Add bullet thirdparty library
This commit is contained in:
Dane Johnson
@@ -0,0 +1,80 @@
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<?xml version="1.0"?>
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<robot name="LWR">
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<include filename="$(find lmtlwr)/model/kuka_lwr_arm.urdf.xacro"/>
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<include filename="$(find lmtlwr)/model/gazebo.urdf.xacro"/>
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<include filename="$(find lmtlwr)/model/materials.xml"/>
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-
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<kuka_lwr_arm parent="base_link" name="lwr" right="1" tool_name="">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</kuka_lwr_arm>
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<link name="base_link" />
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<link name="table">
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<visual>
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<origin xyz="0 0 -0.02"/>
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<geometry>
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<box size="2 2 0.04"/>
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</geometry>
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<material name="wood">
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<texture filename="package://lmtlwr/model/wood.jpg"/>
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<color rgba="0.65 0.5 0.4 0.8"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="2 2 0.03"/>
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</geometry>
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</collision>
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</link>
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- <link name="aluplate">
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<visual>
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<origin xyz="0 0 -0.0075" />
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<geometry>
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<box size="0.275 0.275 0.015" xyz="0.2 0.2 0.0"/>
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</geometry>
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<material name="Silver" />
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</visual>
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</link>
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<link name="lwr_tool">
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<visual>
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<origin xyz="0 0 0" />
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<geometry>
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<mesh filename="package://lmtlwr/model/tools/jr3-stabilo.dae" scale="0.0254 0.0254 0.0254"/>
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</geometry>
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</visual>
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</link>
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<link name="lwr_tool_tcp" />
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<joint name="arm7_to_tcp" type="fixed">
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<parent link="lwr_arm_7_link" />
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<child link="lwr_tool_tcp"/>
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<origin xyz="-0.028 0.010 0.203" />
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</joint>
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<joint name="arm7_to_tool" type="fixed">
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<parent link="lwr_arm_7_link" />
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<child link="lwr_tool"/>
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<origin xyz="0 0 0" />
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</joint>
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<joint name="table_to_base" type="fixed">
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<parent link="table" />
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<child link="aluplate"/>
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<origin xyz="0 0 0.015" />
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</joint>
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<joint name="aluplate_to_base" type="fixed">
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<parent link="aluplate" />
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<child link="base_link"/>
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<origin xyz="0 0 0" rpy="0 0 45" />
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</joint>
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</robot>
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@@ -0,0 +1,16 @@
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<?xml version="1.0"?>
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<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
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xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
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xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
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<gazebo>
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<controller:gazebo_ros_controller_manager name="gazebo_controller_manager" plugin="libgazebo_ros_controller_manager.so">
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<alwaysOn>true</alwaysOn>
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<robotParam>robot_description</robotParam>
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<updateRate>1000.0</updateRate>
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<interface:audio name="gazebo_mechanism_control_dummy_iface" />
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</controller:gazebo_ros_controller_manager>
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</gazebo>
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</robot>
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+264
@@ -0,0 +1,264 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="kuka_lwr">
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<!-- right is either 1 (for right arm) or -1 (for left arm) -->
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<link name="calib_kuka_arm_base_link">
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<inertial>
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<mass value="0"/>
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<!-- static base, disable dynamics for this link -->
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<origin rpy="0 0 0" xyz="0 0 0.055"/>
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<inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_base.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="kuka_arm_0_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.11"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
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<dynamics damping="0.1"/>
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<parent link="calib_kuka_arm_base_link"/>
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<child link="kuka_arm_1_link"/>
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</joint>
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<link name="kuka_arm_1_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_0_motor"/>
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<joint name="kuka_arm_0_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_1_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 -1 0"/>
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<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
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<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
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<limit effort="306" lower="-1.57079632679" upper="1.57079632679" velocity="1.91986217719"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_1_link"/>
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<child link="kuka_arm_2_link"/>
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</joint>
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<link name="kuka_arm_2_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 -0.04 0.07"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_1_motor"/>
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<joint name="kuka_arm_1_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_2_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_2_link"/>
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<child link="kuka_arm_3_link"/>
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</joint>
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<link name="kuka_arm_3_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_2_motor"/>
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<joint name="kuka_arm_2_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_3_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 1 0"/>
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<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_3_link"/>
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<child link="kuka_arm_4_link"/>
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</joint>
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<link name="kuka_arm_4_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.04 0.07"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_3_motor"/>
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<joint name="kuka_arm_3_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_4_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_4_link"/>
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<child link="kuka_arm_5_link"/>
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</joint>
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<link name="kuka_arm_5_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
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<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
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</inertial>
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||||
<visual>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry name="kuka_arm_5_geom">
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<mesh filename="meshes_arm/arm_segment_last.stl"/>
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</geometry>
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<material name="Orange"/>
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||||
</visual>
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<collision>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_4_motor"/>
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<joint name="kuka_arm_4_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_5_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.19"/>
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<axis xyz="0 -1 0"/>
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<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_5_link"/>
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<child link="kuka_arm_6_link"/>
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</joint>
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<link name="kuka_arm_6_link">
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||||
<inertial>
|
||||
<mass value="2.0"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<inertia ixx="0.00520833333333" ixy="0" ixz="0" iyy="0.00520833333333" iyz="0" izz="0.00520833333333"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_wrist.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_wrist_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<transmission name="kuka_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="kuka_arm_5_motor"/>
|
||||
<joint name="kuka_arm_5_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
<joint name="kuka_arm_6_joint" type="revolute">
|
||||
<origin rpy="0 0 0" xyz="0 0 0.078"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="3.14159265359"/>
|
||||
<dynamics damping="0.1"/>
|
||||
<parent link="kuka_arm_6_link"/>
|
||||
<child link="kuka_arm_7_link"/>
|
||||
</joint>
|
||||
<link name="kuka_arm_7_link">
|
||||
<inertial>
|
||||
<mass value="2.0"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<inertia ixx="0.000833333333333" ixy="0" ixz="0" iyy="0.000833333333333" iyz="0" izz="0.000833333333333"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_flanche.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<transmission name="kuka_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="kuka_arm_6_motor"/>
|
||||
<joint name="kuka_arm_6_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
</robot>
|
||||
|
||||
@@ -0,0 +1,346 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="kuka_lwr">
|
||||
|
||||
<property name="M_PI" value="3.1415926535897931" />
|
||||
<property name="name" value="kuka" />
|
||||
<!--
|
||||
Little helper macro to define the inertia matrix needed
|
||||
for links.
|
||||
-->
|
||||
<!-- width is along x axis
|
||||
length is along y axis
|
||||
height is along z axis
|
||||
-->
|
||||
<macro name="cuboid_inertia_def" params="width height length mass">
|
||||
<inertia ixx="${mass * (height * height + length * length) / 12}"
|
||||
iyy="${mass * (width * width + height * height) / 12}"
|
||||
izz="${mass * (width * width + length * length) / 12}"
|
||||
ixy="0" iyz="0" ixz="0"/>
|
||||
</macro>
|
||||
|
||||
<!-- length is along the y-axis! -->
|
||||
<macro name="cylinder_inertia_def" params="radius length mass">
|
||||
<inertia ixx="${mass * (3 * radius * radius + length * length) / 12}"
|
||||
iyy="${mass * radius* radius / 2}"
|
||||
izz="${mass * (3 * radius * radius + length * length) / 12}"
|
||||
ixy="0" iyz="0" ixz="0"/>
|
||||
</macro>
|
||||
|
||||
<property name="arm_elem_link_mass" value="2.0"/>
|
||||
<property name="arm_elem_ball_link_mass" value="2.0"/>
|
||||
<property name="arm_elem_end_link_mass" value="2.0"/>
|
||||
<property name="safety_controller_k_pos" value="100" />
|
||||
<property name="safety_controller_k_vel" value="2" />
|
||||
<property name="joint_damping" value="0.1" />
|
||||
|
||||
<property name="arm_velocity_scale_factor" value="1"/>
|
||||
<property name="right" value="0" />
|
||||
<!-- right is either 1 (for right arm) or -1 (for left arm) -->
|
||||
|
||||
<link name="calib_${name}_arm_base_link">
|
||||
<inertial>
|
||||
<mass value="0"/> <!-- static base, disable dynamics for this link -->
|
||||
<origin xyz="0 0 0.055" rpy="0 0 0"/>
|
||||
<cylinder_inertia_def radius="0.06" length="0.11"
|
||||
mass="2"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_base.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<joint name="${name}_arm_0_joint" type="revolute">
|
||||
<origin xyz="0 0 0.11" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
|
||||
effort="204" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="calib_${name}_arm_base_link"/>
|
||||
<child link="${name}_arm_1_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_1_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_a.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_0_motor"/>
|
||||
<joint name="${name}_arm_0_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="${name}_arm_1_joint" type="revolute">
|
||||
<origin xyz="0 0 0.20" rpy="0 0 0"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
|
||||
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
|
||||
<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
|
||||
<limit lower="${-90 * M_PI / 180}" upper="${90 * M_PI / 180}"
|
||||
effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="${name}_arm_1_link"/>
|
||||
<child link="${name}_arm_2_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_2_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 ${0.130 - 0.06}"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_b.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0.2" rpy="${M_PI} 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_1_motor"/>
|
||||
<joint name="${name}_arm_1_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="${name}_arm_2_joint" type="revolute">
|
||||
<origin xyz="0 0 0.20" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
|
||||
effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="${name}_arm_2_link"/>
|
||||
<child link="${name}_arm_3_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_3_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.260"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_a.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_2_motor"/>
|
||||
<joint name="${name}_arm_2_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="${name}_arm_3_joint" type="revolute">
|
||||
<origin xyz="0 0 0.20" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
|
||||
effort="306" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="${name}_arm_3_link"/>
|
||||
<child link="${name}_arm_4_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_4_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.04 ${0.130 - 0.06}"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.2600"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_segment_b.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0.2" rpy="0 ${M_PI} ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_3_motor"/>
|
||||
<joint name="${name}_arm_3_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="${name}_arm_4_joint" type="revolute">
|
||||
<origin xyz="0 0 0.20" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
|
||||
effort="204" velocity="${arm_velocity_scale_factor * 130 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="${name}_arm_4_link"/>
|
||||
<child link="${name}_arm_5_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_5_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
|
||||
<cuboid_inertia_def length="0.12" width="0.06" height="0.248"
|
||||
mass="${arm_elem_link_mass}"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry name="${name}_arm_5_geom">
|
||||
<mesh filename="meshes_arm/arm_segment_last.stl"/>
|
||||
</geometry>
|
||||
<material name="Orange"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_4_motor"/>
|
||||
<joint name="${name}_arm_4_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="${name}_arm_5_joint" type="revolute">
|
||||
<origin xyz="0 0 0.19" rpy="0 0 0"/>
|
||||
<axis xyz="0 -1 0"/>
|
||||
<limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
|
||||
effort="306" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="${name}_arm_5_link"/>
|
||||
<child link="${name}_arm_6_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_6_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_ball_link_mass}"/>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<cuboid_inertia_def length="0.125" width="0.125" height="0.125"
|
||||
mass="${arm_elem_ball_link_mass}"/>
|
||||
</inertial>
|
||||
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_wrist.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_wrist_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_5_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_5_motor"/>
|
||||
<joint name="${name}_arm_5_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
<joint name="${name}_arm_6_joint" type="revolute">
|
||||
<origin xyz="0 0 0.078" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit lower="${-170 * M_PI / 180}" upper="${170 * M_PI / 180}"
|
||||
effort="204" velocity="${arm_velocity_scale_factor * 180 * M_PI / 180}" />
|
||||
<dynamics damping="${joint_damping}"/>
|
||||
<parent link="${name}_arm_6_link"/>
|
||||
<child link="${name}_arm_7_link"/>
|
||||
</joint>
|
||||
|
||||
<link name="${name}_arm_7_link">
|
||||
<inertial>
|
||||
<mass value="${arm_elem_end_link_mass}"/>
|
||||
<origin xyz="0 0 0"/>
|
||||
<cuboid_inertia_def length="0.05" width="0.05" height="0.05"
|
||||
mass="${arm_elem_end_link_mass}"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/arm_flanche.stl"/>
|
||||
</geometry>
|
||||
<material name="Grey"/>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 ${right * -1/4 * M_PI + M_PI}"/>
|
||||
<geometry>
|
||||
<mesh filename="meshes_arm/convex/arm_flanche_convex.stl"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
|
||||
<transmission name="${name}_arm_6_trans" type="pr2_mechanism_model/SimpleTransmission">
|
||||
<actuator name="${name}_arm_6_motor"/>
|
||||
<joint name="${name}_arm_6_joint"/>
|
||||
<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</transmission>
|
||||
|
||||
|
||||
|
||||
</robot>
|
||||
+8
@@ -0,0 +1,8 @@
|
||||
This package contains the description (mechanical, kinematic, visual,
|
||||
etc.) of the KUKA LWR robot. The files in this package are parsed and used by
|
||||
a variety of other components. Most users will not interact directly
|
||||
with this package.</description>
|
||||
|
||||
<maintainer email="konradb3@gmail.com">Konrad Banachowicz</maintainer>
|
||||
|
||||
<license>BSD</license>
|
||||
+34
@@ -0,0 +1,34 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
<material name="DarkGrey">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Black">
|
||||
<color rgba="0 0 0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.487 0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Silver">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Grey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="HandGray">
|
||||
<color rgba="0.953 0.996 0.694 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="SickBlue">
|
||||
<color rgba="0.3058 0.5921 0.7294 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
@@ -0,0 +1,12 @@
|
||||
The meshes of the lightweight robot are based on a blender model
|
||||
which was re-designed from scratch. (It can be downloaded at
|
||||
http://toychest.in.tum.de/wiki/_media/projects:lwr-arm.blend)
|
||||
|
||||
This blender model, as well as the meshes found in this folder
|
||||
are licensed under CC-BY-3.0:
|
||||
|
||||
Copyright (c) 2010 by Ingo Kresse <kresse@in.tum.de>.
|
||||
This work is made available under the terms of the
|
||||
Creative Commons Attribution 3.0 license,
|
||||
http://creativecommons.org/licenses/by/3.0/.
|
||||
|
||||
File diff suppressed because one or more lines are too long
Binary file not shown.
File diff suppressed because one or more lines are too long
Binary file not shown.
@@ -0,0 +1,162 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
|
||||
<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
|
||||
<comments></comments>
|
||||
<copyright></copyright>
|
||||
<source_data>file:///home/ingo/models/lwr/meshes/arm_flanche.blend</source_data>
|
||||
</contributor>
|
||||
<created>2010-07-28T12:31:52.074222</created>
|
||||
<modified>2010-07-28T12:31:52.074265</modified>
|
||||
<unit meter="1" name="meter"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="Black-fx" name="Black-fx">
|
||||
<profile_COMMON>
|
||||
<technique sid="blender">
|
||||
<phong>
|
||||
<emission>
|
||||
<color>0.00000 0.00000 0.00000 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color>0.10000 0.10000 0.10000 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color>0.10000 0.10000 0.10000 1</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color>0.50000 0.50000 0.50000 1</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float>12.5</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color>1.00000 1.00000 1.00000 1</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
||||
<float>1.0</float>
|
||||
</reflectivity>
|
||||
<transparent>
|
||||
<color>1 1 1 1</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float>0.0</float>
|
||||
</transparency>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
<effect id="Grey-fx" name="Grey-fx">
|
||||
<profile_COMMON>
|
||||
<technique sid="blender">
|
||||
<phong>
|
||||
<emission>
|
||||
<color>0.00000 0.00000 0.00000 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color>0.21666 0.22745 0.25000 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color>0.60667 0.63686 0.70000 1</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color>0.70000 0.70000 0.70000 1</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float>12.5</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color>1.00000 1.00000 1.00000 1</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
||||
<float>0.0</float>
|
||||
</reflectivity>
|
||||
<transparent>
|
||||
<color>1 1 1 1</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float>0.0</float>
|
||||
</transparency>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_materials>
|
||||
<material id="Black" name="Black">
|
||||
<instance_effect url="#Black-fx"/>
|
||||
</material>
|
||||
<material id="Grey" name="Grey">
|
||||
<instance_effect url="#Grey-fx"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="flanche_001" name="flanche_001">
|
||||
<mesh>
|
||||
<source id="flanche_001-Position">
|
||||
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|
||||
<technique_common>
|
||||
<accessor count="104" source="#flanche_001-Position-array" stride="3">
|
||||
<param type="float" name="X"></param>
|
||||
<param type="float" name="Y"></param>
|
||||
<param type="float" name="Z"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="flanche_001-Normals">
|
||||
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|
||||
<technique_common>
|
||||
<accessor count="108" source="#flanche_001-Normals-array" stride="3">
|
||||
<param type="float" name="X"></param>
|
||||
<param type="float" name="Y"></param>
|
||||
<param type="float" name="Z"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="flanche_001-Vertex">
|
||||
<input semantic="POSITION" source="#flanche_001-Position"/>
|
||||
</vertices>
|
||||
<triangles count="64" material="Black">
|
||||
<input offset="0" semantic="VERTEX" source="#flanche_001-Vertex"/>
|
||||
<input offset="1" semantic="NORMAL" source="#flanche_001-Normals"/>
|
||||
<p>40 76 72 76 73 76 73 76 41 76 40 76 41 77 73 77 74 77 74 77 42 77 41 77 42 78 74 78 75 78 75 78 43 78 42 78 43 79 75 79 76 79 76 79 44 79 43 79 44 80 76 80 77 80 77 80 45 80 44 80 45 81 77 81 78 81 78 81 46 81 45 81 46 82 78 82 79 82 79 82 47 82 46 82 47 83 79 83 80 83 80 83 48 83 47 83 48 84 80 84 81 84 81 84 49 84 48 84 49 85 81 85 82 85 82 85 50 85 49 85 50 86 82 86 83 86 83 86 51 86 50 86 51 87 83 87 84 87 84 87 52 87 51 87 52 88 84 88 85 88 85 88 53 88 52 88 53 89 85 89 86 89 86 89 54 89 53 89 54 90 86 90 87 90 87 90 55 90 54 90 55 91 87 91 88 91 88 91 56 91 55 91 56 92 88 92 89 92 89 92 57 92 56 92 57 93 89 93 90 93 90 93 58 93 57 93 58 94 90 94 91 94 91 94 59 94 58 94 59 95 91 95 92 95 92 95 60 95 59 95 60 96 92 96 93 96 93 96 61 96 60 96 61 97 93 97 94 97 94 97 62 97 61 97 62 98 94 98 95 98 95 98 63 98 62 98 63 99 95 99 96 99 96 99 64 99 63 99 64 100 96 100 97 100 97 100 65 100 64 100 65 101 97 101 98 101 98 101 66 101 65 101 66 102 98 102 99 102 99 102 67 102 66 102 67 103 99 103 100 103 100 103 68 103 67 103 68 104 100 104 101 104 101 104 69 104 68 104 69 105 101 105 102 105 102 105 70 105 69 105 70 106 102 106 103 106 103 106 71 106 70 106 72 107 40 107 71 107 71 107 103 107 72 107</p>
|
||||
</triangles>
|
||||
<triangles count="76" material="Grey">
|
||||
<input offset="0" semantic="VERTEX" source="#flanche_001-Vertex"/>
|
||||
<input offset="1" semantic="NORMAL" source="#flanche_001-Normals"/>
|
||||
<p>13 0 18 0 19 0 19 1 15 1 13 1 13 2 15 2 11 2 13 3 11 3 9 3 9 4 11 4 7 4 9 5 7 5 5 5 5 6 7 6 3 6 5 7 3 7 1 7 17 8 16 8 14 8 14 9 16 9 12 9 14 10 12 10 10 10 10 11 12 11 8 11 10 12 8 12 6 12 6 13 8 13 4 13 6 14 4 14 2 14 4 15 0 15 2 15 39 16 31 16 38 16 38 17 31 17 30 17 38 18 30 18 37 18 30 19 32 19 33 19 35 20 36 20 37 20 37 21 30 21 35 21 35 22 30 22 33 22 35 23 33 23 34 23 20 24 21 24 29 24 22 25 20 25 23 25 23 26 20 26 25 26 23 27 25 27 24 27 26 28 25 28 27 28 27 29 25 29 20 29 27 30 20 30 28 30 28 31 20 31 29 31 20 32 30 32 21 32 21 33 30 33 31 33 21 34 31 34 16 34 16 35 31 35 18 35 16 36 18 36 12 36 12 37 18 37 13 37 14 38 15 38 17 38 17 39 15 39 19 39 17 40 19 40 29 40 29 41 19 41 39 41 29 42 39 42 28 42 28 43 39 43 38 43 39 44 19 44 31 44 31 45 19 45 18 45 17 46 29 46 16 46 16 47 29 47 21 47 28 48 38 48 37 48 28 49 37 49 27 49 27 50 37 50 36 50 27 51 36 51 26 51 26 52 36 52 35 52 26 53 35 53 25 53 25 54 35 54 34 54 25 55 34 55 24 55 24 56 34 56 33 56 24 57 33 57 23 57 23 58 33 58 32 58 23 59 32 59 22 59 22 60 32 60 30 60 22 61 30 61 20 61 12 62 13 62 9 62 12 63 9 63 8 63 8 64 9 64 5 64 8 65 5 65 4 65 4 66 5 66 1 66 1 67 0 67 4 67 0 68 1 68 3 68 0 69 3 69 2 69 2 70 3 70 7 70 2 71 7 71 6 71 6 72 7 72 11 72 6 73 11 73 10 73 10 74 11 74 15 74 10 75 15 75 14 75</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node layer="L1" id="flanche" name="flanche">
|
||||
<matrix>
|
||||
1.0 0.0 0.0 0.0
|
||||
0.0 1.0 0.0 0.0
|
||||
0.0 0.0 1.0 0.0
|
||||
0.0 0.0 0.0 1.0
|
||||
</matrix>
|
||||
<instance_geometry url="#flanche_001">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Black" target="#Black">
|
||||
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
|
||||
</instance_material>
|
||||
<instance_material symbol="Grey" target="#Grey">
|
||||
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
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@@ -0,0 +1,4 @@
|
||||
convex collision hulls, created using
|
||||
|
||||
rosrun convex_decomposition convex_decomposition <mesh.obj> -v24 -p10 -s0.01
|
||||
rosrun ivcon ivcon <mesh_convex.obj> <mesh_convex.stlb>
|
||||
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BIN
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BIN
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+1823
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Reference in New Issue
Block a user