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* Adjustment: Initial CMake reworking.

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This commit is contained in:
Robert MacGregor 2022-05-13 23:42:41 -04:00
parent 516163fd5d
commit d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
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<?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>

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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

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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>

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<?xml version="0.0" ?>
<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>

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<?xml version="0.0" ?>
<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>

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<?xml version="0.0" ?>
<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>

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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<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>

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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<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>

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<?xml version="0.0" ?>
<robot name="urdf_door">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="1.0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
<material name="framemat0">
<color
rgba="0.9 0.4 0. 1" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
<material name="framemat0"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.05 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.95 0 0.5"/>
<geometry>
<box size="0.1 0.1 1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.5 0 0.95"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0.5 0 0.05"/>
<geometry>
<box size="1 0.1 0.1"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
<geometry>
<box size="0.9 0.05 0.8"/>
</geometry>
<material name="doormat0">
<color rgba="0.8 0.8 0.3 1" />
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0.4 0 0.4"/>
<geometry>
<box size="0.9 0.05 0.8"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<parent link="baseLink"/>
<child link="childA"/>
<dynamics damping="1.0" friction="0.0001"/>
<origin xyz="0.05 0 0.1"/>
<axis xyz="0 0 1"/>
</joint>
</robot>

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# Blender MTL File: 'None'
# Material Count: 1
newmtl blinn3
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Ka duckCM.png
map_Kd duckCM.png

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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.02 0.0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="duck.obj" scale=".05 .05 .05"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="duck_vhacd.obj" scale=".05 .05 .05"/>
</geometry>
</collision>
</link>
</robot>

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newmtl floor
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 floor_diffuse.jpg
map_Kd checker_huge.gif

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io.write("Running ", _VERSION, "\n")
ptr = my_createFunction(1, 2, 3, "abc", "def")
--io.write("my_function() returned ", a, "\n")
my_printTest(ptr)
my_deleteFunction(1)--ptr)

73
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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<geometry>
<box size="0.08 0.16 0.7"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.35"/>
<geometry>
<box size="0.08 0.16 0.7"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<box size="0.1 0.2 0.72"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<box size="0.1 0.2 0.72 "/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="continuous">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 0"/>
<axis xyz="1 0 0"/>
</joint>
<link name="childB">
<inertial>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<mass value="1.0"/>
<inertia ixx="0.048966669" ixy="0" ixz="0" iyy="0.046466667" iyz="0" izz="0.0041666669"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.36"/>
<geometry>
<sphere radius="0.2"/>
</geometry>
</collision>
</link>
<joint name="joint_childA_childB" type="fixed">
<parent link="childA"/>
<child link="childB"/>
<origin xyz="0 0 -0.2"/>
</joint>
</robot>

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ../urdf/husky.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!--
Software License Agreement (BSD)
\file husky.urdf.xacro
\authors Paul Bovbel <pbovbel@clearpathrobotics.com>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- Included URDF/XACRO Files -->
<material name="Black">
<color rgba="0.1 0.1 0.1 1.0"/>
</material>
<material name="Blue">
<color rgba="0.0 0.0 0.8 1.0"/>
</material>
<material name="Green">
<color rgba="0.0 0.8 0.0 1.0"/>
</material>
<material name="Grey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
<material name="DarkGrey">
<color rgba="0.3 0.3 0.3 1.0"/>
</material>
<material name="Red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="White">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
<material name="Yellow">
<color rgba="0.8 0.8 0.0 1.0"/>
</material>
<!-- Base Size -->
<!-- Wheel Mounting Positions -->
<!-- Wheel Properties -->
<!-- Base link is on the ground under the robot -->
<link name="base_footprint"/>
<gazebo reference="base_footprint">
<material>Gazebo/DarkGrey</material>
</gazebo>
<joint name="chassis_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.14493"/>
<parent link="base_footprint"/>
<child link="base_link"/>
</joint>
<!-- Chassis link is the center of the robot's bottom plate -->
<link name="base_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/base_link.stl"/>
</geometry>
<material name="Black"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.12498"/>
<geometry>
<!-- Make collision box slightly bigger in x and z directions. -->
<box size="1.0074 0.5709 0.2675"/>
</geometry>
</collision>
<inertial>
<mass value="33.455"/>
<origin xyz="-0.08748 -0.00085 0.09947"/>
<inertia ixx="0.6022" ixy="-0.02364" ixz="-0.1197" iyy="1.7386" iyz="-0.001544" izz="2.0296"/>
</inertial>
</link>
<gazebo reference="base_link">
</gazebo>
<!-- IMU Link is the standard mounting position for the UM6 IMU.-->
<!-- Can be modified with environment variables in /etc/ros/setup.bash -->
<link name="imu_link"/>
<joint name="imu_joint" type="fixed">
<origin rpy="$(optenv HUSKY_IMU_RPY 0 -1.5708 3.1416)" xyz="$(optenv HUSKY_IMU_XYZ 0.19 0 0.149)"/>
<parent link="base_link"/>
<child link="imu_link"/>
</joint>
<gazebo reference="imu_link">
</gazebo>
<!-- Husky wheel macros -->
<link name="front_left_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="front_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Grey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="front_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_left_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="front_right_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="front_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Grey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="front_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="front_right_wheel_link"/>
<origin rpy="0 0 0" xyz="0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="front_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="front_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="front_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_left_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_left_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Grey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="rear_left_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_left_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_left_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_left_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_left_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="rear_right_wheel_link">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<stiffness value="30000"/>
<damping value="1000"/>
</contact>
<inertial>
<mass value="2.637"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/wheel.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
<collision>
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
<geometry>
<cylinder length="0.1143" radius="0.17775"/>
</geometry>
</collision>
</link>
<gazebo reference="rear_right_wheel_link">
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="10000000.0"/>
<kd value="1.0"/>
<fdir1 value="1 0 0"/>
<material>Gazebo/Grey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="rear_right_wheel" type="continuous">
<parent link="base_link"/>
<child link="rear_right_wheel_link"/>
<origin rpy="0 0 0" xyz="-0.256 -0.2854 0.03282"/>
<axis rpy="0 0 0" xyz="0 1 0"/>
</joint>
<transmission name="rear_right_wheel_trans" type="SimpleTransmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="rear_right_wheel_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
<joint name="rear_right_wheel">
<hardwareInterface>VelocityJointInterface</hardwareInterface>
</joint>
</transmission>
<link name="top_plate_link">
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/top_plate.stl"/>
</geometry>
<material name="Yellow"/>
</visual>
</link>
<joint name="top_plate" type="fixed">
<parent link="base_link"/>
<child link="top_plate_link"/>
</joint>
<gazebo reference="top_plate_link">
<material>Gazebo/Yellow</material>
</gazebo>
<link name="user_rail_link">
<visual>
<geometry>
<mesh filename="meshes/user_rail.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
</link>
<joint name="user_rail" type="fixed">
<origin rpy="0 0 0" xyz="0.272 0 0.245"/>
<parent link="base_link"/>
<child link="user_rail_link"/>
</joint>
<gazebo reference="user_rail_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<link name="front_bumper_link">
<visual>
<geometry>
<mesh filename="meshes/bumper.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
</link>
<joint name="front_bumper" type="fixed">
<origin rpy="0 0 0" xyz="0.48 0 0.091"/>
<parent link="base_link"/>
<child link="front_bumper_link"/>
</joint>
<gazebo reference="front_bumper_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<link name="rear_bumper_link">
<visual>
<geometry>
<mesh filename="meshes/bumper.stl"/>
</geometry>
<material name="DarkGrey"/>
</visual>
</link>
<joint name="rear_bumper" type="fixed">
<origin rpy="0 0 3.14159" xyz="-0.48 0 0.091"/>
<parent link="base_link"/>
<child link="rear_bumper_link"/>
</joint>
<gazebo reference="rear_bumper_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
</robot>

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-- Very basic Lua script to create some Bullet objects.
-- See also examples/LuaDemo
world = createDefaultDynamicsWorld()
cubeshape = createCubeShape(world, 30,1,30)
pos={0,0,0}
orn = {0,0,0,1}
mass = 0
body = createRigidBody(world,cubeshape,mass,pos,orn)
shape = createCubeShape(world, 1,1,1)
x=0
z=0
maxy = 10
toggle=1
for x=0,10 do
for y=0,5 do
if toggle==1 then
toggle = 0
for z=0,10 do
mass = 1
if (y==maxy) then
--mass=30;
end
pos = {-14+x*2,2+2*y,z*2}
body = createRigidBody(world,shape,mass,pos,orn)
--setBodyPosition(world,body,pos)
--setBodyOrientation(world,body,orn)
end
else
toggle = 1
end
end
end
toggle=1
shape = createSphereShape(world, 1)
for x=0,10 do
for y=0,5 do
if toggle==1 then
toggle = 0
else
toggle = 1
for z=0,10 do
mass = 1
if (y==maxy) then
--mass=30;
end
pos = {-14+x*2,2+2*y,z*2}
body = createRigidBody(world,shape,mass,pos,orn)
end
end
end
end

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-- Very basic Lua script to create some Bullet objects.
-- See also Demos3/AllBullet2Demos using Demos3/bullet2/LuaDemo
--right now we cannot interleave adding instances of different shapes, they have to be added in-order
--hence the two loops. this will be fixed soon
world = createDefaultDynamicsWorld()
cubeshape = createCubeShape(world, 30,30,1)
pos={0,0,-3.0}
orn = {0,0,0,1}
mass = 0
body = createRigidBody(world,cubeshape,mass,pos,orn)
pos={0,10,0}
orn = {0,0,0,1}
mb = loadMultiBodyFromUrdf(world,"r2d2.urdf", pos, orn);
pos={2,2,0}
orn = {0,0,0,1}
mb = loadMultiBodyFromUrdf(world,"r2d2.urdf", pos, orn);

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newmtl jenga
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka jenga.tga
map_Kd jenga.png

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<?xml version="0.0" ?>
<robot name="jenga.urdf">
<link name="baseLink">
<contact>
<lateral_friction value=".5"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".05"/>
<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="jenga.obj" scale="0.15 0.05 0.03"/>
</geometry>
<material name="blue">
<color rgba="0.5 0.5 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.15 0.05 0.03"/>
</geometry>
</collision>
</link>
</robot>

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--start_demo_name=R2D2 Grasp
--mouse_move_multiplier=0.400000
--mouse_wheel_multiplier=0.010000
--background_color_red= 0.900000
--background_color_green= 0.900000
--background_color_blue= 1.000000
--fixed_timestep= 0.000000

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<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Changes (kohlhoff): | -->
<!-- | * Removed gazebo tags. | -->
<!-- | * Removed unused materials. | -->
<!-- | * Made mesh paths relative. | -->
<!-- | * Removed material fields from collision segments. | -->
<!-- | * Removed the self_collision_checking segment. | -->
<!-- | * Removed transmission segments, since they didn't match the | -->
<!-- | convention, will have to added back later. | -->
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
<!--Orebro University, Sweden -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions of source code must retain the above copyright notice,-->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz colors -->
<material name="Grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
<!--Little helper macros to define the inertia matrix needed for links.-->
<!--Cuboid-->
<!--Cylinder: length is along the y-axis! -->
<!--lbr-->
<link name="lbr_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<!--Increase mass from 5 Kg original to provide a stable base to carry the
arm.-->
<mass value="0.0"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="lbr_iiwa_joint_1" type="revolute">
<parent link="lbr_iiwa_link_0"/>
<child link="lbr_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="lbr_iiwa_joint_2" type="revolute">
<parent link="lbr_iiwa_link_1"/>
<child link="lbr_iiwa_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="lbr_iiwa_joint_3" type="revolute">
<parent link="lbr_iiwa_link_2"/>
<child link="lbr_iiwa_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="lbr_iiwa_joint_4" type="revolute">
<parent link="lbr_iiwa_link_3"/>
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="lbr_iiwa_joint_5" type="revolute">
<parent link="lbr_iiwa_link_4"/>
<child link="lbr_iiwa_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="lbr_iiwa_joint_6" type="revolute">
<parent link="lbr_iiwa_link_5"/>
<child link="lbr_iiwa_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="lbr_iiwa_joint_7" type="revolute">
<parent link="lbr_iiwa_link_6"/>
<child link="lbr_iiwa_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
</collision>
</link>
</robot>

285
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@ -0,0 +1,285 @@
<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Changes (kohlhoff): | -->
<!-- | * Removed gazebo tags. | -->
<!-- | * Removed unused materials. | -->
<!-- | * Made mesh paths relative. | -->
<!-- | * Removed material fields from collision segments. | -->
<!-- | * Removed the self_collision_checking segment. | -->
<!-- | * Removed transmission segments, since they didn't match the | -->
<!-- | convention, will have to added back later. | -->
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
<!--Orebro University, Sweden -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions of source code must retain the above copyright notice,-->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz colors -->
<material name="Grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
<!--Little helper macros to define the inertia matrix needed for links.-->
<!--Cuboid-->
<!--Cylinder: length is along the y-axis! -->
<!--lbr-->
<link name="lbr_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<!--Increase mass from 5 Kg original to provide a stable base to carry the
arm.-->
<mass value="0.01"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_0.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="lbr_iiwa_joint_1" type="revolute">
<parent link="lbr_iiwa_link_0"/>
<child link="lbr_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_1.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="lbr_iiwa_joint_2" type="revolute">
<parent link="lbr_iiwa_link_1"/>
<child link="lbr_iiwa_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_2.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="lbr_iiwa_joint_3" type="revolute">
<parent link="lbr_iiwa_link_2"/>
<child link="lbr_iiwa_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_3.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="lbr_iiwa_joint_4" type="revolute">
<parent link="lbr_iiwa_link_3"/>
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_4.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="lbr_iiwa_joint_5" type="revolute">
<parent link="lbr_iiwa_link_4"/>
<child link="lbr_iiwa_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_5.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="lbr_iiwa_joint_6" type="revolute">
<parent link="lbr_iiwa_link_5"/>
<child link="lbr_iiwa_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="lbr_iiwa_joint_7" type="revolute">
<parent link="lbr_iiwa_link_6"/>
<child link="lbr_iiwa_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/coarse/link_7.stl"/>
</geometry>
</collision>
</link>
</robot>

289
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@ -0,0 +1,289 @@
<?xml version="1.0" ?>
<!-- ======================================================================= -->
<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro | -->
<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- | Changes (kohlhoff): | -->
<!-- | * Removed gazebo tags. | -->
<!-- | * Removed unused materials. | -->
<!-- | * Made mesh paths relative. | -->
<!-- | * Removed material fields from collision segments. | -->
<!-- | * Removed the self_collision_checking segment. | -->
<!-- | * Removed transmission segments, since they didn't match the | -->
<!-- | convention, will have to added back later. | -->
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center, -->
<!--Orebro University, Sweden -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions of source code must retain the above copyright notice,-->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Import Rviz colors -->
<material name="Grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
<!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
<!--Little helper macros to define the inertia matrix needed for links.-->
<!--Cuboid-->
<!--Cylinder: length is along the y-axis! -->
<!--lbr-->
<link name="lbr_iiwa_link_0">
<inertial>
<origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
<!--Increase mass from 5 Kg original to provide a stable base to carry the
arm.-->
<mass value="0.0"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_0 and link_1 -->
<joint name="lbr_iiwa_joint_1" type="revolute">
<parent link="lbr_iiwa_link_0"/>
<child link="lbr_iiwa_link_1"/>
<origin rpy="0 0 0" xyz="0 0 0.1575"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-.96705972839" upper="0.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_1">
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
<mass value="4"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_1 and link_2 -->
<joint name="lbr_iiwa_joint_2" type="revolute">
<parent link="lbr_iiwa_link_1"/>
<child link="lbr_iiwa_link_2"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_2">
<inertial>
<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
<mass value="4"/>
<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_2 and link_3 -->
<joint name="lbr_iiwa_joint_3" type="revolute">
<parent link="lbr_iiwa_link_2"/>
<child link="lbr_iiwa_link_3"/>
<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_3">
<inertial>
<origin rpy="0 0 0" xyz="0 0.03 0.13"/>
<mass value="3"/>
<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_3 and link_4 -->
<joint name="lbr_iiwa_joint_4" type="revolute">
<parent link="lbr_iiwa_link_3"/>
<child link="lbr_iiwa_link_4"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="0.19439510239" upper="2.29439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_4">
<inertial>
<origin rpy="0 0 0" xyz="0 0.067 0.034"/>
<mass value="2.7"/>
<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_4 and link_5 -->
<joint name="lbr_iiwa_joint_5" type="revolute">
<parent link="lbr_iiwa_link_4"/>
<child link="lbr_iiwa_link_5"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_5">
<inertial>
<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
<mass value="1.7"/>
<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_5 and link_6 -->
<joint name="lbr_iiwa_joint_6" type="revolute">
<parent link="lbr_iiwa_link_5"/>
<child link="lbr_iiwa_link_6"/>
<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_6">
<inertial>
<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
<mass value="1.8"/>
<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
</geometry>
</collision>
</link>
<!-- joint between link_6 and link_7 -->
<joint name="lbr_iiwa_joint_7" type="revolute">
<parent link="lbr_iiwa_link_6"/>
<child link="lbr_iiwa_link_7"/>
<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
<axis xyz="0 0 1"/>
<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
<dynamics damping="0.5"/>
</joint>
<link name="lbr_iiwa_link_7">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.02"/>
<mass value="0.3"/>
<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
<material name="Grey"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
</geometry>
</collision>
</link>
</robot>

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<?xml version="1.0"?>
<robot name="LWR">
<include filename="$(find lmtlwr)/model/kuka_lwr_arm.urdf.xacro"/>
<include filename="$(find lmtlwr)/model/gazebo.urdf.xacro"/>
<include filename="$(find lmtlwr)/model/materials.xml"/>
-
<kuka_lwr_arm parent="base_link" name="lwr" right="1" tool_name="">
<origin xyz="0 0 0" rpy="0 0 0"/>
</kuka_lwr_arm>
<link name="base_link" />
<link name="table">
<visual>
<origin xyz="0 0 -0.02"/>
<geometry>
<box size="2 2 0.04"/>
</geometry>
<material name="wood">
<texture filename="package://lmtlwr/model/wood.jpg"/>
<color rgba="0.65 0.5 0.4 0.8"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<box size="2 2 0.03"/>
</geometry>
</collision>
</link>
- <link name="aluplate">
<visual>
<origin xyz="0 0 -0.0075" />
<geometry>
<box size="0.275 0.275 0.015" xyz="0.2 0.2 0.0"/>
</geometry>
<material name="Silver" />
</visual>
</link>
<link name="lwr_tool">
<visual>
<origin xyz="0 0 0" />
<geometry>
<mesh filename="package://lmtlwr/model/tools/jr3-stabilo.dae" scale="0.0254 0.0254 0.0254"/>
</geometry>
</visual>
</link>
<link name="lwr_tool_tcp" />
<joint name="arm7_to_tcp" type="fixed">
<parent link="lwr_arm_7_link" />
<child link="lwr_tool_tcp"/>
<origin xyz="-0.028 0.010 0.203" />
</joint>
<joint name="arm7_to_tool" type="fixed">
<parent link="lwr_arm_7_link" />
<child link="lwr_tool"/>
<origin xyz="0 0 0" />
</joint>
<joint name="table_to_base" type="fixed">
<parent link="table" />
<child link="aluplate"/>
<origin xyz="0 0 0.015" />
</joint>
<joint name="aluplate_to_base" type="fixed">
<parent link="aluplate" />
<child link="base_link"/>
<origin xyz="0 0 0" rpy="0 0 45" />
</joint>
</robot>

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<?xml version="1.0"?>
<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
<gazebo>
<controller:gazebo_ros_controller_manager name="gazebo_controller_manager" plugin="libgazebo_ros_controller_manager.so">
<alwaysOn>true</alwaysOn>
<robotParam>robot_description</robotParam>
<updateRate>1000.0</updateRate>
<interface:audio name="gazebo_mechanism_control_dummy_iface" />
</controller:gazebo_ros_controller_manager>
</gazebo>
</robot>

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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="kuka_lwr">
<!-- right is either 1 (for right arm) or -1 (for left arm) -->
<link name="calib_kuka_arm_base_link">
<inertial>
<mass value="0"/>
<!-- static base, disable dynamics for this link -->
<origin rpy="0 0 0" xyz="0 0 0.055"/>
<inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_base.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
</geometry>
</collision>
</link>
<joint name="kuka_arm_0_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.11"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
<dynamics damping="0.1"/>
<parent link="calib_kuka_arm_base_link"/>
<child link="kuka_arm_1_link"/>
</joint>
<link name="kuka_arm_1_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_a.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
</geometry>
</collision>
</link>
<transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_0_motor"/>
<joint name="kuka_arm_0_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_1_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<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 effort="306" lower="-1.57079632679" upper="1.57079632679" velocity="1.91986217719"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_1_link"/>
<child link="kuka_arm_2_link"/>
</joint>
<link name="kuka_arm_2_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.04 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_b.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
</geometry>
</collision>
</link>
<transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_1_motor"/>
<joint name="kuka_arm_1_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_2_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_2_link"/>
<child link="kuka_arm_3_link"/>
</joint>
<link name="kuka_arm_3_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_a.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
</geometry>
</collision>
</link>
<transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_2_motor"/>
<joint name="kuka_arm_2_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_3_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_3_link"/>
<child link="kuka_arm_4_link"/>
</joint>
<link name="kuka_arm_4_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.04 0.07"/>
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/arm_segment_b.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
</geometry>
</collision>
</link>
<transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_3_motor"/>
<joint name="kuka_arm_3_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_4_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.20"/>
<axis xyz="0 0 1"/>
<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_4_link"/>
<child link="kuka_arm_5_link"/>
</joint>
<link name="kuka_arm_5_link">
<inertial>
<mass value="2.0"/>
<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
<inertia ixx="0.0126506666667" ixy="0" ixz="0" iyy="0.0108506666667" iyz="0" izz="0.003"/>
</inertial>
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry name="kuka_arm_5_geom">
<mesh filename="meshes_arm/arm_segment_last.stl"/>
</geometry>
<material name="Orange"/>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
</geometry>
</collision>
</link>
<transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
<actuator name="kuka_arm_4_motor"/>
<joint name="kuka_arm_4_joint"/>
<mechanicalReduction>1.0</mechanicalReduction>
</transmission>
<joint name="kuka_arm_5_joint" type="revolute">
<origin rpy="0 0 0" xyz="0 0 0.19"/>
<axis xyz="0 -1 0"/>
<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="3.14159265359"/>
<dynamics damping="0.1"/>
<parent link="kuka_arm_5_link"/>
<child link="kuka_arm_6_link"/>
</joint>
<link name="kuka_arm_6_link">
<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>

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<?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>

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<?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>

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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/.

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<?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>
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<ambient>
<color>0.21666 0.22745 0.25000 1</color>
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<diffuse>
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<specular>
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</specular>
<shininess>
<float>12.5</float>
</shininess>
<reflective>
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<reflectivity>
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</library_effects>
<library_materials>
<material id="Black" name="Black">
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<scene>
<instance_visual_scene url="#Scene"/>
</scene>
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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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Engine/lib/bullet/data/lego/lego.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="legobrick">
<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 0.0 0.0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
<geometry>
<mesh filename="lego.obj" scale=".1 .1 .1"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="1.570796 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.032 0.023 0.032"/>
</geometry>
</collision>
</link>
</robot>

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Engine/lib/bullet/data/multibody.bullet Normal file
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Engine/lib/bullet/data/plane.mtl Normal file
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newmtl Material
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 checker_blue.png

26
Engine/lib/bullet/data/plane.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="planeLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane.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="10 10 0.001"/>
</geometry>
</collision>
</link>
</robot>

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Engine/lib/bullet/data/plane100.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="plane100.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="10 10 0.001"/>
</geometry>
</collision>
</link>
</robot>

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Engine/lib/bullet/data/pr2_gripper.urdf Normal file
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<?xml version="1.0"?>
<robot name="physics">
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
<material name="Gray">
<color rgba=".7 .7 .7 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size=".03 .03 .02"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size=".03 .03 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
</robot>

50
Engine/lib/bullet/data/prismatic.urdf Normal file
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<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="0.0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
</link>
<link name="childA">
<inertial>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<mass value="10.0"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 1 -1"/>
<geometry>
<box size="0.1 .1 .1"/>
</geometry>
</collision>
</link>
<joint name="joint_baseLink_childA" type="prismatic">
<parent link="baseLink"/>
<child link="childA"/>
<origin xyz="0 0 1.0"/>
<axis xyz="0 0 1"/>
<limit lower="-0.1" upper="0.2" />
</joint>
</robot>

418
Engine/lib/bullet/data/r2d2.urdf Normal file
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<?xml version="1.0"?>
<robot name="physics">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</collision>
<inertial>
<mass value="10"/>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="base_to_right_leg" type="fixed">
<parent link="base_link"/>
<child link="right_leg"/>
<origin xyz="0.22 0 .25"/>
</joint>
<link name="right_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_base_joint" type="fixed">
<parent link="right_leg"/>
<child link="right_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="right_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black">
<color rgba="0.5 0.5 0.5 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="right_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="right_base"/>
<child link="right_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
<origin rpy="0 1.57075 0" xyz="0 0 -0.3"/>
</inertial>
</link>
<joint name="base_to_left_leg" type="fixed">
<parent link="base_link"/>
<child link="left_leg"/>
<origin xyz="-0.22 0 .25"/>
</joint>
<link name="left_base">
<visual>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size=".1 0.4 .1"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_base_joint" type="fixed">
<parent link="left_leg"/>
<child link="left_base"/>
<origin xyz="0 0 -0.6"/>
</joint>
<link name="left_front_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_front_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_front_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="left_back_wheel">
<visual>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<geometry>
<cylinder length=".1" radius="0.035"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_back_wheel_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="left_base"/>
<child link="left_back_wheel"/>
<origin rpy="0 1.57075 0" xyz="0 -0.133333333333 -0.085"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<joint name="gripper_extension" type="prismatic">
<axis xyz="1 0 0"/>
<parent link="base_link"/>
<child link="gripper_pole"/>
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
<origin rpy="0 0 1.57075" xyz="0 0.19 .2"/>
</joint>
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
<material name="Gray">
<color rgba=".7 .7 .7 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger.stl"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="head">
<visual>
<geometry>
<sphere radius="0.2"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<geometry>
<sphere radius="0.2"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="head_swivel" type="continuous">
<parent link="base_link"/>
<child link="head"/>
<axis xyz="0 0 1"/>
<origin xyz="0 0 0.3"/>
<limit effort="1000.0" lower="-0.38" upper="0" velocity="0.5"/>
</joint>
<link name="box">
<visual>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="tobox" type="fixed">
<parent link="head"/>
<child link="box"/>
<origin xyz="0 0.1414 0.1414"/>
</joint>
</robot>

BIN
Engine/lib/bullet/data/r2d2_multibody.bullet Normal file
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26
Engine/lib/bullet/data/samurai.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link concave="yes" name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="1.5707963 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="samurai_monastry.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision concave="yes">
<origin rpy="1.5707963 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="samurai_monastry.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
</robot>

740
Engine/lib/bullet/data/samurai_monastry.mtl Normal file
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@ -0,0 +1,740 @@
# Blender MTL File: 'None'
# Material Count: 82
newmtl Arena_02:Arena:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:Arena:blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:Arena:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:Arena:blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:Arena:blinn5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:Arena:sda:sda:Material3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Arena_02:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Floor_04:Arena:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:blinn5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:blinn6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:blinn7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainEntrance:lambert2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainEntrance:MainTemple:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:MainTemple3:Stairs_side_Material5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:MainTemple3:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:MainTemple3:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:MainTemple3:blinn6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:MainTemple3:sda:Material3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:MainTemple4:sda:Material3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:SideTemple5:Material7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:blinn7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple1:pasted__blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple:MainTemple:blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MainTemple:MainTemple:blinn5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Material
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MediumTemple:MediumTemple:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MediumTemple:MediumTemple:blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MediumTemple:MediumTemple:blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MediumTemple:MediumTemple:blinn5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl MediumTemple:SmallTemple:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple1:Out_Temple:lambert2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple1:Out_Temple:lambert3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple1:Out_Temple:lambert4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple1:Out_Temple:lambert6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple1:Out_Temple:lambert7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple:Out_Temple:lambert2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple:Out_Temple:lambert3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple:Out_Temple:lambert4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple:Out_Temple:lambert6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl Out_Temple:Out_Temple:lambert7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl PaperLanterns1:Paper_Lantern1:scene_material
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:Arena:blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple1:Material2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple1:Material3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple1:Material7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple1:Material8SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple1:Material9SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple4:Material5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SideTemple4:Stairs_blinn6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:SmallTemple1:phong2
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:blinn6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:side_temple_blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple03:side_temple_floor_blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple04:Arena:blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple04:SideTemple1:Material2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple04:SmallTemple1:phong2
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple04:blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple04:blinn6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:SideTemple:Material3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:SideTemple:Material5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:SideTemple:Material7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:SideTemple:Material8SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:SideTemple:Material9SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SideTemple:blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SmallTemple:SmallTemple:floor
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SmallTemple:SmallTemple:lambert2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SmallTemple:SmallTemple:polymsh47_XSIPOLYCLS_scene_material1
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl SmallTemple:SmallTemple:window
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl StoneLanterns:Lantern1:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl blinn2SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl blinn3SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl blinn4SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl blinn5SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl blinn6SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl blinn7SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
newmtl pagodas:pagoda1:blinn1SG
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2

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Engine/lib/bullet/data/seymourplane_triangulate.dae Normal file
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