mirror of
https://github.com/TorqueGameEngines/Torque3D.git
synced 2026-07-15 16:44:36 +00:00
* Adjustment: Initial CMake reworking.
This commit is contained in:
Robert MacGregor
parent
516163fd5d
commit
d7cdf54661
5394 changed files with 2615532 additions and 8711 deletions
80
Engine/lib/bullet/data/kuka_lwr/arm_base.urdf.xacro
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80
Engine/lib/bullet/data/kuka_lwr/arm_base.urdf.xacro
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@ -0,0 +1,80 @@
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<?xml version="1.0"?>
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<robot name="LWR">
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<include filename="$(find lmtlwr)/model/kuka_lwr_arm.urdf.xacro"/>
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<include filename="$(find lmtlwr)/model/gazebo.urdf.xacro"/>
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<include filename="$(find lmtlwr)/model/materials.xml"/>
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-
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<kuka_lwr_arm parent="base_link" name="lwr" right="1" tool_name="">
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<origin xyz="0 0 0" rpy="0 0 0"/>
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</kuka_lwr_arm>
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<link name="base_link" />
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<link name="table">
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<visual>
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<origin xyz="0 0 -0.02"/>
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<geometry>
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<box size="2 2 0.04"/>
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</geometry>
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<material name="wood">
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<texture filename="package://lmtlwr/model/wood.jpg"/>
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<color rgba="0.65 0.5 0.4 0.8"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<box size="2 2 0.03"/>
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</geometry>
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</collision>
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</link>
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- <link name="aluplate">
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<visual>
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<origin xyz="0 0 -0.0075" />
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<geometry>
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<box size="0.275 0.275 0.015" xyz="0.2 0.2 0.0"/>
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</geometry>
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<material name="Silver" />
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</visual>
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</link>
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<link name="lwr_tool">
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<visual>
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<origin xyz="0 0 0" />
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<geometry>
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<mesh filename="package://lmtlwr/model/tools/jr3-stabilo.dae" scale="0.0254 0.0254 0.0254"/>
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</geometry>
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</visual>
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</link>
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<link name="lwr_tool_tcp" />
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<joint name="arm7_to_tcp" type="fixed">
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<parent link="lwr_arm_7_link" />
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<child link="lwr_tool_tcp"/>
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<origin xyz="-0.028 0.010 0.203" />
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</joint>
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<joint name="arm7_to_tool" type="fixed">
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<parent link="lwr_arm_7_link" />
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<child link="lwr_tool"/>
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<origin xyz="0 0 0" />
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</joint>
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<joint name="table_to_base" type="fixed">
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<parent link="table" />
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<child link="aluplate"/>
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<origin xyz="0 0 0.015" />
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</joint>
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<joint name="aluplate_to_base" type="fixed">
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<parent link="aluplate" />
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<child link="base_link"/>
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<origin xyz="0 0 0" rpy="0 0 45" />
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</joint>
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</robot>
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16
Engine/lib/bullet/data/kuka_lwr/gazebo.urdf.xacro
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16
Engine/lib/bullet/data/kuka_lwr/gazebo.urdf.xacro
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@ -0,0 +1,16 @@
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<?xml version="1.0"?>
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<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
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xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
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xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
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<gazebo>
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<controller:gazebo_ros_controller_manager name="gazebo_controller_manager" plugin="libgazebo_ros_controller_manager.so">
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<alwaysOn>true</alwaysOn>
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<robotParam>robot_description</robotParam>
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<updateRate>1000.0</updateRate>
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<interface:audio name="gazebo_mechanism_control_dummy_iface" />
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</controller:gazebo_ros_controller_manager>
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</gazebo>
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</robot>
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264
Engine/lib/bullet/data/kuka_lwr/kuka.urdf
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264
Engine/lib/bullet/data/kuka_lwr/kuka.urdf
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@ -0,0 +1,264 @@
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<?xml version="1.0" ?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from kuka_lwr_arm.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="kuka_lwr">
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<!-- right is either 1 (for right arm) or -1 (for left arm) -->
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<link name="calib_kuka_arm_base_link">
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<inertial>
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<mass value="0"/>
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<!-- static base, disable dynamics for this link -->
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<origin rpy="0 0 0" xyz="0 0 0.055"/>
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<inertia ixx="0.00381666666667" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.00381666666667"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_base.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_base_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<joint name="kuka_arm_0_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.11"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="1.91986217719"/>
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<dynamics damping="0.1"/>
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<parent link="calib_kuka_arm_base_link"/>
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<child link="kuka_arm_1_link"/>
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</joint>
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<link name="kuka_arm_1_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.04 0.130"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_0_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_0_motor"/>
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<joint name="kuka_arm_0_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_1_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 -1 0"/>
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<!--limit lower="${-120 * M_PI / 180}" upper="${120 * M_PI / 180}"
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effort="306" velocity="${arm_velocity_scale_factor * 110 * M_PI / 180}" /-->
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<!-- nalt: Reduced limits to avoid contact with table - kinda hacky, should not be done here -->
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<limit effort="306" lower="-1.57079632679" upper="1.57079632679" velocity="1.91986217719"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_1_link"/>
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<child link="kuka_arm_2_link"/>
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</joint>
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<link name="kuka_arm_2_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 -0.04 0.07"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="3.14159265359 0 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_1_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_1_motor"/>
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<joint name="kuka_arm_1_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_2_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_2_link"/>
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<child link="kuka_arm_3_link"/>
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</joint>
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<link name="kuka_arm_3_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 -0.04 0.130"/>
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<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_a.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_a_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_2_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_2_motor"/>
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<joint name="kuka_arm_2_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_3_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 1 0"/>
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<limit effort="306" lower="-2.09439510239" upper="2.09439510239" velocity="2.26892802759"/>
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_3_link"/>
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<child link="kuka_arm_4_link"/>
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</joint>
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<link name="kuka_arm_4_link">
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<inertial>
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<mass value="2.0"/>
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<origin rpy="0 0 0" xyz="0 0.04 0.07"/>
|
||||
<inertia ixx="0.0136666666667" ixy="0" ixz="0" iyy="0.0118666666667" iyz="0" izz="0.003"/>
|
||||
</inertial>
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||||
<visual>
|
||||
<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/arm_segment_b.stl"/>
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</geometry>
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<material name="Orange"/>
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</visual>
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<collision>
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<origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 0.2"/>
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<geometry>
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<mesh filename="meshes_arm/convex/arm_segment_b_convex.stl"/>
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</geometry>
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</collision>
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</link>
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<transmission name="kuka_arm_3_trans" type="pr2_mechanism_model/SimpleTransmission">
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<actuator name="kuka_arm_3_motor"/>
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<joint name="kuka_arm_3_joint"/>
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<mechanicalReduction>1.0</mechanicalReduction>
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</transmission>
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<joint name="kuka_arm_4_joint" type="revolute">
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<origin rpy="0 0 0" xyz="0 0 0.20"/>
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<axis xyz="0 0 1"/>
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<limit effort="204" lower="-2.96705972839" upper="2.96705972839" velocity="2.26892802759"/>
|
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<dynamics damping="0.1"/>
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<parent link="kuka_arm_4_link"/>
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<child link="kuka_arm_5_link"/>
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</joint>
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<link name="kuka_arm_5_link">
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<inertial>
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<mass value="2.0"/>
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||||
<origin rpy="0 0 0" xyz="0 0.02 0.124"/>
|
||||
<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"/>
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||||
<geometry name="kuka_arm_5_geom">
|
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<mesh filename="meshes_arm/arm_segment_last.stl"/>
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</geometry>
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<material name="Orange"/>
|
||||
</visual>
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||||
<collision>
|
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<origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
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<geometry>
|
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<mesh filename="meshes_arm/convex/arm_segment_last_convex.stl"/>
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</geometry>
|
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</collision>
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</link>
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<transmission name="kuka_arm_4_trans" type="pr2_mechanism_model/SimpleTransmission">
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||||
<actuator name="kuka_arm_4_motor"/>
|
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<joint name="kuka_arm_4_joint"/>
|
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<mechanicalReduction>1.0</mechanicalReduction>
|
||||
</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"/>
|
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<dynamics damping="0.1"/>
|
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<parent link="kuka_arm_5_link"/>
|
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<child link="kuka_arm_6_link"/>
|
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</joint>
|
||||
<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>
|
||||
|
||||
346
Engine/lib/bullet/data/kuka_lwr/kuka_lwr_arm.urdf.xacro
Normal file
346
Engine/lib/bullet/data/kuka_lwr/kuka_lwr_arm.urdf.xacro
Normal file
|
|
@ -0,0 +1,346 @@
|
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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>
|
||||
34
Engine/lib/bullet/data/kuka_lwr/materials.xml
Normal file
34
Engine/lib/bullet/data/kuka_lwr/materials.xml
Normal file
|
|
@ -0,0 +1,34 @@
|
|||
<?xml version="1.0"?>
|
||||
<robot>
|
||||
<material name="DarkGrey">
|
||||
<color rgba="0.3 0.3 0.3 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Black">
|
||||
<color rgba="0 0 0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Orange">
|
||||
<color rgba="1.0 0.487 0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Silver">
|
||||
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Grey">
|
||||
<color rgba="0.7 0.7 0.7 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="Blue">
|
||||
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="HandGray">
|
||||
<color rgba="0.953 0.996 0.694 1.0"/>
|
||||
</material>
|
||||
|
||||
<material name="SickBlue">
|
||||
<color rgba="0.3058 0.5921 0.7294 1.0"/>
|
||||
</material>
|
||||
</robot>
|
||||
12
Engine/lib/bullet/data/kuka_lwr/meshes_arm/COPYRIGHT
Normal file
12
Engine/lib/bullet/data/kuka_lwr/meshes_arm/COPYRIGHT
Normal file
|
|
@ -0,0 +1,12 @@
|
|||
The meshes of the lightweight robot are based on a blender model
|
||||
which was re-designed from scratch. (It can be downloaded at
|
||||
http://toychest.in.tum.de/wiki/_media/projects:lwr-arm.blend)
|
||||
|
||||
This blender model, as well as the meshes found in this folder
|
||||
are licensed under CC-BY-3.0:
|
||||
|
||||
Copyright (c) 2010 by Ingo Kresse <kresse@in.tum.de>.
|
||||
This work is made available under the terms of the
|
||||
Creative Commons Attribution 3.0 license,
|
||||
http://creativecommons.org/licenses/by/3.0/.
|
||||
|
||||
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_base.dae
Normal file
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_base.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_base.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_base.stl
Normal file
Binary file not shown.
158
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche.dae
Normal file
158
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche.stl
Normal file
Binary file not shown.
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche_angle.dae
Normal file
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche_angle.dae
Normal file
|
|
@ -0,0 +1,162 @@
|
|||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
|
||||
<asset>
|
||||
<contributor>
|
||||
<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
|
||||
<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
|
||||
<comments></comments>
|
||||
<copyright></copyright>
|
||||
<source_data>file:///home/ingo/models/lwr/meshes/arm_flanche.blend</source_data>
|
||||
</contributor>
|
||||
<created>2010-07-28T12:31:52.074222</created>
|
||||
<modified>2010-07-28T12:31:52.074265</modified>
|
||||
<unit meter="1" name="meter"/>
|
||||
<up_axis>Z_UP</up_axis>
|
||||
</asset>
|
||||
<library_effects>
|
||||
<effect id="Black-fx" name="Black-fx">
|
||||
<profile_COMMON>
|
||||
<technique sid="blender">
|
||||
<phong>
|
||||
<emission>
|
||||
<color>0.00000 0.00000 0.00000 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color>0.10000 0.10000 0.10000 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color>0.10000 0.10000 0.10000 1</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color>0.50000 0.50000 0.50000 1</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float>12.5</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color>1.00000 1.00000 1.00000 1</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
||||
<float>1.0</float>
|
||||
</reflectivity>
|
||||
<transparent>
|
||||
<color>1 1 1 1</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float>0.0</float>
|
||||
</transparency>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
<effect id="Grey-fx" name="Grey-fx">
|
||||
<profile_COMMON>
|
||||
<technique sid="blender">
|
||||
<phong>
|
||||
<emission>
|
||||
<color>0.00000 0.00000 0.00000 1</color>
|
||||
</emission>
|
||||
<ambient>
|
||||
<color>0.21666 0.22745 0.25000 1</color>
|
||||
</ambient>
|
||||
<diffuse>
|
||||
<color>0.60667 0.63686 0.70000 1</color>
|
||||
</diffuse>
|
||||
<specular>
|
||||
<color>0.70000 0.70000 0.70000 1</color>
|
||||
</specular>
|
||||
<shininess>
|
||||
<float>12.5</float>
|
||||
</shininess>
|
||||
<reflective>
|
||||
<color>1.00000 1.00000 1.00000 1</color>
|
||||
</reflective>
|
||||
<reflectivity>
|
||||
<float>0.0</float>
|
||||
</reflectivity>
|
||||
<transparent>
|
||||
<color>1 1 1 1</color>
|
||||
</transparent>
|
||||
<transparency>
|
||||
<float>0.0</float>
|
||||
</transparency>
|
||||
</phong>
|
||||
</technique>
|
||||
</profile_COMMON>
|
||||
</effect>
|
||||
</library_effects>
|
||||
<library_materials>
|
||||
<material id="Black" name="Black">
|
||||
<instance_effect url="#Black-fx"/>
|
||||
</material>
|
||||
<material id="Grey" name="Grey">
|
||||
<instance_effect url="#Grey-fx"/>
|
||||
</material>
|
||||
</library_materials>
|
||||
<library_geometries>
|
||||
<geometry id="flanche_001" name="flanche_001">
|
||||
<mesh>
|
||||
<source id="flanche_001-Position">
|
||||
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|
||||
<technique_common>
|
||||
<accessor count="104" source="#flanche_001-Position-array" stride="3">
|
||||
<param type="float" name="X"></param>
|
||||
<param type="float" name="Y"></param>
|
||||
<param type="float" name="Z"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<source id="flanche_001-Normals">
|
||||
<float_array count="324" id="flanche_001-Normals-array">-0.00000 0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 0.00000 0.00000 -1.00000 0.00000 0.00000 -1.00000 0.00000 1.00000 -0.00000 0.00000 1.00000 -0.00000 0.00000 1.00000 -0.00000 0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 0.00000 1.00000 -0.00000 0.00000 1.00000 -0.00000 0.00000 1.00000 -0.00000 0.00000 -1.00000 0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 0.00000 -0.00000 -1.00000 -0.00000 -0.00000 -1.00000 0.00000 0.00000 -1.00000 -0.00000 -0.00000 -1.00000 -0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 0.00000 1.00000 0.00000 -0.00000 1.00000 0.00000 0.00000 -1.00000 -0.00000 -0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 -0.00000 -1.00000 -0.00000 0.00000 -1.00000 -0.00000 0.00000 0.00000 0.70711 0.70711 0.00000 0.70711 0.70711 0.00000 -0.70711 -0.70711 -0.00000 -0.70711 -0.70711 -0.97493 -0.00000 -0.22249 -0.97493 0.00000 -0.22249 -0.78184 -0.00000 -0.62348 -0.78184 0.00000 -0.62348 -0.43384 -0.00000 -0.90099 -0.43384 0.00000 -0.90099 -0.00000 -0.00000 -1.00000 -0.00000 0.00000 -1.00000 0.43384 0.00000 -0.90099 0.43384 0.00000 -0.90099 0.78184 0.00000 -0.62348 0.78184 0.00000 -0.62348 0.97493 0.00000 -0.22249 0.97493 0.00000 -0.22249 0.97493 -0.22249 0.00000 0.97493 -0.22249 0.00000 0.78184 -0.62349 0.00000 0.78184 -0.62349 0.00000 0.43384 -0.90099 0.00000 0.43384 -0.90099 0.00000 0.00000 -1.00000 0.00000 0.00000 -1.00000 0.00000 -0.43384 -0.90099 -0.00000 -0.43384 -0.90099 0.00000 -0.78184 -0.62349 -0.00000 -0.78184 -0.62349 0.00000 -0.97493 -0.22249 -0.00000 -0.97493 -0.22249 0.00000 -0.56293 0.68593 0.46109 -0.41830 0.78258 0.46109 -0.25758 0.84915 0.46109 -0.08698 0.88308 0.46109 0.08698 0.88308 0.46109 0.25759 0.84915 0.46109 0.41830 0.78258 0.46109 0.56293 0.68593 0.46109 0.68594 0.56293 0.46109 0.78258 0.41830 0.46109 0.84915 0.25759 0.46109 0.88308 0.08698 0.46109 0.88308 -0.08698 0.46109 0.84915 -0.25759 0.46109 0.78258 -0.41830 0.46109 0.68594 -0.56293 0.46109 0.56293 -0.68594 0.46109 0.41830 -0.78258 0.46109 0.25759 -0.84915 0.46109 0.08698 -0.88308 0.46109 -0.08698 -0.88308 0.46109 -0.25758 -0.84915 0.46109 -0.41830 -0.78258 0.46109 -0.56293 -0.68594 0.46109 -0.68593 -0.56293 0.46109 -0.78258 -0.41830 0.46109 -0.84915 -0.25759 0.46109 -0.88308 -0.08698 0.46109 -0.88308 0.08697 0.46109 -0.84915 0.25758 0.46109 -0.78258 0.41829 0.46109 -0.68594 0.56293 0.46109</float_array>
|
||||
<technique_common>
|
||||
<accessor count="108" source="#flanche_001-Normals-array" stride="3">
|
||||
<param type="float" name="X"></param>
|
||||
<param type="float" name="Y"></param>
|
||||
<param type="float" name="Z"></param>
|
||||
</accessor>
|
||||
</technique_common>
|
||||
</source>
|
||||
<vertices id="flanche_001-Vertex">
|
||||
<input semantic="POSITION" source="#flanche_001-Position"/>
|
||||
</vertices>
|
||||
<triangles count="64" material="Black">
|
||||
<input offset="0" semantic="VERTEX" source="#flanche_001-Vertex"/>
|
||||
<input offset="1" semantic="NORMAL" source="#flanche_001-Normals"/>
|
||||
<p>40 76 72 76 73 76 73 76 41 76 40 76 41 77 73 77 74 77 74 77 42 77 41 77 42 78 74 78 75 78 75 78 43 78 42 78 43 79 75 79 76 79 76 79 44 79 43 79 44 80 76 80 77 80 77 80 45 80 44 80 45 81 77 81 78 81 78 81 46 81 45 81 46 82 78 82 79 82 79 82 47 82 46 82 47 83 79 83 80 83 80 83 48 83 47 83 48 84 80 84 81 84 81 84 49 84 48 84 49 85 81 85 82 85 82 85 50 85 49 85 50 86 82 86 83 86 83 86 51 86 50 86 51 87 83 87 84 87 84 87 52 87 51 87 52 88 84 88 85 88 85 88 53 88 52 88 53 89 85 89 86 89 86 89 54 89 53 89 54 90 86 90 87 90 87 90 55 90 54 90 55 91 87 91 88 91 88 91 56 91 55 91 56 92 88 92 89 92 89 92 57 92 56 92 57 93 89 93 90 93 90 93 58 93 57 93 58 94 90 94 91 94 91 94 59 94 58 94 59 95 91 95 92 95 92 95 60 95 59 95 60 96 92 96 93 96 93 96 61 96 60 96 61 97 93 97 94 97 94 97 62 97 61 97 62 98 94 98 95 98 95 98 63 98 62 98 63 99 95 99 96 99 96 99 64 99 63 99 64 100 96 100 97 100 97 100 65 100 64 100 65 101 97 101 98 101 98 101 66 101 65 101 66 102 98 102 99 102 99 102 67 102 66 102 67 103 99 103 100 103 100 103 68 103 67 103 68 104 100 104 101 104 101 104 69 104 68 104 69 105 101 105 102 105 102 105 70 105 69 105 70 106 102 106 103 106 103 106 71 106 70 106 72 107 40 107 71 107 71 107 103 107 72 107</p>
|
||||
</triangles>
|
||||
<triangles count="76" material="Grey">
|
||||
<input offset="0" semantic="VERTEX" source="#flanche_001-Vertex"/>
|
||||
<input offset="1" semantic="NORMAL" source="#flanche_001-Normals"/>
|
||||
<p>13 0 18 0 19 0 19 1 15 1 13 1 13 2 15 2 11 2 13 3 11 3 9 3 9 4 11 4 7 4 9 5 7 5 5 5 5 6 7 6 3 6 5 7 3 7 1 7 17 8 16 8 14 8 14 9 16 9 12 9 14 10 12 10 10 10 10 11 12 11 8 11 10 12 8 12 6 12 6 13 8 13 4 13 6 14 4 14 2 14 4 15 0 15 2 15 39 16 31 16 38 16 38 17 31 17 30 17 38 18 30 18 37 18 30 19 32 19 33 19 35 20 36 20 37 20 37 21 30 21 35 21 35 22 30 22 33 22 35 23 33 23 34 23 20 24 21 24 29 24 22 25 20 25 23 25 23 26 20 26 25 26 23 27 25 27 24 27 26 28 25 28 27 28 27 29 25 29 20 29 27 30 20 30 28 30 28 31 20 31 29 31 20 32 30 32 21 32 21 33 30 33 31 33 21 34 31 34 16 34 16 35 31 35 18 35 16 36 18 36 12 36 12 37 18 37 13 37 14 38 15 38 17 38 17 39 15 39 19 39 17 40 19 40 29 40 29 41 19 41 39 41 29 42 39 42 28 42 28 43 39 43 38 43 39 44 19 44 31 44 31 45 19 45 18 45 17 46 29 46 16 46 16 47 29 47 21 47 28 48 38 48 37 48 28 49 37 49 27 49 27 50 37 50 36 50 27 51 36 51 26 51 26 52 36 52 35 52 26 53 35 53 25 53 25 54 35 54 34 54 25 55 34 55 24 55 24 56 34 56 33 56 24 57 33 57 23 57 23 58 33 58 32 58 23 59 32 59 22 59 22 60 32 60 30 60 22 61 30 61 20 61 12 62 13 62 9 62 12 63 9 63 8 63 8 64 9 64 5 64 8 65 5 65 4 65 4 66 5 66 1 66 1 67 0 67 4 67 0 68 1 68 3 68 0 69 3 69 2 69 2 70 3 70 7 70 2 71 7 71 6 71 6 72 7 72 11 72 6 73 11 73 10 73 10 74 11 74 15 74 10 75 15 75 14 75</p>
|
||||
</triangles>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</library_geometries>
|
||||
<library_visual_scenes>
|
||||
<visual_scene id="Scene" name="Scene">
|
||||
<node layer="L1" id="flanche" name="flanche">
|
||||
<matrix>
|
||||
1.0 0.0 0.0 0.0
|
||||
0.0 1.0 0.0 0.0
|
||||
0.0 0.0 1.0 0.0
|
||||
0.0 0.0 0.0 1.0
|
||||
</matrix>
|
||||
<instance_geometry url="#flanche_001">
|
||||
<bind_material>
|
||||
<technique_common>
|
||||
<instance_material symbol="Black" target="#Black">
|
||||
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
|
||||
</instance_material>
|
||||
<instance_material symbol="Grey" target="#Grey">
|
||||
<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
|
||||
</instance_material>
|
||||
</technique_common>
|
||||
</bind_material>
|
||||
</instance_geometry>
|
||||
</node>
|
||||
</visual_scene>
|
||||
</library_visual_scenes>
|
||||
<scene>
|
||||
<instance_visual_scene url="#Scene"/>
|
||||
</scene>
|
||||
</COLLADA>
|
||||
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche_angle.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_flanche_angle.stl
Normal file
Binary file not shown.
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_a.dae
Normal file
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_a.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_a.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_a.stl
Normal file
Binary file not shown.
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_b.dae
Normal file
162
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_b.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_b.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_b.stl
Normal file
Binary file not shown.
116
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_last.dae
Normal file
116
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_last.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_last.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_segment_last.stl
Normal file
Binary file not shown.
116
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_wrist.dae
Normal file
116
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_wrist.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_wrist.stl
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/meshes_arm/arm_wrist.stl
Normal file
Binary file not shown.
4
Engine/lib/bullet/data/kuka_lwr/meshes_arm/convex/README
Normal file
4
Engine/lib/bullet/data/kuka_lwr/meshes_arm/convex/README
Normal file
|
|
@ -0,0 +1,4 @@
|
|||
convex collision hulls, created using
|
||||
|
||||
rosrun convex_decomposition convex_decomposition <mesh.obj> -v24 -p10 -s0.01
|
||||
rosrun ivcon ivcon <mesh_convex.obj> <mesh_convex.stlb>
|
||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
1823
Engine/lib/bullet/data/kuka_lwr/tools/jr3-stabilo.dae
Normal file
1823
Engine/lib/bullet/data/kuka_lwr/tools/jr3-stabilo.dae
Normal file
File diff suppressed because one or more lines are too long
BIN
Engine/lib/bullet/data/kuka_lwr/tools/jr3-stabilo.skp
Normal file
BIN
Engine/lib/bullet/data/kuka_lwr/tools/jr3-stabilo.skp
Normal file
Binary file not shown.
Loading…
Add table
Add a link
Reference in a new issue