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don't use empty frame for pose in sdf files

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use hint for clang that if (0) is intentional
This commit is contained in:
Erwin Coumans 2021-08-30 19:40:20 +00:00
parent 7ac95be8cd
commit 68424feb2d
35 changed files with 1009 additions and 1009 deletions
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2
Extras/Serialize/BulletFileLoader/bFile.cpp
View File

@ -737,7 +737,7 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
if (new_dna == -1) return;
//disable this, because we need to fixup pointers/ListBase
if (0) //mFileDNA->flagEqual(old_dna))
if (/* DISABLES CODE */ (0)) //mFileDNA->flagEqual(old_dna))
{
short *strc = mFileDNA->getStruct(old_dna);
int len = mFileDNA->getLength(strc[0]);

4
Extras/obj2sdf/obj2sdf.cpp
View File

@ -271,7 +271,7 @@ int main(int argc, char* argv[])
fprintf(sdfFile,
"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<pose >0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
@ -411,7 +411,7 @@ int main(int argc, char* argv[])
fprintf(sdfFile,
"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<pose>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"

2
data/cube_small.sdf
View File

@ -1,7 +1,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='unit_box_0'>
<pose frame=''>0 0 0.107 0 0 0</pose>
<pose>0 0 0.107 0 0 0</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>0.1</mass>

54
data/gripper/wsg50_one_motor_gripper.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.26 3.14 0 0</pose>
<pose>0 0 0.26 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -43,7 +43,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,9 +58,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -102,9 +102,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -147,9 +147,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -192,9 +192,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -207,7 +207,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -249,9 +249,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -264,7 +264,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -273,7 +273,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -305,7 +305,7 @@
</joint>
<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -319,7 +319,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -329,7 +329,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -345,7 +345,7 @@
</joint>
<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -359,7 +359,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -369,7 +369,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

58
data/gripper/wsg50_one_motor_gripper_free_base.sdf
View File

@ -3,11 +3,11 @@
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 -2.3 2.1 0 0 0</pose>
<pose>0 -2.3 2.1 0 0 0</pose>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
@ -26,9 +26,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -41,7 +41,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -56,9 +56,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -70,7 +70,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -100,9 +100,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -114,7 +114,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -145,9 +145,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -159,7 +159,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -190,9 +190,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -205,7 +205,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -214,7 +214,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -247,9 +247,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -262,7 +262,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -271,7 +271,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -307,7 +307,7 @@
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
<pose>0.042 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -321,7 +321,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -331,7 +331,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -351,7 +351,7 @@
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
<pose>-0.042 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -365,7 +365,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -375,7 +375,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

54
data/gripper/wsg50_one_motor_gripper_new.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.7 3.14 0 0</pose>
<pose>0 0 0.7 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -43,7 +43,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,9 +58,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -102,9 +102,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -147,9 +147,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -192,9 +192,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -207,7 +207,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -248,9 +248,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -263,7 +263,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -272,7 +272,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -307,7 +307,7 @@
<spinning_friction>.3</spinning_friction>
<rolling_friction>0.04</rolling_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -321,7 +321,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -331,7 +331,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -351,7 +351,7 @@
<spinning_friction>.3</spinning_friction>
<rolling_friction>0.04</rolling_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -365,7 +365,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -375,7 +375,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

58
data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
View File

@ -2,11 +2,11 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
<pose>1.4 -0.2 2.1 0 0 0</pose>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
@ -25,9 +25,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -40,7 +40,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -55,9 +55,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -69,7 +69,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -99,9 +99,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -113,7 +113,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -144,9 +144,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -158,7 +158,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -189,9 +189,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -204,7 +204,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -213,7 +213,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -245,9 +245,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -260,7 +260,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -269,7 +269,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -304,7 +304,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -318,7 +318,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -328,7 +328,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -348,7 +348,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -362,7 +362,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -372,7 +372,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

42
data/gripper/wsg50_one_motor_gripper_no_finger.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.4 3.14 0 0</pose>
<pose>0 0 0.4 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -43,7 +43,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,9 +58,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -102,9 +102,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -147,9 +147,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -192,9 +192,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -207,7 +207,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -248,9 +248,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 0</pose>
<pose>0.055 0 0.06 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -263,7 +263,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
<pose>0 0 -0.06 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -272,7 +272,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
<pose>0 0 -0.037 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>

46
data/gripper/wsg50_with_r2d2_gripper.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.27 3.14 0 0</pose>
<pose>0 0 0.27 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -42,7 +42,7 @@
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.2 0.05 0.05 </size>
@ -50,7 +50,7 @@
</geometry>
</collision>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -67,9 +67,9 @@
</link>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0 0 -0 0</pose>
<pose>-0.055 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -82,7 +82,7 @@
</inertial>
<collision name='gripper_left_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -91,7 +91,7 @@
</geometry>
</collision>
<collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -101,7 +101,7 @@
</collision>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -110,7 +110,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -141,9 +141,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0 0 -0 3.14159</pose>
<pose>0.055 0 0 0 -0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -156,7 +156,7 @@
</inertial>
<collision name='gripper_right_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -165,7 +165,7 @@
</geometry>
</collision>
<collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -175,7 +175,7 @@
</collision>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -184,7 +184,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -219,7 +219,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -233,7 +233,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -243,7 +243,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -263,7 +263,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -277,7 +277,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -287,7 +287,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

340
data/kitchens/1.sdf
View File

File diff suppressed because it is too large Load Diff

114
data/kuka_iiwa/kuka_with_gripper.sdf
View File

@ -11,9 +11,9 @@
<world name='default'>
<model name='lbr_iiwa_with_wsg50'>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -25,7 +25,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -34,7 +34,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -50,9 +50,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -64,7 +64,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -73,7 +73,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -108,9 +108,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -122,7 +122,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -131,7 +131,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -166,9 +166,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -180,7 +180,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -189,7 +189,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -224,9 +224,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -238,7 +238,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -247,7 +247,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -282,9 +282,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -296,7 +296,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -305,7 +305,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -340,9 +340,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -354,7 +354,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -363,7 +363,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -398,9 +398,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -412,7 +412,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -421,7 +421,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -462,9 +462,9 @@
<child>base_link</child>
</joint>
<link name='base_link'>
<pose frame=''>0 0 1.305 0 -0 0</pose>
<pose>0 0 1.305 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -476,7 +476,7 @@
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.1 </size>
@ -511,9 +511,9 @@
</axis>
</joint>
<link name='left_finger'>
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
<pose>0 0.024 1.35 0 -0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -525,7 +525,7 @@
</inertia>
</inertial>
<visual name='left_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -544,9 +544,9 @@
<child>left_finger_base</child>
</joint>
<link name='left_finger_base'>
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
<pose>-0.005 0.024 1.43 0 -0.3 0</pose>
<inertial>
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
<pose>-0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -558,7 +558,7 @@
</inertia>
</inertial>
<visual name='left_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -573,7 +573,7 @@
</material>
</visual>
<collision name='left_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -606,9 +606,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>1.0</spinning_friction>
</contact>
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
<pose>-0.02 0.024 1.49 0 0.2 0</pose>
<inertial>
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
<pose>-0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -620,7 +620,7 @@
</inertia>
</inertial>
<visual name='left_finger_tip_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -635,7 +635,7 @@
</material>
</visual>
<collision name='left_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -664,9 +664,9 @@
</axis>
</joint>
<link name='right_finger'>
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
<pose>0 0.024 1.35 0 0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -678,7 +678,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -697,9 +697,9 @@
<child>right_finger_base</child>
</joint>
<link name='right_finger_base'>
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
<pose>0.005 0.024 1.43 0 0.3 0</pose>
<inertial>
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
<pose>0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -711,7 +711,7 @@
</inertia>
</inertial>
<visual name='right_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -726,7 +726,7 @@
</material>
</visual>
<collision name='right_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -759,9 +759,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>1.0</spinning_friction>
</contact>
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
<pose>0.02 0.024 1.49 0 -0.2 0</pose>
<inertial>
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
<pose>0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -773,7 +773,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -788,7 +788,7 @@
</material>
</visual>
<collision name='right_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

120
data/kuka_iiwa/kuka_with_gripper2.sdf
View File

@ -11,9 +11,9 @@
<world name='default'>
<model name='lbr_iiwa_with_wsg50'>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -25,7 +25,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -34,7 +34,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -50,9 +50,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -64,7 +64,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -73,7 +73,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -108,9 +108,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -122,7 +122,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -131,7 +131,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -166,9 +166,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -180,7 +180,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -189,7 +189,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -224,9 +224,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -238,7 +238,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -247,7 +247,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -282,9 +282,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -296,7 +296,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -305,7 +305,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -340,9 +340,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -354,7 +354,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -363,7 +363,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -398,9 +398,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>1.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -412,7 +412,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -421,7 +421,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -468,9 +468,9 @@
<link name='base_link'>
<pose frame=''>0 0 1.305 0 -0 0</pose>
<pose>0 0 1.305 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>1</ixx>
@ -482,7 +482,7 @@
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.1 </size>
@ -496,7 +496,7 @@
</material>
</visual>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.1 </size>
@ -531,9 +531,9 @@
</axis>
</joint>
<link name='left_finger'>
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
<pose>0 0.024 1.35 0 -0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -545,7 +545,7 @@
</inertia>
</inertial>
<visual name='left_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -559,7 +559,7 @@
</material>
</visual>
<collision name='left_finger_collision'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -577,9 +577,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
<pose>-0.005 0.024 1.43 0 -0.3 0</pose>
<inertial>
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
<pose>-0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -591,7 +591,7 @@
</inertia>
</inertial>
<visual name='left_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -606,7 +606,7 @@
</material>
</visual>
<collision name='left_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -639,9 +639,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
<pose>-0.02 0.024 1.49 0 0.2 0</pose>
<inertial>
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
<pose>-0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -653,7 +653,7 @@
</inertia>
</inertial>
<visual name='left_finger_tip_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -668,7 +668,7 @@
</material>
</visual>
<collision name='left_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -701,9 +701,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
<pose>0 0.024 1.35 0 0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -715,7 +715,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -729,7 +729,7 @@
</material>
</visual>
<collision name='right_finger_collision'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -752,9 +752,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
<pose>0.005 0.024 1.43 0 0.3 0</pose>
<inertial>
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
<pose>0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -766,7 +766,7 @@
</inertia>
</inertial>
<visual name='right_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -781,7 +781,7 @@
</material>
</visual>
<collision name='right_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -814,9 +814,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
<pose>0.02 0.024 1.49 0 -0.2 0</pose>
<inertial>
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
<pose>0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -828,7 +828,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -843,7 +843,7 @@
</material>
</visual>
<collision name='right_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

64
data/kuka_iiwa/kuka_world.sdf
View File

@ -6,9 +6,9 @@
<child>lbr_iiwa_link_0</child>
</joint>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.05</ixx>
@ -20,7 +20,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -29,7 +29,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -39,9 +39,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -53,7 +53,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -62,7 +62,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -92,9 +92,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -106,7 +106,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -115,7 +115,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -145,9 +145,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -159,7 +159,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -168,7 +168,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -198,9 +198,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -212,7 +212,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -221,7 +221,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -251,9 +251,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -265,7 +265,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -274,7 +274,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -304,9 +304,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -318,7 +318,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -327,7 +327,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -357,9 +357,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -371,7 +371,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -380,7 +380,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>

66
data/kuka_iiwa/model.sdf
View File

@ -1,11 +1,11 @@
<sdf version='1.6'>
<world name='default'>
<model name='lbr_iiwa'>
<pose frame=''>0 -2.3 0.7 0 0 0</pose>
<pose>0 -2.3 0.7 0 0 0</pose>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -17,7 +17,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -26,7 +26,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -42,9 +42,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -56,7 +56,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -65,7 +65,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -101,9 +101,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -115,7 +115,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -124,7 +124,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -160,9 +160,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -174,7 +174,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -183,7 +183,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -219,9 +219,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -233,7 +233,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -242,7 +242,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -278,9 +278,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -292,7 +292,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -301,7 +301,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -337,9 +337,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -351,7 +351,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -360,7 +360,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -396,9 +396,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -410,7 +410,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -419,7 +419,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>

130
data/kuka_iiwa/model2.sdf
View File

@ -2,9 +2,9 @@
<world name='default'>
<model name='lbr_iiwa'>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -16,7 +16,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -25,7 +25,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -35,9 +35,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -49,7 +49,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,7 +58,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -88,9 +88,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -102,7 +102,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -111,7 +111,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -141,9 +141,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -155,7 +155,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -164,7 +164,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -194,9 +194,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -208,7 +208,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -217,7 +217,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -247,9 +247,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -261,7 +261,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -270,7 +270,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -300,9 +300,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -314,7 +314,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -323,7 +323,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -353,9 +353,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -367,7 +367,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -376,7 +376,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -408,11 +408,11 @@
</model>
<model name='lbr_iiwa'>
<pose frame=''>2 2 0 0 -0 0</pose>
<pose>2 2 0 0 -0 0</pose>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -424,7 +424,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -433,7 +433,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -443,9 +443,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -457,7 +457,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -466,7 +466,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -496,9 +496,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -510,7 +510,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -519,7 +519,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -549,9 +549,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -563,7 +563,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -572,7 +572,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -602,9 +602,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -616,7 +616,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -625,7 +625,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -655,9 +655,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -669,7 +669,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -678,7 +678,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -708,9 +708,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -722,7 +722,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -731,7 +731,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -761,9 +761,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -775,7 +775,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -784,7 +784,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>

6
data/stadium.sdf
View File

@ -3,7 +3,7 @@
<gravity>0 0 -9.8</gravity>
<model name='roboschool/models_outdoor/stadium/part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
@ -34,7 +34,7 @@
</model>
<model name='roboschool/models_outdoor/stadium/part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
@ -73,7 +73,7 @@
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>

6
data/threecubes/newsdf.sdf
View File

@ -3,7 +3,7 @@
<gravity>0 0 -9.8</gravity>
<model name='part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
@ -42,7 +42,7 @@
</model>
<model name='part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
@ -81,7 +81,7 @@
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>

22
data/two_cubes.sdf
View File

@ -3,7 +3,7 @@
<light name='sun' type='directional'>
<yunfei>99.2</yunfei>
<cast_shadows>1</cast_shadows>
<pose frame=''>0 0 10 0 -0 0</pose>
<pose>0 0 10 0 -0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
@ -87,7 +87,7 @@
</spherical_coordinates>
<model name='unit_box_0'>
<static>1</static>
<pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
<pose>0.512455 -1.58317 0.5 0 -0 0</pose>
<link name='unit_box_0::link'>
<inertial>
@ -142,7 +142,7 @@
</link>
</model>
<model name='unit_box_0_clone'>
<pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
<pose>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>1</mass>
@ -197,42 +197,42 @@
<wall_time>1462824251 956472000</wall_time>
<iterations>0</iterations>
<model name='ground_plane'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<scale>1 1 1</scale>
<link name='link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<model name='unit_box_0'>
<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
<pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
<scale>1 1 1</scale>
<link name='unit_box_0::link'>
<pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
<pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
<velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
<acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
<wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
</link>
</model>
<model name='unit_box_0_clone'>
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<scale>1 1 1</scale>
<link name='unit_box_0::link'>
<pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
<velocity>0 0 0 0 -0 0</velocity>
<acceleration>0 0 0 0 -0 0</acceleration>
<wrench>0 0 0 0 -0 0</wrench>
</link>
</model>
<light name='sun'>
<pose frame=''>0 0 10 0 -0 0</pose>
<pose>0 0 10 0 -0 0</pose>
</light>
</state>
<gui fullscreen='0'>
<camera name='user_camera'>
<pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
<pose>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
<view_controller>orbit</view_controller>
<projection_type>perspective</projection_type>
</camera>

4
examples/MultiBody/MultiBodyConstraintFeedback.cpp
View File

@ -228,7 +228,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
//////////////////////////////////////////////
if (0) //numLinks > 0)
if (/* DISABLES CODE */ (0)) //numLinks > 0)
{
btScalar q0 = 45.f * SIMD_PI / 180.f;
if (!spherical)
@ -349,7 +349,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
{
//m_multiBody->addLinkForce(0,btVector3(100,100,100));
if (0) //m_once)
if (/* DISABLES CODE */ (0)) //m_once)
{
m_once = false;
m_multiBody->addJointTorque(0, 10.0);

2
examples/MultiBody/MultiBodySoftContact.cpp
View File

@ -130,7 +130,7 @@ void MultiBodySoftContact::initPhysics()
void MultiBodySoftContact::stepSimulation(float deltaTime)
{
if (0) //m_once)
if (/* DISABLES CODE */ (0)) //m_once)
{
m_once = false;
m_multiBody->addJointTorque(0, 10.0);

4
examples/MultiBody/TestJointTorqueSetup.cpp
View File

@ -230,7 +230,7 @@ void TestJointTorqueSetup::initPhysics()
m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
//////////////////////////////////////////////
if (0) //numLinks > 0)
if (/* DISABLES CODE */ (0)) //numLinks > 0)
{
btScalar q0 = 45.f * SIMD_PI / 180.f;
if (!spherical)
@ -356,7 +356,7 @@ void TestJointTorqueSetup::initPhysics()
void TestJointTorqueSetup::stepSimulation(float deltaTime)
{
//m_multiBody->addLinkForce(0,btVector3(100,100,100));
if (0) //m_once)
if (/* DISABLES CODE */ (0)) //m_once)
{
m_once = false;
m_multiBody->addJointTorque(0, 10.0);

54
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.26 3.14 0 0</pose>
<pose>0 0 0.26 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -43,7 +43,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,9 +58,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -102,9 +102,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -147,9 +147,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -192,9 +192,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -207,7 +207,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -249,9 +249,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -264,7 +264,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -273,7 +273,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -305,7 +305,7 @@
</joint>
<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -319,7 +319,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -329,7 +329,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -345,7 +345,7 @@
</joint>
<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -359,7 +359,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -369,7 +369,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

58
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
View File

@ -3,11 +3,11 @@
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 -2.3 2.1 0 0 0</pose>
<pose>0 -2.3 2.1 0 0 0</pose>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
@ -26,9 +26,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -41,7 +41,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -56,9 +56,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -70,7 +70,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -100,9 +100,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -114,7 +114,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -145,9 +145,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -159,7 +159,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -190,9 +190,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -205,7 +205,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -214,7 +214,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -247,9 +247,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -262,7 +262,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -271,7 +271,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -307,7 +307,7 @@
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
<pose>0.042 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -321,7 +321,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -331,7 +331,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -351,7 +351,7 @@
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
<pose>-0.042 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -365,7 +365,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -375,7 +375,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

54
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.7 3.14 0 0</pose>
<pose>0 0 0.7 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -43,7 +43,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,9 +58,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -102,9 +102,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -147,9 +147,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -192,9 +192,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -207,7 +207,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -248,9 +248,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -263,7 +263,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -272,7 +272,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -307,7 +307,7 @@
<spinning_friction>.3</spinning_friction>
<rolling_friction>0.04</rolling_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -321,7 +321,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -331,7 +331,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -351,7 +351,7 @@
<spinning_friction>.3</spinning_friction>
<rolling_friction>0.04</rolling_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -365,7 +365,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -375,7 +375,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

58
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
View File

@ -2,11 +2,11 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
<pose>1.4 -0.2 2.1 0 0 0</pose>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
@ -25,9 +25,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -40,7 +40,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -55,9 +55,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -69,7 +69,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -99,9 +99,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -113,7 +113,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -144,9 +144,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -158,7 +158,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -189,9 +189,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -204,7 +204,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -213,7 +213,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -245,9 +245,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -260,7 +260,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -269,7 +269,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -304,7 +304,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -318,7 +318,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -328,7 +328,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -348,7 +348,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -362,7 +362,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -372,7 +372,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

42
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.4 3.14 0 0</pose>
<pose>0 0 0.4 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -43,7 +43,7 @@
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,9 +58,9 @@
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
@ -102,9 +102,9 @@
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -147,9 +147,9 @@
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
@ -192,9 +192,9 @@
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -207,7 +207,7 @@
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -248,9 +248,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 0</pose>
<pose>0.055 0 0.06 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -263,7 +263,7 @@
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
<pose>0 0 -0.06 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -272,7 +272,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
<pose>0 0 -0.037 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>

46
examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
View File

@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.27 3.14 0 0</pose>
<pose>0 0 0.27 3.14 0 0</pose>
<link name='world'>
</link>
@ -28,9 +28,9 @@
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -42,7 +42,7 @@
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.2 0.05 0.05 </size>
@ -50,7 +50,7 @@
</geometry>
</collision>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -67,9 +67,9 @@
</link>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0 0 -0 0</pose>
<pose>-0.055 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -82,7 +82,7 @@
</inertial>
<collision name='gripper_left_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -91,7 +91,7 @@
</geometry>
</collision>
<collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -101,7 +101,7 @@
</collision>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -110,7 +110,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -141,9 +141,9 @@
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0 0 -0 3.14159</pose>
<pose>0.055 0 0 0 -0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -156,7 +156,7 @@
</inertial>
<collision name='gripper_right_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -165,7 +165,7 @@
</geometry>
</collision>
<collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -175,7 +175,7 @@
</collision>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -184,7 +184,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<pose>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
@ -219,7 +219,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -233,7 +233,7 @@
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -243,7 +243,7 @@
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -263,7 +263,7 @@
<lateral_friction>1.0</lateral_friction>
<spinning_friction>1.5</spinning_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
@ -277,7 +277,7 @@
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
@ -287,7 +287,7 @@
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

114
examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
View File

@ -11,9 +11,9 @@
<world name='default'>
<model name='lbr_iiwa_with_wsg50'>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -25,7 +25,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -34,7 +34,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -50,9 +50,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -64,7 +64,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -73,7 +73,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -108,9 +108,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -122,7 +122,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -131,7 +131,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -166,9 +166,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -180,7 +180,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -189,7 +189,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -224,9 +224,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -238,7 +238,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -247,7 +247,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -282,9 +282,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -296,7 +296,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -305,7 +305,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -340,9 +340,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -354,7 +354,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -363,7 +363,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -398,9 +398,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -412,7 +412,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -421,7 +421,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -462,9 +462,9 @@
<child>base_link</child>
</joint>
<link name='base_link'>
<pose frame=''>0 0 1.305 0 -0 0</pose>
<pose>0 0 1.305 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
@ -476,7 +476,7 @@
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.1 </size>
@ -511,9 +511,9 @@
</axis>
</joint>
<link name='left_finger'>
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
<pose>0 0.024 1.35 0 -0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -525,7 +525,7 @@
</inertia>
</inertial>
<visual name='left_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -544,9 +544,9 @@
<child>left_finger_base</child>
</joint>
<link name='left_finger_base'>
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
<pose>-0.005 0.024 1.43 0 -0.3 0</pose>
<inertial>
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
<pose>-0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -558,7 +558,7 @@
</inertia>
</inertial>
<visual name='left_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -573,7 +573,7 @@
</material>
</visual>
<collision name='left_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -606,9 +606,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>1.0</spinning_friction>
</contact>
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
<pose>-0.02 0.024 1.49 0 0.2 0</pose>
<inertial>
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
<pose>-0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -620,7 +620,7 @@
</inertia>
</inertial>
<visual name='left_finger_tip_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -635,7 +635,7 @@
</material>
</visual>
<collision name='left_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -664,9 +664,9 @@
</axis>
</joint>
<link name='right_finger'>
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
<pose>0 0.024 1.35 0 0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
@ -678,7 +678,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -697,9 +697,9 @@
<child>right_finger_base</child>
</joint>
<link name='right_finger_base'>
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
<pose>0.005 0.024 1.43 0 0.3 0</pose>
<inertial>
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
<pose>0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -711,7 +711,7 @@
</inertia>
</inertial>
<visual name='right_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -726,7 +726,7 @@
</material>
</visual>
<collision name='right_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -759,9 +759,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>1.0</spinning_friction>
</contact>
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
<pose>0.02 0.024 1.49 0 -0.2 0</pose>
<inertial>
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
<pose>0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -773,7 +773,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -788,7 +788,7 @@
</material>
</visual>
<collision name='right_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

120
examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
View File

@ -11,9 +11,9 @@
<world name='default'>
<model name='lbr_iiwa_with_wsg50'>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -25,7 +25,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -34,7 +34,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -50,9 +50,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -64,7 +64,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -73,7 +73,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -108,9 +108,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -122,7 +122,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -131,7 +131,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -166,9 +166,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -180,7 +180,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -189,7 +189,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -224,9 +224,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -238,7 +238,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -247,7 +247,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -282,9 +282,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -296,7 +296,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -305,7 +305,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -340,9 +340,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -354,7 +354,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -363,7 +363,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -398,9 +398,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>1.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -412,7 +412,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -421,7 +421,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -468,9 +468,9 @@
<link name='base_link'>
<pose frame=''>0 0 1.305 0 -0 0</pose>
<pose>0 0 1.305 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>1</ixx>
@ -482,7 +482,7 @@
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.1 </size>
@ -496,7 +496,7 @@
</material>
</visual>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<box>
<size>0.05 0.05 0.1 </size>
@ -531,9 +531,9 @@
</axis>
</joint>
<link name='left_finger'>
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
<pose>0 0.024 1.35 0 -0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -545,7 +545,7 @@
</inertia>
</inertial>
<visual name='left_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -559,7 +559,7 @@
</material>
</visual>
<collision name='left_finger_collision'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -577,9 +577,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
<pose>-0.005 0.024 1.43 0 -0.3 0</pose>
<inertial>
<pose frame=''>-0.003 0 0.04 0 0 0 </pose>
<pose>-0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -591,7 +591,7 @@
</inertia>
</inertial>
<visual name='left_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -606,7 +606,7 @@
</material>
</visual>
<collision name='left_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -639,9 +639,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
<pose>-0.02 0.024 1.49 0 0.2 0</pose>
<inertial>
<pose frame=''>-0.005 0 0.026 0 0 0 </pose>
<pose>-0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -653,7 +653,7 @@
</inertia>
</inertial>
<visual name='left_finger_tip_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -668,7 +668,7 @@
</material>
</visual>
<collision name='left_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -701,9 +701,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
<pose>0 0.024 1.35 0 0.05 0</pose>
<inertial>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -715,7 +715,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -729,7 +729,7 @@
</material>
</visual>
<collision name='right_finger_collision'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<geometry>
<box>
<size>0.01 0.01 0.08</size>
@ -752,9 +752,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
<pose>0.005 0.024 1.43 0 0.3 0</pose>
<inertial>
<pose frame=''>0.003 0 0.04 0 0 0 </pose>
<pose>0.003 0 0.04 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -766,7 +766,7 @@
</inertia>
</inertial>
<visual name='right_finger_base_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -781,7 +781,7 @@
</material>
</visual>
<collision name='right_finger_base_collision'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -814,9 +814,9 @@
<lateral_friction>0.8</lateral_friction>
<spinning_friction>.1</spinning_friction>
</contact>
<pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
<pose>0.02 0.024 1.49 0 -0.2 0</pose>
<inertial>
<pose frame=''>0.005 0 0.026 0 0 0 </pose>
<pose>0.005 0 0.026 0 0 0 </pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
@ -828,7 +828,7 @@
</inertia>
</inertial>
<visual name='right_finger_visual'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
@ -843,7 +843,7 @@
</material>
</visual>
<collision name='right_finger_tip_collision'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>

64
examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
View File

@ -6,9 +6,9 @@
<child>lbr_iiwa_link_0</child>
</joint>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0.01</mass>
<inertia>
<ixx>0.05</ixx>
@ -20,7 +20,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -29,7 +29,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -39,9 +39,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -53,7 +53,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -62,7 +62,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -92,9 +92,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -106,7 +106,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -115,7 +115,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -145,9 +145,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -159,7 +159,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -168,7 +168,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -198,9 +198,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -212,7 +212,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -221,7 +221,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -251,9 +251,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -265,7 +265,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -274,7 +274,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -304,9 +304,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -318,7 +318,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -327,7 +327,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -357,9 +357,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -371,7 +371,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -380,7 +380,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>

66
examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
View File

@ -1,11 +1,11 @@
<sdf version='1.6'>
<world name='default'>
<model name='lbr_iiwa'>
<pose frame=''>0 -2.3 0.7 0 0 0</pose>
<pose>0 -2.3 0.7 0 0 0</pose>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -17,7 +17,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -26,7 +26,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -42,9 +42,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -56,7 +56,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -65,7 +65,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -101,9 +101,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -115,7 +115,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -124,7 +124,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -160,9 +160,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -174,7 +174,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -183,7 +183,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -219,9 +219,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -233,7 +233,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -242,7 +242,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -278,9 +278,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -292,7 +292,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -301,7 +301,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -337,9 +337,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -351,7 +351,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -360,7 +360,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -396,9 +396,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -410,7 +410,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -419,7 +419,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>

130
examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
View File

@ -2,9 +2,9 @@
<world name='default'>
<model name='lbr_iiwa'>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -16,7 +16,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -25,7 +25,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -35,9 +35,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -49,7 +49,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -58,7 +58,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -88,9 +88,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -102,7 +102,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -111,7 +111,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -141,9 +141,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -155,7 +155,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -164,7 +164,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -194,9 +194,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -208,7 +208,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -217,7 +217,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -247,9 +247,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -261,7 +261,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -270,7 +270,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -300,9 +300,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -314,7 +314,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -323,7 +323,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -353,9 +353,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -367,7 +367,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -376,7 +376,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -408,11 +408,11 @@
</model>
<model name='lbr_iiwa'>
<pose frame=''>2 2 0 0 -0 0</pose>
<pose>2 2 0 0 -0 0</pose>
<link name='lbr_iiwa_link_0'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
<pose>-0.1 0 0.07 0 -0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0.05</ixx>
@ -424,7 +424,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_0_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -433,7 +433,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_0_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -443,9 +443,9 @@
</visual>
</link>
<link name='lbr_iiwa_link_1'>
<pose frame=''>0 0 0.1575 0 -0 0</pose>
<pose>0 0 0.1575 0 -0 0</pose>
<inertial>
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
<pose>0 -0.03 0.12 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.1</ixx>
@ -457,7 +457,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_1_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -466,7 +466,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_1_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -496,9 +496,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_2'>
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
<pose>0 0 0.36 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
<pose>0.0003 0.059 0.042 0 -0 0</pose>
<mass>4</mass>
<inertia>
<ixx>0.05</ixx>
@ -510,7 +510,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_2_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -519,7 +519,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_2_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -549,9 +549,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_3'>
<pose frame=''>0 -0 0.5645 0 0 0</pose>
<pose>0 -0 0.5645 0 0 0</pose>
<inertial>
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
<pose>0 0.03 0.13 0 -0 0</pose>
<mass>3</mass>
<inertia>
<ixx>0.08</ixx>
@ -563,7 +563,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_3_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -572,7 +572,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_3_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -602,9 +602,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_4'>
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
<pose>0 -0 0.78 1.5708 0 0</pose>
<inertial>
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
<pose>0 0.067 0.034 0 -0 0</pose>
<mass>2.7</mass>
<inertia>
<ixx>0.03</ixx>
@ -616,7 +616,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_4_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -625,7 +625,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_4_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -655,9 +655,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_5'>
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
<pose>0 -0 0.9645 0 -0 -3.14159</pose>
<inertial>
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
<pose>0.0001 0.021 0.076 0 -0 0</pose>
<mass>1.7</mass>
<inertia>
<ixx>0.02</ixx>
@ -669,7 +669,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_5_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -678,7 +678,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_5_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -708,9 +708,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_6'>
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
<pose>0 0 1.18 1.5708 -0 -3.14159</pose>
<inertial>
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
<pose>0 0.0006 0.0004 0 -0 0</pose>
<mass>1.8</mass>
<inertia>
<ixx>0.005</ixx>
@ -722,7 +722,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_6_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -731,7 +731,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_6_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -761,9 +761,9 @@
</axis>
</joint>
<link name='lbr_iiwa_link_7'>
<pose frame=''>0 0 1.261 0 0 0</pose>
<pose>0 0 1.261 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.02 0 -0 0</pose>
<pose>0 0 0.02 0 -0 0</pose>
<mass>0.3</mass>
<inertia>
<ixx>0.001</ixx>
@ -775,7 +775,7 @@
</inertia>
</inertial>
<collision name='lbr_iiwa_link_7_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
@ -784,7 +784,7 @@
</geometry>
</collision>
<visual name='lbr_iiwa_link_7_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>

2
examples/pybullet/gym/pybullet_data/plane_stadium.sdf
View File

@ -3,7 +3,7 @@
<gravity>0 0 -9.8</gravity>
<model name='floor_obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='floor'>
<inertial>
<mass>0</mass>

6
examples/pybullet/gym/pybullet_data/stadium.sdf
View File

@ -3,7 +3,7 @@
<gravity>0 0 -9.8</gravity>
<model name='roboschool/models_outdoor/stadium/part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
@ -34,7 +34,7 @@
</model>
<model name='roboschool/models_outdoor/stadium/part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
@ -73,7 +73,7 @@
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>

6
examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
View File

@ -3,7 +3,7 @@
<gravity>0 0 -9.8</gravity>
<model name='roboschool/models_outdoor/stadium/part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
@ -34,7 +34,7 @@
</model>
<model name='floor_obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='floor'>
<inertial>
<mass>0</mass>
@ -73,7 +73,7 @@
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>