Add bullet thirdparty library
This commit is contained in:
Dane Johnson
+32006
File diff suppressed because it is too large
Load Diff
+64006
File diff suppressed because it is too large
Load Diff
Vendored
+65
@@ -0,0 +1,65 @@
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||||
<?xml version="1.0"?>
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<!--https://valerolab.org/-->
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<!--
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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">
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||||
<material name="blue">
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||||
<color rgba="0 0 0.8 1"/>
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||||
</material>
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||||
<material name="white">
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||||
<color rgba="1 1 1 1"/>
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</material>
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<material name="other">
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<color rgba="1 0 0.8 1"/>
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</material>
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<velocity name="vel">
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<speed spd="50"/>
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</velocity>
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||||
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||||
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<link name="Base">
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<visual>
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<geometry>
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||||
<box size="0.3 0.3 1.5"/>
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||||
</geometry>
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<material name="other"/>
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||||
</visual>
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<collision>
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||||
<geometry>
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||||
<box size="0.3 0.3 1.5"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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<mass value="100"/>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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||||
<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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<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"/>
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||||
</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".5"/>
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</geometry>
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||||
</collision>
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<inertial>
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<mass value="2"/>
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||||
<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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<joint name="Base_pulley1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="Base"/>
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<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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Vendored
+415
@@ -0,0 +1,415 @@
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<?xml version="1.0"?>
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<!--https://valerolab.org/-->
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<!--
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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">
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<material name="blue">
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<color rgba="0 0 0.8 1"/>
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</material>
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<material name="white">
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<color rgba="1 1 1 1"/>
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</material>
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<material name="other">
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<color rgba="1 0 0.8 1"/>
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</material>
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<velocity name="vel">
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<speed spd="50"/>
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</velocity>
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<link name="Base">
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<visual>
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||||
<geometry>
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<box size="0.3 0.3 1.5"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<box size="0.3 0.3 1.5"/>
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</geometry>
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||||
</collision>
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||||
<inertial>
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<mass value="100"/>
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||||
<origin rpy="0 0 0" xyz="0 0 0"/>
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<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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<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"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".5"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="2"/>
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<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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<joint name="Base_pulley1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="Base"/>
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<child link="pulley1"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="-1.57075 1.57075 0" xyz="0 .35 .15"/>
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</joint>
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<link name="tendon1_1">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="blue"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<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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<joint name="pulley1_tendon1_1" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="pulley1"/>
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<child link="tendon1_1"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 3.1416" xyz="0 .55 0"/>
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</joint>
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<link name="tendon1_2">
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<visual>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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<material name="white"/>
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</visual>
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<collision>
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<geometry>
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<cylinder length=".1" radius=".05"/>
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</geometry>
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</collision>
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<inertial>
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<mass value="10"/>
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<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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<joint name="tendon1_1_tendon1_2" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_1"/>
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<child link="tendon1_2"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_3">
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<visual>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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<material name="white"/>
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||||
</visual>
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<collision>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="10"/>
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||||
<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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<joint name="tendon1_2_tendon1_3" type="revolute">
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<axis xyz="0 0 1"/>
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<parent link="tendon1_2"/>
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<child link="tendon1_3"/>
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<limit effort="0" lower="1" upper="0" velocity="50"/>
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<origin rpy="0 0 0" xyz=".2 0 0"/>
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</joint>
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<link name="tendon1_4">
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<visual>
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||||
<geometry>
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<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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<material name="white"/>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="10"/>
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||||
<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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<joint name="tendon1_3_tendon1_4" type="revolute">
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<axis xyz="0 0 1"/>
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||||
<parent link="tendon1_3"/>
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||||
<child link="tendon1_4"/>
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||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
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||||
<origin rpy="0 0 1" xyz=".2 0 0"/>
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</joint>
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||||
<link name="tendon1_5">
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||||
<visual>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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||||
<material name="white"/>
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||||
</visual>
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||||
<collision>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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||||
</collision>
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||||
<inertial>
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||||
<mass value="10"/>
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||||
<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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||||
<joint name="tendon1_4_tendon1_5" type="revolute">
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||||
<axis xyz="0 0 1"/>
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||||
<parent link="tendon1_4"/>
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||||
<child link="tendon1_5"/>
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||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
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||||
<origin rpy="0 0 1" xyz=".2 0 0"/>
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||||
</joint>
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||||
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||||
<link name="tendon1_6">
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||||
<visual>
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||||
<geometry>
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||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
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||||
<material name="white"/>
|
||||
</visual>
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||||
<collision>
|
||||
<geometry>
|
||||
<cylinder length=".1" radius=".05"/>
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||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<mass value="10"/>
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||||
<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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||||
<joint name="tendon1_5_tendon1_6" type="revolute">
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||||
<axis xyz="0 0 1"/>
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||||
<parent link="tendon1_5"/>
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||||
<child link="tendon1_6"/>
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||||
<limit effort="0" lower="1" upper="0" velocity="50"/>
|
||||
<origin rpy="0 0 0" xyz=".2 0 0"/>
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||||
</joint>
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||||
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||||
<link name="tendon1_7">
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||||
<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_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>
|
||||
Vendored
BIN
Binary file not shown.
Vendored
+15
@@ -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
@@ -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.
|
||||
-->
|
||||
Vendored
+473
@@ -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>
|
||||
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Vendored
+471
@@ -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>
|
||||
@@ -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
@@ -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
@@ -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
File diff suppressed because it is too large
Load Diff
@@ -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>
|
||||
|
||||
@@ -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>
|
||||
|
||||
Vendored
+11
@@ -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
|
||||
Vendored
+1722
File diff suppressed because it is too large
Load Diff
Vendored
+5681
File diff suppressed because it is too large
Load Diff
Vendored
+11
@@ -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 banana.png
|
||||
Vendored
+3310
File diff suppressed because it is too large
Load Diff
Vendored
BIN
Binary file not shown.
|
After Width: | Height: | Size: 114 KiB |
Vendored
+5524
File diff suppressed because it is too large
Load Diff
Vendored
+29
@@ -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"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
Vendored
+5457
File diff suppressed because it is too large
Load Diff
Vendored
+5459
File diff suppressed because it is too large
Load Diff
BIN
Binary file not shown.
|
After Width: | Height: | Size: 3.8 KiB |
Vendored
+1360
File diff suppressed because it is too large
Load Diff
Vendored
+23
@@ -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>
|
||||
|
||||
|
||||
|
||||
Vendored
+80
@@ -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
Binary file not shown.
|
After Width: | Height: | Size: 6.2 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 32 KiB |
BIN
Binary file not shown.
|
After Width: | Height: | Size: 1.8 KiB |
Vendored
+64
@@ -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
|
||||
v 0.000000 0.000000 1.000000
|
||||
v 1.000000 0.000000 0.000000
|
||||
v 0.000000 0.000000 -1.000000
|
||||
v 0.000000 0.000000 0.000000
|
||||
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 -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
|
||||
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
@@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 94.117647
|
||||
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
@@ -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
|
||||
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
|
||||
v 1.000000 0.000000 0.000000
|
||||
v 1.000000 -1.000000 -0.000000
|
||||
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
@@ -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>
|
||||
|
||||
Vendored
+16
@@ -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
|
||||
|
||||
|
||||
|
||||
Vendored
+48
@@ -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
|
||||
|
||||
Vendored
BIN
Binary file not shown.
|
After Width: | Height: | Size: 6.7 KiB |
Vendored
+32
@@ -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>
|
||||
|
||||
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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
@@ -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.
|
||||
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Reference in New Issue
Block a user