="0 -0.0259 -0.007" size=".009 .015 .0075"/>
|
||||
<body name="ring2" pos="0.001086 -0.0435 0.0005">
|
||||
<inertial pos="-0.000841518 -0.012689 0.000572674" quat="0.73488 0.677478 -0.0285773 0.0125557" mass="0.00344767" diaginertia="3.63963e-007 3.59061e-007 1.05305e-007" />
|
||||
<joint name="ring_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
|
||||
<geom type="mesh" mesh="ring2"/>
|
||||
<site name="ring_medial" pos="0 -0.0137 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="ring3" pos="-0.000635 -0.0245 0">
|
||||
<inertial pos="4.31973e-005 -0.0125318 0.000903457" quat="0.516255 0.482902 -0.483238 0.516495" mass="0.00274416" diaginertia="1.19635e-007 1.09202e-007 7.77877e-008" />
|
||||
<joint name="ring_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="ring3"/>
|
||||
<site name="ring_distal" pos="0 -0.0117 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="ring_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
<!-- ======= LITTLE ======= -->
|
||||
<body name="pinky0" pos="-0.0562459 -0.0554001 -0.00563858" quat="0.996195 0 -0.0871557 0">
|
||||
<inertial pos="-0.000142559 -0.00538484 0.000206147" quat="0.699132 0.714861 -0.000721037 0.0136911" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
|
||||
<joint name="pinky_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
|
||||
<geom type="mesh" mesh="pinky0"/>
|
||||
<body name="pinky1" pos="6.26e-005 -0.0178999 0">
|
||||
<inertial pos="0.000458624 -0.0160478 0.000924735" quat="0.685529 0.72723 0.021252 -0.0270914" mass="0.0034099" diaginertia="4.03391e-007 3.84061e-007 2.19866e-007" />
|
||||
<joint name="pinky_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
|
||||
<geom type="mesh" mesh="pinky1"/>
|
||||
<site name="pinky_proximal" pos="0 -0.021 -0.0066" size=".009 .013 .0075"/>
|
||||
<body name="pinky2" pos="0.000578 -0.033 0.0005">
|
||||
<inertial pos="-0.000270832 -0.00914628 0.000738493" quat="0.746786 0.664476 -4.11065e-005 -0.0279675" mass="0.00250622" diaginertia="1.79089e-007 1.75934e-007 7.44543e-008" />
|
||||
<joint name="pinky_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
|
||||
<geom type="mesh" mesh="pinky2"/>
|
||||
<site name="pinky_medial" pos="0 -0.0117 -0.0047" size=".0075 .01 .006"/>
|
||||
<body name="pinky3" pos="-4.78e-005 -0.0175 0">
|
||||
<inertial pos="3.85026e-005 -0.0125047 0.000912295" quat="0.516037 0.484447 -0.483043 0.515448" mass="0.00273265" diaginertia="1.19141e-007 1.08629e-007 7.77271e-008" />
|
||||
<joint name="pinky_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
|
||||
<geom type="mesh" mesh="pinky3"/>
|
||||
<site name="pinky_distal" pos="0 -0.0121 -0.0038" size=".0075 .01 .006"/>
|
||||
<site class="IMU" name="pinky_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
|
||||
</worldbody>
|
||||
|
||||
|
||||
<sensor>
|
||||
<jointpos name="Sjp_wrist_PRO" joint="wrist_PRO"/>
|
||||
<jointpos name="Sjp_wrist_UDEV" joint="wrist_UDEV"/>
|
||||
<jointpos name="Sjp_wrist_FLEX" joint="wrist_FLEX"/>
|
||||
<jointpos name="Sjp_thumb_ABD" joint="thumb_ABD"/>
|
||||
<jointpos name="Sjp_thumb_MCP" joint="thumb_MCP"/>
|
||||
<jointpos name="Sjp_thumb_PIP" joint="thumb_PIP"/>
|
||||
<jointpos name="Sjp_thumb_DIP" joint="thumb_DIP"/>
|
||||
<jointpos name="Sjp_index_ABD" joint="index_ABD"/>
|
||||
<jointpos name="Sjp_index_MCP" joint="index_MCP"/>
|
||||
<jointpos name="Sjp_index_PIP" joint="index_PIP"/>
|
||||
<jointpos name="Sjp_index_DIP" joint="index_DIP"/>
|
||||
<jointpos name="Sjp_middle_MCP" joint="middle_MCP"/>
|
||||
<jointpos name="Sjp_middle_PIP" joint="middle_PIP"/>
|
||||
<jointpos name="Sjp_middle_DIP" joint="middle_DIP"/>
|
||||
<jointpos name="Sjp_ring_ABD" joint="ring_ABD"/>
|
||||
<jointpos name="Sjp_ring_MCP" joint="ring_MCP"/>
|
||||
<jointpos name="Sjp_ring_PIP" joint="ring_PIP"/>
|
||||
<jointpos name="Sjp_ring_DIP" joint="ring_DIP"/>
|
||||
<jointpos name="Sjp_pinky_ABD" joint="pinky_ABD"/>
|
||||
<jointpos name="Sjp_pinky_MCP" joint="pinky_MCP"/>
|
||||
<jointpos name="Sjp_pinky_PIP" joint="pinky_PIP"/>
|
||||
<jointpos name="Sjp_pinky_DIP" joint="pinky_DIP"/>
|
||||
|
||||
<jointvel name="Sjv_wrist_PRO" joint="wrist_PRO"/>
|
||||
<jointvel name="Sjv_wrist_UDEV" joint="wrist_UDEV"/>
|
||||
<jointvel name="Sjv_wrist_FLEX" joint="wrist_FLEX"/>
|
||||
<jointvel name="Sjv_thumb_ABD" joint="thumb_ABD"/>
|
||||
<jointvel name="Sjv_thumb_MCP" joint="thumb_MCP"/>
|
||||
<jointvel name="Sjv_thumb_PIP" joint="thumb_PIP"/>
|
||||
<jointvel name="Sjv_thumb_DIP" joint="thumb_DIP"/>
|
||||
<jointvel name="Sjv_index_ABD" joint="index_ABD"/>
|
||||
<jointvel name="Sjv_index_MCP" joint="index_MCP"/>
|
||||
<jointvel name="Sjv_index_PIP" joint="index_PIP"/>
|
||||
<jointvel name="Sjv_index_DIP" joint="index_DIP"/>
|
||||
<jointvel name="Sjv_middle_MCP" joint="middle_MCP"/>
|
||||
<jointvel name="Sjv_middle_PIP" joint="middle_PIP"/>
|
||||
<jointvel name="Sjv_middle_DIP" joint="middle_DIP"/>
|
||||
<jointvel name="Sjv_ring_ABD" joint="ring_ABD"/>
|
||||
<jointvel name="Sjv_ring_MCP" joint="ring_MCP"/>
|
||||
<jointvel name="Sjv_ring_PIP" joint="ring_PIP"/>
|
||||
<jointvel name="Sjv_ring_DIP" joint="ring_DIP"/>
|
||||
<jointvel name="Sjv_pinky_ABD" joint="pinky_ABD"/>
|
||||
<jointvel name="Sjv_pinky_MCP" joint="pinky_MCP"/>
|
||||
<jointvel name="Sjv_pinky_PIP" joint="pinky_PIP"/>
|
||||
<jointvel name="Sjv_pinky_DIP" joint="pinky_DIP"/>
|
||||
|
||||
<actuatorpos name="Sap_wrist_PRO" actuator="A_wrist_PRO" />
|
||||
<actuatorpos name="Sap_wrist_UDEV" actuator="A_wrist_UDEV" />
|
||||
<actuatorpos name="Sap_wrist_FLEX" actuator="A_wrist_FLEX" />
|
||||
<actuatorpos name="Sap_thumb_ABD" actuator="A_thumb_ABD" />
|
||||
<actuatorpos name="Sap_thumb_MCP" actuator="A_thumb_MCP" />
|
||||
<actuatorpos name="Sap_thumb_PIP" actuator="A_thumb_PIP" />
|
||||
<actuatorpos name="Sap_thumb_DIP" actuator="A_thumb_DIP" />
|
||||
<actuatorpos name="Sap_index_ABD" actuator="A_index_ABD" />
|
||||
<actuatorpos name="Sap_index_MCP" actuator="A_index_MCP" />
|
||||
<actuatorpos name="Sap_middle_MCP" actuator="A_middle_MCP"/>
|
||||
<actuatorpos name="Sap_ring_MCP" actuator="A_ring_MCP" />
|
||||
<actuatorpos name="Sap_pinky_ABD" actuator="A_pinky_ABD" />
|
||||
<actuatorpos name="Sap_pinky_MCP" actuator="A_pinky_MCP" />
|
||||
|
||||
<actuatorvel name="Sav_wrist_PRO" actuator="A_wrist_PRO" />
|
||||
<actuatorvel name="Sav_wrist_UDEV" actuator="A_wrist_UDEV"/>
|
||||
<actuatorvel name="Sav_wrist_FLEX" actuator="A_wrist_FLEX"/>
|
||||
<actuatorvel name="Sav_thumb_ABD" actuator="A_thumb_ABD" />
|
||||
<actuatorvel name="Sav_thumb_MCP" actuator="A_thumb_MCP" />
|
||||
<actuatorvel name="Sav_thumb_PIP" actuator="A_thumb_PIP" />
|
||||
<actuatorvel name="Sav_thumb_DIP" actuator="A_thumb_DIP" />
|
||||
<actuatorvel name="Sav_index_ABD" actuator="A_index_ABD" />
|
||||
<actuatorvel name="Sav_index_MCP" actuator="A_index_MCP" />
|
||||
<actuatorvel name="Sav_middle_MCP" actuator="A_middle_MCP"/>
|
||||
<actuatorvel name="Sav_ring_MCP" actuator="A_ring_MCP" />
|
||||
<actuatorvel name="Sav_pinky_ABD" actuator="A_pinky_ABD" />
|
||||
<actuatorvel name="Sav_pinky_MCP" actuator="A_pinky_MCP" />
|
||||
|
||||
<actuatorfrc name="Saf_wrist_PRO" actuator="A_wrist_PRO"/>
|
||||
<actuatorfrc name="Saf_wrist_UDEV" actuator="A_wrist_UDEV"/>
|
||||
<actuatorfrc name="Saf_wrist_FLEX" actuator="A_wrist_FLEX"/>
|
||||
<actuatorfrc name="Saf_thumb_ABD" actuator="A_thumb_ABD"/>
|
||||
<actuatorfrc name="Saf_thumb_MCP" actuator="A_thumb_MCP"/>
|
||||
<actuatorfrc name="Saf_thumb_PIP" actuator="A_thumb_PIP"/>
|
||||
<actuatorfrc name="Saf_thumb_DIP" actuator="A_thumb_DIP"/>
|
||||
<actuatorfrc name="Saf_index_ABD" actuator="A_index_ABD"/>
|
||||
<actuatorfrc name="Saf_index_MCP" actuator="A_index_MCP"/>
|
||||
<actuatorfrc name="Saf_middle_MCP" actuator="A_middle_MCP"/>
|
||||
<actuatorfrc name="Saf_ring_MCP" actuator="A_ring_MCP"/>
|
||||
<actuatorfrc name="Saf_pinky_ABD" actuator="A_pinky_ABD"/>
|
||||
<actuatorfrc name="Saf_pinky_MCP" actuator="A_pinky_MCP"/>
|
||||
|
||||
<accelerometer name="S_thumb_IMU" site="thumb_IMU"/>
|
||||
<accelerometer name="S_index_IMU" site="index_IMU"/>
|
||||
<accelerometer name="S_middle_IMU" site="middle_IMU"/>
|
||||
<accelerometer name="S_ring_IMU" site="ring_IMU"/>
|
||||
<accelerometer name="S_pinky_IMU" site="pinky_IMU"/>
|
||||
|
||||
<gyro site="thumb_IMU"/>
|
||||
<gyro site="index_IMU"/>
|
||||
<gyro site="middle_IMU"/>
|
||||
<gyro site="ring_IMU"/>
|
||||
<gyro site="pinky_IMU"/>
|
||||
|
||||
<touch name="S_palm_thumb" site="palm_thumb"/>
|
||||
<touch name="S_palm_pinky" site="palm_pinky"/>
|
||||
<touch name="S_palm_side" site="palm_side"/>
|
||||
<touch name="S_palm_back" site="palm_back"/>
|
||||
<touch name="S_thumb_proximal" site="thumb_proximal"/>
|
||||
<touch name="S_thumb_medial" site="thumb_medial"/>
|
||||
<touch name="S_thumb_distal" site="thumb_distal"/>
|
||||
<touch name="S_index_proximal" site="index_proximal"/>
|
||||
<touch name="S_index_medial" site="index_medial"/>
|
||||
<touch name="S_index_distal" site="index_distal"/>
|
||||
<touch name="S_middle_proximal" site="middle_proximal"/>
|
||||
<touch name="S_middle_medial" site="middle_medial"/>
|
||||
<touch name="S_middle_distal" site="middle_distal"/>
|
||||
<touch name="S_ring_proximal" site="ring_proximal"/>
|
||||
<touch name="S_ring_medial" site="ring_medial"/>
|
||||
<touch name="S_ring_distal" site="ring_distal"/>
|
||||
<touch name="S_pinky_proximal" site="pinky_proximal"/>
|
||||
<touch name="S_pinky_medial" site="pinky_medial"/>
|
||||
<touch name="S_pinky_distal" site="pinky_distal"/>
|
||||
</sensor>
|
||||
|
||||
|
||||
<tendon>
|
||||
<!--Index coupler tendons-->
|
||||
<fixed name="T_index32_cpl" range="0 1">
|
||||
<joint joint="index_DIP" coef="0.00705"/>
|
||||
<joint joint="index_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_index21_cpl" range="0 1">
|
||||
<joint joint="index_PIP" coef="0.010"/>
|
||||
<joint joint="index_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
<!--Middle coupler tendons-->
|
||||
<fixed name="T_middle32_cpl">
|
||||
<joint joint="middle_DIP" coef="0.00705"/>
|
||||
<joint joint="middle_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_middle21_cpl">
|
||||
<joint joint="middle_PIP" coef="0.010"/>
|
||||
<joint joint="middle_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
<!--Ring coupler tendons-->
|
||||
<fixed name="T_ring32_cpl">
|
||||
<joint joint="ring_DIP" coef="0.00705"/>
|
||||
<joint joint="ring_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_ring21_cpl">
|
||||
<joint joint="ring_PIP" coef="0.010"/>
|
||||
<joint joint="ring_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
<!--Little coupler tendons-->
|
||||
<fixed name="T_pinky32_cpl">
|
||||
<joint joint="pinky_DIP" coef="0.00705"/>
|
||||
<joint joint="pinky_PIP" coef="-0.00805"/>
|
||||
</fixed>
|
||||
<fixed name="T_pinky21_cpl">
|
||||
<joint joint="pinky_PIP" coef="0.010"/>
|
||||
<joint joint="pinky_MCP" coef="-0.010"/>
|
||||
</fixed>
|
||||
|
||||
</tendon>
|
||||
|
||||
|
||||
<equality>
|
||||
<weld body1="mocap" body2="forearm" solref="0.01 1" solimp=".9 .9 0.01"/>
|
||||
|
||||
<!-- DIP-PIP-MCP Couplings -->
|
||||
<tendon name="E_index32_cpl" tendon1="T_index32_cpl"/>
|
||||
<tendon name="E_index21_cpl" tendon1="T_index21_cpl"/>
|
||||
<tendon name="E_middle32_cpl" tendon1="T_middle32_cpl"/>
|
||||
<tendon name="E_middle21_cpl" tendon1="T_middle21_cpl"/>
|
||||
<tendon name="E_ring32_cpl" tendon1="T_ring32_cpl"/>
|
||||
<tendon name="E_ring21_cpl" tendon1="T_ring21_cpl"/>
|
||||
<tendon name="E_pinky32_cpl" tendon1="T_pinky32_cpl"/>
|
||||
<tendon name="E_pinky21_cpl" tendon1="T_pinky21_cpl"/>
|
||||
|
||||
<!-- AD-AB Coupling -->
|
||||
<joint name="ring_pinky_cpl" joint1="ring_ABD" joint2="pinky_ABD" polycoef="0 0.5 0 0 0"/>
|
||||
</equality>
|
||||
|
||||
|
||||
<actuator>
|
||||
<!-- Wrist -->
|
||||
<position name="A_wrist_PRO" class="MPL" joint="wrist_PRO" ctrlrange="-1.57 1.57"/>
|
||||
<position name="A_wrist_UDEV" class="MPL" joint="wrist_UDEV" ctrlrange="-0.26 0.79"/>
|
||||
<position name="A_wrist_FLEX" class="MPL" joint="wrist_FLEX" ctrlrange="-1 1"/>
|
||||
|
||||
<!-- Thumb -->
|
||||
<position name="A_thumb_ABD" class="MPL" joint="thumb_ABD" ctrlrange="0 2.1"/>
|
||||
<position name="A_thumb_MCP" class="MPL" joint="thumb_MCP" ctrlrange="0 1.0"/>
|
||||
<position name="A_thumb_PIP" class="MPL" joint="thumb_PIP" ctrlrange="0 1.0"/>
|
||||
<position name="A_thumb_DIP" class="MPL" joint="thumb_DIP" ctrlrange="-0.82 1.3"/>
|
||||
|
||||
<!-- Fingers -->
|
||||
<position name="A_index_ABD" class="MPL" joint="index_ABD" ctrlrange="0 0.34"/>
|
||||
<position name="A_index_MCP" class="MPL" joint="index_MCP" ctrlrange="0 1.6"/>
|
||||
<position name="A_middle_MCP" class="MPL" joint="middle_MCP" ctrlrange="0 1.6"/>
|
||||
<position name="A_ring_MCP" class="MPL" joint="ring_MCP" ctrlrange="0 1.6"/>
|
||||
<position name="A_pinky_ABD" class="MPL" joint="pinky_ABD" ctrlrange="0 0.34"/>
|
||||
<position name="A_pinky_MCP" class="MPL" joint="pinky_MCP" ctrlrange="0 1.6"/>
|
||||
</actuator>
|
||||
</mujoco>
|
||||
485
thirdparty/bullet/data/Pendulum_Tendon_1_Cart_Rail.urdf
vendored
Normal file
485
thirdparty/bullet/data/Pendulum_Tendon_1_Cart_Rail.urdf
vendored
Normal file
@@ -0,0 +1,485 @@
|
||||
<?xml version="1.0"?>
|
||||
<!--https://valerolab.org/-->
|
||||
<!--
|
||||
Code used for PID control of an inverted pendulum actuated by strings.
|
||||
-->
|
||||
<robot name="myfirst">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
<material name="other">
|
||||
<color rgba="1 0 0.8 1"/>
|
||||
</material>
|
||||
<velocity name="vel">
|
||||
<speed spd="50"/>
|
||||
</velocity>
|
||||
|
||||
|
||||
<link name="Rail">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="4" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="4" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="100"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="slider">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.1 0.6 0.3"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.1 0.6 0.3"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="100"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="rail_slider" type="prismatic">
|
||||
<axis xyz="0 1 0"/>
|
||||
<parent link="Rail"/>
|
||||
<child link="slider"/>
|
||||
<limit effort="0" lower="-2" upper="2" velocity="25"/>
|
||||
<origin rpy="-1.570796 0 0" xyz="0 0 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="cart">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.1 0.6 0.3"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.1 0.6 0.3"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="100"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="slider_cart" type="fixed">
|
||||
<parent link="slider"/>
|
||||
<child link="cart"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.3"/>
|
||||
</joint>
|
||||
<!--*****************************************-->
|
||||
|
||||
<link name="pendulumAxis">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 .1"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="cart_pendulumAxis" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="cart"/>
|
||||
<child link="pendulumAxis"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="205"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 .21"/>
|
||||
</joint>
|
||||
|
||||
<link name="pendulum">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.1 2 .1"/>
|
||||
</geometry>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.1 2 .1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="1"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="pendulumAxis_pendulum" type="fixed">
|
||||
<parent link="pendulumAxis"/>
|
||||
<child link="pendulum"/>
|
||||
<origin rpy="0 0 1.570796" xyz="1 0 0"/>
|
||||
</joint>
|
||||
|
||||
<!--*****************************************-->
|
||||
<link name="tendon1_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="cart_tendon1_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="cart"/>
|
||||
<child link="tendon1_1"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .55 0"/>
|
||||
</joint>
|
||||
|
||||
<link name="tendon1_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_1_tendon1_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_1"/>
|
||||
<child link="tendon1_2"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_3">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_2_tendon1_3" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_2"/>
|
||||
<child link="tendon1_3"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_4">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_3_tendon1_4" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_3"/>
|
||||
<child link="tendon1_4"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_5">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_4_tendon1_5" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_4"/>
|
||||
<child link="tendon1_5"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_6">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_5_tendon1_6" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_5"/>
|
||||
<child link="tendon1_6"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_7">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_6_tendon1_7" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_6"/>
|
||||
<child link="tendon1_7"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_8">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_7_tendon1_8" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_7"/>
|
||||
<child link="tendon1_8"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_9">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_8_tendon1_9" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_8"/>
|
||||
<child link="tendon1_9"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_10">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_9_tendon1_10" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_9"/>
|
||||
<child link="tendon1_10"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_11">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_10_tendon1_11" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_10"/>
|
||||
<child link="tendon1_11"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_12">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_11_tendon1_12" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_11"/>
|
||||
<child link="tendon1_12"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_13">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="other"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_12_tendon1_13" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_12"/>
|
||||
<child link="tendon1_13"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
<link name="tendon1_14">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="0" ixy="0.0" ixz="0.0" iyy="0" iyz="0.0" izz="0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="tendon1_13_tendon1_14" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<parent link="tendon1_13"/>
|
||||
<child link="tendon1_14"/>
|
||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz="0 .2 0"/>
|
||||
</joint>
|
||||
|
||||
<!---->
|
||||
</robot>
|
||||
14
thirdparty/bullet/data/Quadrotor/LICENSE.txt
vendored
Normal file
14
thirdparty/bullet/data/Quadrotor/LICENSE.txt
vendored
Normal file
@@ -0,0 +1,14 @@
|
||||
URDF created by Erwin Coumans
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
62
thirdparty/bullet/data/Quadrotor/quadrotor.urdf
vendored
Normal file
62
thirdparty/bullet/data/Quadrotor/quadrotor.urdf
vendored
Normal file
@@ -0,0 +1,62 @@
|
||||
<?xml version="1.0" ?>
|
||||
|
||||
<!-- adapted from Daniel Mellinger, Nathan Michael, Vijay Kumar, "Trajectory Generation and Control for Precise Aggressive Maneuvers with Quadrotors" -->
|
||||
|
||||
<robot xmlns="http://drake.mit.edu"
|
||||
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
|
||||
xsi:schemaLocation="http://drake.mit.edu ../../../../pods/drake/doc/drakeURDF.xsd" name="quadrotor">
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.0023" ixy="0.0" ixz="0.0" iyy="0.0023" iyz="0.0" izz="0.004"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="quadrotor_base.obj" scale=".1 .1 .1"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<!-- note: the original hector quadrotor urdf had a (simplified, but still complex) collision mesh, too -->
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<cylinder radius=".3" length=".1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<frame link="base_link" name="body" rpy="0 0 0" xyz="0 0 0" />
|
||||
<force_element name="prop1">
|
||||
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
|
||||
<parent link="base_link"/>
|
||||
<origin xyz=".1750 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</propellor>
|
||||
</force_element>
|
||||
|
||||
<force_element name="prop2">
|
||||
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
|
||||
<parent link="base_link"/>
|
||||
<origin xyz="0 .1750 0 "/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</propellor>
|
||||
</force_element>
|
||||
|
||||
<force_element name="prop3">
|
||||
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="0.0245">
|
||||
<parent link="base_link"/>
|
||||
<origin xyz="-.1750 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</propellor>
|
||||
</force_element>
|
||||
|
||||
<force_element name="prop4">
|
||||
<propellor lower_limit="0" upper_limit="10" scale_factor_thrust="1.0" scale_factor_moment="-0.0245">
|
||||
<parent link="base_link"/>
|
||||
<origin xyz="0 -.1750 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
</propellor>
|
||||
</force_element>
|
||||
|
||||
</robot>
|
||||
|
||||
1696
thirdparty/bullet/data/Quadrotor/quadrotor_base.obj
vendored
Normal file
1696
thirdparty/bullet/data/Quadrotor/quadrotor_base.obj
vendored
Normal file
File diff suppressed because it is too large
Load Diff
182
thirdparty/bullet/data/TwoJointRobot_w_fixedJoints.urdf
vendored
Normal file
182
thirdparty/bullet/data/TwoJointRobot_w_fixedJoints.urdf
vendored
Normal file
@@ -0,0 +1,182 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from TwoJointRobot.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_01_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_12_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_21_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_23_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="link_01" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="link_01_cyl"/>
|
||||
<child link="link_1"/>
|
||||
</joint>
|
||||
<joint name="link_12" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="1.0 0 0"/>
|
||||
<parent link="link_1"/>
|
||||
<child link="link_12_cyl"/>
|
||||
</joint>
|
||||
<joint name="link_21" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<parent link="link_21_cyl"/>
|
||||
<child link="link_2"/>
|
||||
</joint>
|
||||
<joint name="link_23" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="1.0 0 0"/>
|
||||
<parent link="link_2"/>
|
||||
<child link="link_23_cyl"/>
|
||||
</joint>
|
||||
<joint name="joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.075"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="link_01_cyl"/>
|
||||
</joint>
|
||||
<joint name="joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
|
||||
<parent link="link_12_cyl"/>
|
||||
<child link="link_21_cyl"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
110
thirdparty/bullet/data/TwoJointRobot_wo_fixedJoints.urdf
vendored
Normal file
110
thirdparty/bullet/data/TwoJointRobot_wo_fixedJoints.urdf
vendored
Normal file
@@ -0,0 +1,110 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!-- =================================================================================== -->
|
||||
<!-- | This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro | -->
|
||||
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||
<!-- =================================================================================== -->
|
||||
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
<material name="blue">
|
||||
<color rgba="0 0 0.8 1"/>
|
||||
</material>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.025"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_23_cyl">
|
||||
<visual>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.075"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.2"/>
|
||||
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_1">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="blue"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<link name="link_2">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
<material name="white"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="1.0 0.1 0.05"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0.5 0 0"/>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="0.5"/>
|
||||
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="joint_1" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.075"/>
|
||||
<parent link="base_link"/>
|
||||
<child link="link_1"/>
|
||||
</joint>
|
||||
<joint name="joint_2" type="revolute">
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
|
||||
<dynamics damping="0" friction="0"/>
|
||||
<origin rpy="0 0 0" xyz="1.0 0. 0.05"/>
|
||||
<parent link="link_1"/>
|
||||
<child link="link_2"/>
|
||||
</joint>
|
||||
<joint name="link_23" type="fixed">
|
||||
<origin rpy="0 0 0" xyz="1.0 0 0"/>
|
||||
<parent link="link_2"/>
|
||||
<child link="link_23_cyl"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
11
thirdparty/bullet/data/ball.mtl
vendored
Normal file
11
thirdparty/bullet/data/ball.mtl
vendored
Normal file
@@ -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 uvmap.png
|
||||
1722
thirdparty/bullet/data/ball.obj
vendored
Normal file
1722
thirdparty/bullet/data/ball.obj
vendored
Normal file
File diff suppressed because it is too large
Load Diff
5681
thirdparty/bullet/data/ball.vtk
vendored
Normal file
5681
thirdparty/bullet/data/ball.vtk
vendored
Normal file
File diff suppressed because it is too large
Load Diff
11
thirdparty/bullet/data/banana.mtl
vendored
Normal file
11
thirdparty/bullet/data/banana.mtl
vendored
Normal file
@@ -0,0 +1,11 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
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||||
Ns 0
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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 banana.png
|
||||
3310
thirdparty/bullet/data/banana.obj
vendored
Normal file
3310
thirdparty/bullet/data/banana.obj
vendored
Normal file
File diff suppressed because it is too large
Load Diff
BIN
thirdparty/bullet/data/banana.png
vendored
Normal file
BIN
thirdparty/bullet/data/banana.png
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 114 KiB |
5524
thirdparty/bullet/data/banana.vtk
vendored
Normal file
5524
thirdparty/bullet/data/banana.vtk
vendored
Normal file
File diff suppressed because it is too large
Load Diff
29
thirdparty/bullet/data/block.urdf
vendored
Normal file
29
thirdparty/bullet/data/block.urdf
vendored
Normal file
@@ -0,0 +1,29 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="block_2">
|
||||
<link name="block_2_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value=".001"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.02"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
<material name="blockmat">
|
||||
<color rgba="0.1 0.7 0.1 1"/>
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||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
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<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
5457
thirdparty/bullet/data/boot.vtk
vendored
Normal file
5457
thirdparty/bullet/data/boot.vtk
vendored
Normal file
File diff suppressed because it is too large
Load Diff
5459
thirdparty/bullet/data/bread.vtk
vendored
Normal file
5459
thirdparty/bullet/data/bread.vtk
vendored
Normal file
File diff suppressed because it is too large
Load Diff
BIN
thirdparty/bullet/data/bullet_logo.png
vendored
Normal file
BIN
thirdparty/bullet/data/bullet_logo.png
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 3.8 KiB |
1360
thirdparty/bullet/data/bunny.obj
vendored
Normal file
1360
thirdparty/bullet/data/bunny.obj
vendored
Normal file
File diff suppressed because it is too large
Load Diff
23
thirdparty/bullet/data/capsule.urdf
vendored
Normal file
23
thirdparty/bullet/data/capsule.urdf
vendored
Normal file
@@ -0,0 +1,23 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="urdf_robot">
|
||||
<link name="base_link">
|
||||
<contact>
|
||||
<rolling_friction value="0.001"/>
|
||||
<spinning_friction value="0.001"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<capsule length="0.1" radius="0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
|
||||
|
||||
80
thirdparty/bullet/data/cartpole.urdf
vendored
Normal file
80
thirdparty/bullet/data/cartpole.urdf
vendored
Normal file
@@ -0,0 +1,80 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="physics">
|
||||
|
||||
<link name="slideBar">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="30 0.05 0.05"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 0"/>
|
||||
<material name="green">
|
||||
<color rgba="0 0.8 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<link name="cart">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.5 0.5 0.2"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 0"/>
|
||||
<material name="blue">
|
||||
<color rgba="0 0 .8 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.5 0.5 0.2"/>
|
||||
</geometry>
|
||||
<origin xyz="0 0 0"/>
|
||||
</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="slider_to_cart" type="prismatic">
|
||||
<axis xyz="1 0 0"/>
|
||||
<origin xyz="0.0 0.0 0.0"/>
|
||||
<parent link="slideBar"/>
|
||||
<child link="cart"/>
|
||||
<limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
|
||||
</joint>
|
||||
|
||||
<link name="pole">
|
||||
<visual>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 1.0"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.5"/>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.5"/>
|
||||
<mass value="10"/>
|
||||
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
|
||||
</inertial>
|
||||
<collision>
|
||||
<geometry>
|
||||
<box size="0.05 0.05 1.0"/>
|
||||
</geometry>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.5"/>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="cart_to_pole" type="continuous">
|
||||
<axis xyz="0 1 0"/>
|
||||
<origin xyz="0.0 0.0 0"/>
|
||||
<parent link="cart"/>
|
||||
<child link="pole"/>
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
BIN
thirdparty/bullet/data/checker_blue.png
vendored
Normal file
BIN
thirdparty/bullet/data/checker_blue.png
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 6.2 KiB |
BIN
thirdparty/bullet/data/checker_grid.jpg
vendored
Normal file
BIN
thirdparty/bullet/data/checker_grid.jpg
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 32 KiB |
BIN
thirdparty/bullet/data/checker_huge.gif
vendored
Normal file
BIN
thirdparty/bullet/data/checker_huge.gif
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 1.8 KiB |
64
thirdparty/bullet/data/cloth.obj
vendored
Normal file
64
thirdparty/bullet/data/cloth.obj
vendored
Normal file
@@ -0,0 +1,64 @@
|
||||
# Blender v2.79 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib cloth.mtl
|
||||
o Plane_Plane.001
|
||||
v -1.000000 0.000000 1.000000
|
||||
v 1.000000 0.000000 1.000000
|
||||
v -1.000000 0.000000 -1.000000
|
||||
v 1.000000 0.000000 -1.000000
|
||||
v -1.000000 0.000000 0.000000
|
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v 0.000000 0.000000 1.000000
|
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v 1.000000 0.000000 0.000000
|
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v 0.000000 0.000000 -1.000000
|
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v 0.000000 0.000000 0.000000
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v -1.000000 0.000000 0.500000
|
||||
v 0.500000 0.000000 1.000000
|
||||
v 1.000000 0.000000 -0.500000
|
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v -0.500000 0.000000 -1.000000
|
||||
v -1.000000 0.000000 -0.500000
|
||||
v -0.500000 0.000000 1.000000
|
||||
v 1.000000 0.000000 0.500000
|
||||
v 0.500000 0.000000 -1.000000
|
||||
v 0.000000 0.000000 -0.500000
|
||||
v 0.000000 0.000000 0.500000
|
||||
v -0.500000 0.000000 0.000000
|
||||
v 0.500000 0.000000 0.000000
|
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v 0.500000 0.000000 0.500000
|
||||
v -0.500000 0.000000 0.500000
|
||||
v -0.500000 0.000000 -0.500000
|
||||
v 0.500000 0.000000 -0.500000
|
||||
vn 0.0000 1.0000 0.0000
|
||||
usemtl None
|
||||
s off
|
||||
f 12//1 17//1 25//1
|
||||
f 18//1 13//1 24//1
|
||||
f 19//1 20//1 23//1
|
||||
f 16//1 21//1 22//1
|
||||
f 22//1 9//1 19//1
|
||||
f 11//1 19//1 6//1
|
||||
f 2//1 22//1 11//1
|
||||
f 23//1 5//1 10//1
|
||||
f 15//1 10//1 1//1
|
||||
f 6//1 23//1 15//1
|
||||
f 24//1 3//1 14//1
|
||||
f 20//1 14//1 5//1
|
||||
f 9//1 24//1 20//1
|
||||
f 25//1 8//1 18//1
|
||||
f 21//1 18//1 9//1
|
||||
f 7//1 25//1 21//1
|
||||
f 12//1 4//1 17//1
|
||||
f 18//1 8//1 13//1
|
||||
f 19//1 9//1 20//1
|
||||
f 16//1 7//1 21//1
|
||||
f 22//1 21//1 9//1
|
||||
f 11//1 22//1 19//1
|
||||
f 2//1 16//1 22//1
|
||||
f 23//1 20//1 5//1
|
||||
f 15//1 23//1 10//1
|
||||
f 6//1 19//1 23//1
|
||||
f 24//1 13//1 3//1
|
||||
f 20//1 24//1 14//1
|
||||
f 9//1 18//1 24//1
|
||||
f 25//1 17//1 8//1
|
||||
f 21//1 25//1 18//1
|
||||
f 7//1 12//1 25//1
|
||||
13
thirdparty/bullet/data/cloth_z_up.mtl
vendored
Normal file
13
thirdparty/bullet/data/cloth_z_up.mtl
vendored
Normal file
@@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 94.117647
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||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.640000 0.640000 0.640000
|
||||
Ks 0.500000 0.500000 0.500000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd cube.png
|
||||
89
thirdparty/bullet/data/cloth_z_up.obj
vendored
Normal file
89
thirdparty/bullet/data/cloth_z_up.obj
vendored
Normal file
@@ -0,0 +1,89 @@
|
||||
# Blender v2.79 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib cloth_z_up.mtl
|
||||
o Plane_Plane.001
|
||||
v 1.000000 -0.500000 -0.000000
|
||||
v 0.500000 -1.000000 -0.000000
|
||||
v 0.500000 -0.500000 -0.000000
|
||||
v 0.000000 -0.500000 -0.000000
|
||||
v -0.500000 -1.000000 -0.000000
|
||||
v -0.500000 -0.500000 -0.000000
|
||||
v -0.000000 0.500000 0.000000
|
||||
v -0.500000 0.000000 -0.000000
|
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v -0.500000 0.500000 0.000000
|
||||
v 1.000000 0.500000 0.000000
|
||||
v 0.500000 0.000000 0.000000
|
||||
v 0.500000 0.500000 0.000000
|
||||
v 0.000000 0.000000 0.000000
|
||||
v 0.500000 1.000000 0.000000
|
||||
v -0.000000 1.000000 0.000000
|
||||
v 1.000000 1.000000 0.000000
|
||||
v -1.000000 0.000000 -0.000000
|
||||
v -1.000000 0.500000 0.000000
|
||||
v -0.500000 1.000000 0.000000
|
||||
v -1.000000 1.000000 0.000000
|
||||
v -1.000000 -1.000000 -0.000000
|
||||
v -1.000000 -0.500000 -0.000000
|
||||
v 0.000000 -1.000000 -0.000000
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v 1.000000 0.000000 0.000000
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v 1.000000 -1.000000 -0.000000
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vt 0.976031 1.084981
|
||||
vt 0.738016 1.669965
|
||||
vt 0.738016 1.084981
|
||||
vt 0.499998 1.084981
|
||||
vt 0.261984 1.669965
|
||||
vt 0.261984 1.084981
|
||||
vt 0.499998 -0.084982
|
||||
vt 0.261984 0.500000
|
||||
vt 0.261984 -0.084982
|
||||
vt 0.976031 -0.084982
|
||||
vt 0.738016 0.500000
|
||||
vt 0.738016 -0.084982
|
||||
vt 0.499998 0.500000
|
||||
vt 0.738016 -0.669965
|
||||
vt 0.499998 -0.669965
|
||||
vt 0.976031 -0.669965
|
||||
vt 0.023969 0.500000
|
||||
vt 0.023969 -0.084982
|
||||
vt 0.261984 -0.669965
|
||||
vt 0.023969 -0.669965
|
||||
vt 0.023969 1.669965
|
||||
vt 0.023969 1.084981
|
||||
vt 0.499998 1.669965
|
||||
vt 0.976031 0.500000
|
||||
vt 0.976031 1.669965
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 4/4/1 5/5/1 6/6/1
|
||||
f 7/7/1 8/8/1 9/9/1
|
||||
f 10/10/1 11/11/1 12/12/1
|
||||
f 12/12/1 13/13/1 7/7/1
|
||||
f 14/14/1 7/7/1 15/15/1
|
||||
f 16/16/1 12/12/1 14/14/1
|
||||
f 9/9/1 17/17/1 18/18/1
|
||||
f 19/19/1 18/18/1 20/20/1
|
||||
f 15/15/1 9/9/1 19/19/1
|
||||
f 6/6/1 21/21/1 22/22/1
|
||||
f 8/8/1 22/22/1 17/17/1
|
||||
f 13/13/1 6/6/1 8/8/1
|
||||
f 3/3/1 23/23/1 4/4/1
|
||||
f 11/11/1 4/4/1 13/13/1
|
||||
f 24/24/1 3/3/1 11/11/1
|
||||
f 1/1/1 25/25/1 2/2/1
|
||||
f 4/4/1 23/23/1 5/5/1
|
||||
f 7/7/1 13/13/1 8/8/1
|
||||
f 10/10/1 24/24/1 11/11/1
|
||||
f 12/12/1 11/11/1 13/13/1
|
||||
f 14/14/1 12/12/1 7/7/1
|
||||
f 16/16/1 10/10/1 12/12/1
|
||||
f 9/9/1 8/8/1 17/17/1
|
||||
f 19/19/1 9/9/1 18/18/1
|
||||
f 15/15/1 7/7/1 9/9/1
|
||||
f 6/6/1 5/5/1 21/21/1
|
||||
f 8/8/1 6/6/1 22/22/1
|
||||
f 13/13/1 4/4/1 6/6/1
|
||||
f 3/3/1 2/2/1 23/23/1
|
||||
f 11/11/1 3/3/1 4/4/1
|
||||
f 24/24/1 1/1/1 3/3/1
|
||||
32
thirdparty/bullet/data/cloth_z_up.urdf
vendored
Normal file
32
thirdparty/bullet/data/cloth_z_up.urdf
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<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="cloth_z_up.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
16
thirdparty/bullet/data/cube.mtl
vendored
Normal file
16
thirdparty/bullet/data/cube.mtl
vendored
Normal file
@@ -0,0 +1,16 @@
|
||||
newmtl cube
|
||||
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 cube.tga
|
||||
map_Kd cube.png
|
||||
|
||||
|
||||
|
||||
48
thirdparty/bullet/data/cube.obj
vendored
Normal file
48
thirdparty/bullet/data/cube.obj
vendored
Normal file
@@ -0,0 +1,48 @@
|
||||
# cube.obj
|
||||
#
|
||||
|
||||
o cube
|
||||
mtllib cube.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 cube
|
||||
usemtl cube
|
||||
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 3/1/2 4/2/2 5/3/2
|
||||
f 5/3/2 4/2/2 6/4/2
|
||||
s 3
|
||||
f 5/4/3 6/3/3 7/2/3
|
||||
f 7/2/3 6/3/3 8/1/3
|
||||
s 4
|
||||
f 7/1/4 8/2/4 1/3/4
|
||||
f 1/3/4 8/2/4 2/4/4
|
||||
s 5
|
||||
f 2/1/5 8/2/5 4/3/5
|
||||
f 4/3/5 8/2/5 6/4/5
|
||||
s 6
|
||||
f 7/1/6 1/2/6 5/3/6
|
||||
f 5/3/6 1/2/6 3/4/6
|
||||
|
||||
BIN
thirdparty/bullet/data/cube.png
vendored
Normal file
BIN
thirdparty/bullet/data/cube.png
vendored
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 6.7 KiB |
32
thirdparty/bullet/data/cube.urdf
vendored
Normal file
32
thirdparty/bullet/data/cube.urdf
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<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="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
29
thirdparty/bullet/data/cube_collisionfilter.urdf
vendored
Normal file
29
thirdparty/bullet/data/cube_collisionfilter.urdf
vendored
Normal file
@@ -0,0 +1,29 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision group="0" mask="0">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
32
thirdparty/bullet/data/cube_concave.urdf
vendored
Normal file
32
thirdparty/bullet/data/cube_concave.urdf
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<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="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision concave="yes">
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
32
thirdparty/bullet/data/cube_convex.urdf
vendored
Normal file
32
thirdparty/bullet/data/cube_convex.urdf
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<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="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
43
thirdparty/bullet/data/cube_gripper_left.urdf
vendored
Normal file
43
thirdparty/bullet/data/cube_gripper_left.urdf
vendored
Normal file
@@ -0,0 +1,43 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube_gripper_left.urdf">
|
||||
<link name="world">
|
||||
</link>
|
||||
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0.785398 0.785398" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale=".05 .05 .05"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0.785398 0.785398" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".05 .05 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="cube_joint" type="prismatic">
|
||||
<parent link="world"/>
|
||||
<child link="baseLink"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
43
thirdparty/bullet/data/cube_gripper_right.urdf
vendored
Normal file
43
thirdparty/bullet/data/cube_gripper_right.urdf
vendored
Normal file
@@ -0,0 +1,43 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube_gripper_right.urdf">
|
||||
<link name="world">
|
||||
</link>
|
||||
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<spinning_friction value="0.3"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value=".1"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 -0.785398 -0.785398" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="cube.obj" scale=".05 .05 .05"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 -0.785398 -0.785398" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".05 .05 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="cube_joint" type="prismatic">
|
||||
<parent link="world"/>
|
||||
<child link="baseLink"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
|
||||
<dynamics damping="0.0"/>
|
||||
</joint>
|
||||
</robot>
|
||||
|
||||
32
thirdparty/bullet/data/cube_no_friction.urdf
vendored
Normal file
32
thirdparty/bullet/data/cube_no_friction.urdf
vendored
Normal file
@@ -0,0 +1,32 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<lateral_friction value="0.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="300.0"/>
|
||||
<damping value="10.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<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="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
35
thirdparty/bullet/data/cube_small.sdf
vendored
Normal file
35
thirdparty/bullet/data/cube_small.sdf
vendored
Normal file
@@ -0,0 +1,35 @@
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='unit_box_0'>
|
||||
<pose frame=''>0 0 0.107 0 0 0</pose>
|
||||
<link name='unit_box_0::link'>
|
||||
<inertial>
|
||||
<mass>0.1</mass>
|
||||
<inertia>
|
||||
<ixx>1.0</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>1.0</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>1.0</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='collision'>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.05 0.05 0.05</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='visual'>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>0.05 0.05 0.05</scale>
|
||||
<uri>cube.obj</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
30
thirdparty/bullet/data/cube_small.urdf
vendored
Normal file
30
thirdparty/bullet/data/cube_small.urdf
vendored
Normal file
@@ -0,0 +1,30 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<lateral_friction value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 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="cube.obj" scale=".05 .05 .05"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size=".05 .05 .05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
33
thirdparty/bullet/data/cube_soft.urdf
vendored
Normal file
33
thirdparty/bullet/data/cube_soft.urdf
vendored
Normal file
@@ -0,0 +1,33 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube.urdf">
|
||||
<link name="baseLink">
|
||||
<contact>
|
||||
<friction_anchor/>
|
||||
<lateral_friction value="1.3"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<stiffness value="300"/>
|
||||
<damping value="10"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="1.0"/>
|
||||
<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="cube.obj" scale="1 1 1"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="1 1 1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="1 1 1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
|
||||
14
thirdparty/bullet/data/differential/LICENSE.txt
vendored
Normal file
14
thirdparty/bullet/data/differential/LICENSE.txt
vendored
Normal file
@@ -0,0 +1,14 @@
|
||||
URDF created by Erwin Coumans
|
||||
|
||||
Bullet Continuous Collision Detection and Physics Library
|
||||
http://bulletphysics.org
|
||||
|
||||
This software is provided 'as-is', without any express or implied warranty.
|
||||
In no event will the authors be held liable for any damages arising from the use of this software.
|
||||
Permission is granted to anyone to use this software for any purpose,
|
||||
including commercial applications, and to alter it and redistribute it freely,
|
||||
subject to the following restrictions:
|
||||
|
||||
1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
|
||||
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
|
||||
3. This notice may not be removed or altered from any source distribution.
|
||||
BIN
thirdparty/bullet/data/differential/diff_arm.stl
vendored
Normal file
BIN
thirdparty/bullet/data/differential/diff_arm.stl
vendored
Normal file
Binary file not shown.
BIN
thirdparty/bullet/data/differential/diff_carrier.stl
vendored
Normal file
BIN
thirdparty/bullet/data/differential/diff_carrier.stl
vendored
Normal file
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user