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Merge branch 'bulletphysics:master' into master

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This commit is contained in:
Brendan Lewis 2021-09-05 19:31:37 -04:00 committed by GitHub
commit b1927a4f92
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GPG Key ID: 4AEE18F83AFDEB23
61 changed files with 8157 additions and 1142 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);

22
examples/SharedMemory/PhysicsClientC_API.cpp
View File

@ -1484,6 +1484,28 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
return -1;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int numVertices, const double* vertices)
{
PhysicsClient* cl = (PhysicsClient*)physClient;
b3Assert(cl);
b3Assert(cl->canSubmitCommand());
if (cl)
{
struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
b3Assert(command);
command->m_type = CMD_RESET_MESH_DATA;
command->m_updateFlags = 0;
command->m_resetMeshDataArgs.m_numVertices = numVertices;
command->m_resetMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
command->m_resetMeshDataArgs.m_flags = 0;
int totalUploadSizeInBytes = numVertices * sizeof(double) *3;
cl->uploadBulletFileToSharedMemory((const char*)vertices, totalUploadSizeInBytes);
return (b3SharedMemoryCommandHandle)command;
}
return 0;
}
B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
{
PhysicsClient* cl = (PhysicsClient*)physClient;

1
examples/SharedMemory/PhysicsClientC_API.h
View File

@ -534,6 +534,7 @@ extern "C"
B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);
B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int num_vertices, const double* vertices);
B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);

6
examples/SharedMemory/PhysicsClientSharedMemory.cpp
View File

@ -1521,12 +1521,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
b3Warning("Removing user data failed");
break;
}
case CMD_RESET_MESH_DATA_FAILED:
{
b3Warning("resetMeshData failed");
break;
}
case CMD_REQUEST_USER_DATA_COMPLETED:
case CMD_SYNC_USER_DATA_COMPLETED:
case CMD_REMOVE_USER_DATA_COMPLETED:
case CMD_ADD_USER_DATA_COMPLETED:
case CMD_REMOVE_STATE_FAILED:
case CMD_REMOVE_STATE_COMPLETED:
case CMD_RESET_MESH_DATA_COMPLETED:
{
break;
}

8
examples/SharedMemory/PhysicsDirect.cpp
View File

@ -1306,6 +1306,14 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
}
break;
}
case CMD_RESET_MESH_DATA_COMPLETED:
{
break;
}
case CMD_RESET_MESH_DATA_FAILED:
{
break;
}
case CMD_REMOVE_STATE_FAILED:
{
break;

44
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@ -5485,6 +5485,44 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
}
}
}
bool PhysicsServerCommandProcessor::processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
BT_PROFILE("CMD_REQUEST_MESH_DATA");
serverStatusOut.m_type = CMD_RESET_MESH_DATA_FAILED;
int sizeInBytes = 0;
InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
if (bodyHandle)
{
int totalBytesPerVertex = sizeof(btVector3);
double* vertexUpload = (double*)bufferServerToClient;
#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
if (bodyHandle->m_softBody)
{
btSoftBody* psb = bodyHandle->m_softBody;
int numVertices = psb->m_nodes.size();
if (clientCmd.m_resetMeshDataArgs.m_numVertices == numVertices)
{
for (int i = 0; i < numVertices; ++i)
{
btSoftBody::Node& n = psb->m_nodes[i];
n.m_x.setValue(vertexUpload[i*3+0], vertexUpload[i*3+1],vertexUpload[i*3+2]);
}
serverStatusOut.m_type = CMD_RESET_MESH_DATA_COMPLETED;
}
}
#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
}
serverStatusOut.m_numDataStreamBytes = 0;
return hasStatus;
}
bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
{
bool hasStatus = true;
@ -14345,6 +14383,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_RESET_MESH_DATA:
{
hasStatus = processResetMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
break;
}
case CMD_CREATE_MULTI_BODY:
{
hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);

1
examples/SharedMemory/PhysicsServerCommandProcessor.h
View File

@ -32,6 +32,7 @@ protected:
bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);

9
examples/SharedMemory/SharedMemoryCommands.h
View File

@ -1141,6 +1141,13 @@ struct b3RequestMeshDataArgs
int m_flags;
};
struct b3ResetMeshDataArgs
{
int m_bodyUniqueId;
int m_numVertices;
int m_flags;
};
struct b3SendMeshDataArgs
{
int m_numVerticesCopied;
@ -1209,6 +1216,8 @@ struct SharedMemoryCommand
struct UserDataRequestArgs m_removeUserDataRequestArgs;
struct b3CollisionFilterArgs m_collisionFilterArgs;
struct b3RequestMeshDataArgs m_requestMeshDataArgs;
struct b3ResetMeshDataArgs m_resetMeshDataArgs;
};
};

3
examples/SharedMemory/SharedMemoryPublic.h
View File

@ -117,6 +117,7 @@ enum EnumSharedMemoryClientCommand
CMD_REQUEST_MESH_DATA,
CMD_PERFORM_COLLISION_DETECTION,
CMD_RESET_MESH_DATA,
//don't go beyond this command!
CMD_MAX_CLIENT_COMMANDS,
};
@ -241,6 +242,8 @@ enum EnumSharedMemoryServerStatus
CMD_REQUEST_MESH_DATA_FAILED,
CMD_PERFORM_COLLISION_DETECTION_COMPLETED,
CMD_RESET_MESH_DATA_COMPLETED,
CMD_RESET_MESH_DATA_FAILED,
//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
CMD_MAX_SERVER_COMMANDS
};

2
examples/TinyRenderer/TinyRenderer.cpp
View File

@ -213,6 +213,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
m_lightAmbientCoeff = 0.6;
m_lightDiffuseCoeff = 0.35;
m_lightSpecularCoeff = 0.05;
}
TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex)
@ -254,6 +255,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
Vec3f center(0, 0, 0);
Vec3f up(0, 0, 1);
m_lightDirWorld.setValue(0, 0, 0);
m_lightDistance = 10;
m_lightColor.setValue(1, 1, 1);
m_localScaling.setValue(1, 1, 1);
m_modelMatrix = Matrix::identity();

18
examples/TinyRenderer/main.cpp
View File

@ -56,7 +56,8 @@ void MyKeyboardCallback(int keycode, int state)
sOldKeyboardCB(keycode, state);
}
#include "TinyRenderer.h"
float color2[4] = { 1,0,0,1 };
#include "our_gl.h"
int main(int argc, char* argv[])
{
@ -108,10 +109,11 @@ int main(int argc, char* argv[])
b3Vector3 pos = b3MakeVector3(0, 0, 0);
b3Quaternion orn(0, 0, 0, 1);
float color[4] = {1,1,1,1};
b3Vector3 scaling = b3MakeVector3(1, 1, 1);
//app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
//app->m_renderer->writeTransforms();
app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
app->m_renderer->writeTransforms();
do
{
@ -160,6 +162,15 @@ int main(int argc, char* argv[])
tr.setOrigin(org);
tr.getOpenGLMatrix(modelMat);
TinyRender::Vec3f eye(1,1,3);
TinyRender::Vec3f center(0,0,0);
TinyRender::Vec3f up(0,1,0);
renderData.m_viewMatrix = TinyRender::lookat(eye, center, up);
renderData.m_viewportMatrix = TinyRender::viewport(gWidth/8, gHeight/8, gWidth*3/4, gHeight*3/4);
renderData.m_projectionMatrix = TinyRender::projection(-1.f/(eye-center).norm());
for (int i = 0; i < 4; i++)
{
for (int j = 0; j < 4; j++)
@ -170,6 +181,7 @@ int main(int argc, char* argv[])
}
//render the object
float color2[4] = { 1,1,1,1 };
renderData.m_model->setColorRGBA(color2);
TinyRenderer::renderObject(renderData);

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>
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@ -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>

2525
examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj Normal file
View File

File diff suppressed because it is too large Load Diff

301
examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj Normal file
View File

@ -0,0 +1,301 @@
# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib hip_motor.mtl
o Hip_Motor
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vn 0.0465 0.9947 0.0912
vn 0.9941 0.0813 0.0722
vn 0.1996 -0.9781 0.0595
usemtl None
s 1
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268
examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj Normal file
View File

@ -0,0 +1,268 @@
# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib hip_motor_mirror.mtl
o Hip_Motor_Mirror
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usemtl None
s 1
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f 39/79/53 38/71/52 25/73/57

598
examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf Normal file
View File

@ -0,0 +1,598 @@
<?xml version="1.0" ?>
<robot name="plane">
<link name="chassis">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value="13.715"/>
<inertia ixx="0.22" ixy="0" ixz="0" iyy="0.431" iyz="0" izz="0.565"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz=" 0 0 0"/>
<geometry>
<mesh filename="chassis_zup_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<link name="FR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy=".002" iyz="0" izz=".001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="FR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0.015" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.01"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_hip_motor"/>
<child link="FR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FR_upper_leg"/>
<child link="FR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="FL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_hip_motor"/>
<child link="FL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="FL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white">
</material>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="FL_upper_leg"/>
<child link="FL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 -1"/>
<parent link="chassis"/>
<child link="RR_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_mirror2_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_hip_motor"/>
<child link="RR_upper_leg"/>
<origin rpy="0 0 0" xyz="-0.053565 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RR_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RR_upper_leg"/>
<child link="RR_lower_leg"/>
<origin rpy="0 0 0" xyz="0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_hip_motor">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="-.02 0 0"/>
<mass value="1.095"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="hip_motor.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_hip_motor_2_chassis_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis"/>
<child link="RL_hip_motor"/>
<origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_upper_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
<mass value="1.527"/>
<inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left2_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_hip_motor"/>
<child link="RL_upper_leg"/>
<origin rpy="0 0 0" xyz="0.055855 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="RL_lower_leg">
<contact>
<lateral_friction value="1"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
<mass value="0.241"/>
<inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
</inertial>
<visual>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 1.57079 0" xyz="0 0 0"/>
<geometry>
<mesh filename="lower_leg_3.stl" scale="1 1 1"/>
</geometry>
</collision>
</link>
<joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
<axis xyz="1 0 0"/>
<parent link="RL_upper_leg"/>
<child link="RL_lower_leg"/>
<origin rpy="0 0 0" xyz="-0.02069 -0.20833 -0.1422"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="toeRL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRL" type="fixed">
<parent link="RL_lower_leg"/>
<child link="toeRL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeRR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeRR" type="fixed">
<parent link="RR_lower_leg"/>
<child link="toeRR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFL">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFL" type="fixed">
<parent link="FL_lower_leg"/>
<child link="toeFL"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="toeFR">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value="0.1"/>
<lateral_friction value="1.0"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.0"/>
</geometry>
<material name="white"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
</inertial>
</link>
<joint name="jtoeFR" type="fixed">
<parent link="FR_lower_leg"/>
<child link="toeFR"/>
<origin xyz="0 -0.25 -0.022"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>

334
examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj Normal file
View File

@ -0,0 +1,334 @@
# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib lower_leg3.mtl
o Lower_Leg_3.008
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usemtl None
s 1
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437
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj Normal file
View File

@ -0,0 +1,437 @@
# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib upper_leg_left2.mtl
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614
examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj Normal file
View File

@ -0,0 +1,614 @@
# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib upper_leg_left.mtl
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usemtl None.005
s 1
f 1/1/1 2/2/2 3/3/3
f 2/2/2 4/4/4 3/3/3
f 4/4/5 2/2/5 5/5/5
f 4/4/6 5/5/6 6/6/6
f 6/6/7 5/5/8 7/7/9
f 7/7/9 12/8/10 6/6/7
f 6/6/7 12/8/10 8/9/11
f 9/10/12 10/11/13 13/12/14
f 13/12/14 10/11/13 12/8/15
f 13/12/16 2/2/17 11/13/18
f 11/13/18 2/2/17 1/1/19
f 5/5/20 12/14/10 7/7/9
f 12/14/10 5/5/20 13/12/16
f 13/12/16 5/5/20 2/2/17
f 4/4/4 10/15/21 9/16/22
f 10/15/21 4/4/4 14/17/23
f 4/4/4 9/16/22 15/18/24
f 4/4/4 15/18/24 11/19/25
f 4/4/4 11/19/25 1/20/26
f 4/4/4 1/20/26 3/3/3
f 4/4/4 8/21/11 14/17/23
f 4/4/4 6/22/7 8/21/11
f 9/10/27 13/12/28 15/23/24
f 15/23/24 13/12/28 11/13/25
f 8/9/11 12/8/10 14/24/29
f 14/24/29 12/8/10 10/11/30
f 18/25/31 8/26/32 9/10/33
f 9/10/33 8/26/32 10/11/34
f 16/27/35 18/25/31 1/1/36
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f 16/28/38 17/29/39 18/30/31
f 8/31/32 18/30/31 17/29/39
f 17/32/39 10/15/34 8/21/32
f 17/32/39 16/27/38 1/20/40
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f 10/15/34 1/20/40 11/19/37
f 10/15/34 11/19/37 9/16/33
f 9/16/33 11/19/37 18/33/31
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f 19/38/45 21/36/43 23/39/46
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f 27/43/50 26/42/49 28/44/51
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f 30/46/53 77/47/54 76/48/55
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f 30/46/53 31/49/56 32/50/57
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f 41/62/72 40/61/71 42/63/73
f 41/62/72 42/63/73 43/64/74
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f 47/68/80 48/69/81 49/70/82
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f 49/70/82 50/55/63 51/54/62
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f 55/74/85 31/76/56 56/73/41
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f 33/82/60 59/83/88 32/84/57
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f 53/72/92 62/88/95 55/74/85
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f 58/90/89 49/70/82 57/86/91
f 54/75/86 63/89/96 64/77/87
f 64/77/87 63/89/96 43/64/74
f 43/64/74 63/89/96 65/91/97
f 43/64/74 65/91/97 66/92/98
f 43/64/74 66/92/98 41/62/72
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f 39/60/69 70/93/99 67/94/100
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f 38/59/68 67/94/100 68/95/101
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f 51/54/103 69/96/102 60/97/104
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f 56/34/41 22/37/44 52/71/83
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f 72/99/107 71/98/106 73/100/108
f 73/100/108 71/98/106 74/101/109
f 73/100/108 74/101/109 75/102/110
f 76/48/55 77/47/54 74/101/109
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f 33/52/60 34/53/61 64/77/87
f 64/77/87 34/53/61 54/75/86
f 78/51/58 32/50/59 19/38/45
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f 79/104/111 28/105/51 78/106/58
f 28/105/51 79/104/111 27/107/50
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f 81/109/112 76/110/55 71/111/106
f 71/111/106 76/110/55 74/112/109
f 80/113/113 76/110/55 81/109/112
f 43/64/74 45/66/76 64/77/87
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f 58/90/89 47/68/114 49/70/82
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f 92/116/117 83/115/116 44/65/75
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f 82/114/115 85/118/119 83/115/116
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f 50/55/65 86/119/120 36/57/66
f 36/57/66 86/119/120 87/120/121
f 36/57/66 87/120/121 88/121/122
f 88/121/123 87/120/121 89/122/124
f 88/121/123 89/122/124 90/123/125
f 88/121/123 90/123/125 40/61/71
f 40/61/71 90/123/125 91/124/126
f 40/61/71 91/124/126 42/63/73
f 42/63/73 91/124/126 92/116/117
f 42/63/73 92/116/117 44/65/75
f 50/55/65 48/125/20 85/126/119
f 85/126/119 48/125/20 46/67/79
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f 46/67/79 44/65/78 83/115/20
f 36/57/66 88/121/122 37/58/70
f 37/58/70 88/121/122 40/61/71
f 82/127/115 92/128/117 87/129/121
f 82/127/115 86/130/120 84/131/118
f 86/130/120 82/127/115 87/129/121
f 87/129/121 92/128/117 89/132/124
f 92/128/117 91/133/126 89/132/124
f 89/132/124 91/133/126 90/134/125
f 21/36/43 19/38/45 22/103/44
f 32/50/127 21/36/43 30/135/128
f 30/135/128 21/36/43 20/35/42
f 26/136/49 94/137/129 29/138/130
f 21/139/131 93/140/132 24/141/47
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551
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj Normal file
View File

@ -0,0 +1,551 @@
# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib upper_leg_mirror2.mtl
o Upper_Leg_Mirror_Upper_Leg_Mirror.000
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568
examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj Normal file
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# Blender v2.79 (sub 7) OBJ File: ''
# www.blender.org
mtllib upper_leg_mirror.mtl
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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>

148
examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py Normal file
View File

@ -0,0 +1,148 @@
"""
Code to load a policy and generate rollout data. Adapted from https://github.com/berkeleydeeprlcourse.
Example usage:
python3 laikago_ars_run_policy.py --expert_policy_file=data/lin_policy_plus_best_10.npz --json_file=data/params.json
"""
import numpy as np
import gym
import time
import pybullet_envs
try:
import tds_environments
except:
pass
import json
from arspb.policies import *
import time
import arspb.trained_policies as tp
import os
import os
import gin
from pybullet_envs.minitaur.envs_v2 import env_loader
import pybullet_data as pd
def create_laikago_env(args):
CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
CONFIG_FILES = [
os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
]
#gin.bind_parameter("scene_base.SceneBase.data_root", pd.getDataPath()+"/")
for gin_file in CONFIG_FILES:
gin.parse_config_file(gin_file)
gin.bind_parameter("SimulationParameters.enable_rendering", True)
gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
10000)
env = env_loader.load()
return env
def main(argv):
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--expert_policy_file', type=str, default="")
parser.add_argument('--nosleep', action='store_true')
parser.add_argument('--num_rollouts', type=int, default=20,
help='Number of expert rollouts')
parser.add_argument('--json_file', type=str, default="")
parser.add_argument('--run_on_robot', action='store_true')
if len(argv):
args = parser.parse_args(argv)
else:
args = parser.parse_args()
print('loading and building expert policy')
if len(args.json_file)==0:
args.json_file = tp.getDataPath()+"/"+ args.envname+"/params.json"
with open(args.json_file) as f:
params = json.load(f)
print("params=",params)
if len(args.expert_policy_file)==0:
args.expert_policy_file=tp.getDataPath()+"/"+args.envname+"/nn_policy_plus.npz"
if not os.path.exists(args.expert_policy_file):
args.expert_policy_file=tp.getDataPath()+"/"+args.envname+"/lin_policy_plus.npz"
data = np.load(args.expert_policy_file, allow_pickle=True)
print('create Laikago gym environment:')
env = create_laikago_env(args)
lst = data.files
weights = data[lst[0]][0]
mu = data[lst[0]][1]
print("mu=",mu)
std = data[lst[0]][2]
print("std=",std)
ob_dim = env.observation_space.shape[0]
ac_dim = env.action_space.shape[0]
ac_lb = env.action_space.low
ac_ub = env.action_space.high
policy_params={'type': params["policy_type"],
'ob_filter':params['filter'],
'ob_dim':ob_dim,
'ac_dim':ac_dim,
'action_lower_bound' : ac_lb,
'action_upper_bound' : ac_ub,
}
policy_params['weights'] = weights
policy_params['observation_filter_mean'] = mu
policy_params['observation_filter_std'] = std
if params["policy_type"]=="nn":
print("FullyConnectedNeuralNetworkPolicy")
policy_sizes_string = params['policy_network_size_list'].split(',')
print("policy_sizes_string=",policy_sizes_string)
policy_sizes_list = [int(item) for item in policy_sizes_string]
print("policy_sizes_list=",policy_sizes_list)
policy_params['policy_network_size'] = policy_sizes_list
policy = FullyConnectedNeuralNetworkPolicy(policy_params, update_filter=False)
else:
print("LinearPolicy2")
policy = LinearPolicy2(policy_params, update_filter=False)
policy.get_weights()
returns = []
observations = []
actions = []
for i in range(args.num_rollouts):
print('iter', i)
obs = env.reset()
done = False
totalr = 0.
steps = 0
while not done:
action = policy.act(obs)
observations.append(obs)
actions.append(action)
#time.sleep(1)
obs, r, done, _ = env.step(action)
totalr += r
steps += 1
#if steps % 100 == 0: print("%i/%i"%(steps, env.spec.timestep_limit))
#if steps >= env.spec.timestep_limit:
# break
#print("steps=",steps)
returns.append(totalr)
print('returns', returns)
print('mean return', np.mean(returns))
print('std of return', np.std(returns))
if __name__ == '__main__':
import sys
main(sys.argv[1:])

521
examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py Normal file
View File

@ -0,0 +1,521 @@
'''
Parallel implementation of the Augmented Random Search method.
Horia Mania --- hmania@berkeley.edu
Aurelia Guy
Benjamin Recht
'''
import parser
import time
import os
import numpy as np
import gym
import arspb.logz as logz
import ray
import arspb.utils as utils
import arspb.optimizers as optimizers
from arspb.policies import *
import socket
from arspb.shared_noise import *
##############################
#create an envs_v2 laikago env
import os
import gin
from pybullet_envs.minitaur.envs_v2 import env_loader
import pybullet_data as pd
def create_laikago_env():
CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
CONFIG_FILES = [
os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
]
#gin.bind_parameter("scene_base.SceneBase.data_root", pd.getDataPath()+"/")
for gin_file in CONFIG_FILES:
gin.parse_config_file(gin_file)
gin.bind_parameter("SimulationParameters.enable_rendering", False)
gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
10000)
env = env_loader.load()
return env
##############################
@ray.remote
class Worker(object):
"""
Object class for parallel rollout generation.
"""
def __init__(self, env_seed,
env_name='',
policy_params = None,
deltas=None,
rollout_length=1000,
delta_std=0.01):
# initialize OpenAI environment for each worker
try:
import pybullet_envs
except:
pass
try:
import tds_environments
except:
pass
self.env = create_laikago_env()
self.env.seed(env_seed)
# each worker gets access to the shared noise table
# with independent random streams for sampling
# from the shared noise table.
self.deltas = SharedNoiseTable(deltas, env_seed + 7)
self.policy_params = policy_params
if policy_params['type'] == 'linear':
print("LinearPolicy2")
self.policy = LinearPolicy2(policy_params)
elif policy_params['type'] == 'nn':
print("FullyConnectedNeuralNetworkPolicy")
self.policy = FullyConnectedNeuralNetworkPolicy(policy_params)
else:
raise NotImplementedError
self.delta_std = delta_std
self.rollout_length = rollout_length
def get_weights_plus_stats(self):
"""
Get current policy weights and current statistics of past states.
"""
#assert self.policy_params['type'] == 'linear'
return self.policy.get_weights_plus_stats()
def rollout(self, shift = 0., rollout_length = None):
"""
Performs one rollout of maximum length rollout_length.
At each time-step it substracts shift from the reward.
"""
if rollout_length is None:
rollout_length = self.rollout_length
total_reward = 0.
steps = 0
ob = self.env.reset()
for i in range(rollout_length):
action = self.policy.act(ob)
ob, reward, done, _ = self.env.step(action)
steps += 1
total_reward += (reward - shift)
if done:
break
return total_reward, steps
def do_rollouts(self, w_policy, num_rollouts = 1, shift = 1, evaluate = False):
"""
Generate multiple rollouts with a policy parametrized by w_policy.
"""
rollout_rewards, deltas_idx = [], []
steps = 0
for i in range(num_rollouts):
if evaluate:
self.policy.update_weights(w_policy)
deltas_idx.append(-1)
# set to false so that evaluation rollouts are not used for updating state statistics
self.policy.update_filter = False
# for evaluation we do not shift the rewards (shift = 0) and we use the
# default rollout length (1000 for the MuJoCo locomotion tasks)
reward, r_steps = self.rollout(shift = 0., rollout_length = self.rollout_length)
rollout_rewards.append(reward)
else:
idx, delta = self.deltas.get_delta(w_policy.size)
delta = (self.delta_std * delta).reshape(w_policy.shape)
deltas_idx.append(idx)
# set to true so that state statistics are updated
self.policy.update_filter = True
# compute reward and number of timesteps used for positive perturbation rollout
self.policy.update_weights(w_policy + delta)
pos_reward, pos_steps = self.rollout(shift = shift)
# compute reward and number of timesteps used for negative pertubation rollout
self.policy.update_weights(w_policy - delta)
neg_reward, neg_steps = self.rollout(shift = shift)
steps += pos_steps + neg_steps
rollout_rewards.append([pos_reward, neg_reward])
return {'deltas_idx': deltas_idx, 'rollout_rewards': rollout_rewards, "steps" : steps}
def stats_increment(self):
self.policy.observation_filter.stats_increment()
return
def get_weights(self):
return self.policy.get_weights()
def get_filter(self):
return self.policy.observation_filter
def sync_filter(self, other):
self.policy.observation_filter.sync(other)
return
class ARSLearner(object):
"""
Object class implementing the ARS algorithm.
"""
def __init__(self, env_name='HalfCheetah-v1',
policy_params=None,
num_workers=32,
num_deltas=320,
deltas_used=320,
delta_std=0.01,
logdir=None,
rollout_length=4000,
step_size=0.01,
shift='constant zero',
params=None,
seed=123):
logz.configure_output_dir(logdir)
logz.save_params(params)
try:
import pybullet_envs
except:
pass
try:
import tds_environments
except:
pass
env = create_laikago_env()
self.timesteps = 0
self.action_size = env.action_space.shape[0]
self.ob_size = env.observation_space.shape[0]
self.num_deltas = num_deltas
self.deltas_used = deltas_used
self.rollout_length = rollout_length
self.step_size = step_size
self.delta_std = delta_std
self.logdir = logdir
self.shift = shift
self.params = params
self.max_past_avg_reward = float('-inf')
self.num_episodes_used = float('inf')
# create shared table for storing noise
print("Creating deltas table.")
deltas_id = create_shared_noise.remote()
self.deltas = SharedNoiseTable(ray.get(deltas_id), seed = seed + 3)
print('Created deltas table.')
# initialize workers with different random seeds
print('Initializing workers.')
self.num_workers = num_workers
self.workers = [Worker.remote(seed + 7 * i,
env_name=env_name,
policy_params=policy_params,
deltas=deltas_id,
rollout_length=rollout_length,
delta_std=delta_std) for i in range(num_workers)]
# initialize policy
if policy_params['type'] == 'linear':
print("LinearPolicy2")
self.policy = LinearPolicy2(policy_params)
self.w_policy = self.policy.get_weights()
elif policy_params['type'] == 'nn':
print("FullyConnectedNeuralNetworkPolicy")
self.policy = FullyConnectedNeuralNetworkPolicy(policy_params)
self.w_policy = self.policy.get_weights()
else:
raise NotImplementedError
# initialize optimization algorithm
self.optimizer = optimizers.SGD(self.w_policy, self.step_size)
print("Initialization of ARS complete.")
def aggregate_rollouts(self, num_rollouts = None, evaluate = False):
"""
Aggregate update step from rollouts generated in parallel.
"""
if num_rollouts is None:
num_deltas = self.num_deltas
else:
num_deltas = num_rollouts
# put policy weights in the object store
policy_id = ray.put(self.w_policy)
t1 = time.time()
num_rollouts = int(num_deltas / self.num_workers)
# parallel generation of rollouts
rollout_ids_one = [worker.do_rollouts.remote(policy_id,
num_rollouts = num_rollouts,
shift = self.shift,
evaluate=evaluate) for worker in self.workers]
rollout_ids_two = [worker.do_rollouts.remote(policy_id,
num_rollouts = 1,
shift = self.shift,
evaluate=evaluate) for worker in self.workers[:(num_deltas % self.num_workers)]]
# gather results
results_one = ray.get(rollout_ids_one)
results_two = ray.get(rollout_ids_two)
rollout_rewards, deltas_idx = [], []
for result in results_one:
if not evaluate:
self.timesteps += result["steps"]
deltas_idx += result['deltas_idx']
rollout_rewards += result['rollout_rewards']
for result in results_two:
if not evaluate:
self.timesteps += result["steps"]
deltas_idx += result['deltas_idx']
rollout_rewards += result['rollout_rewards']
deltas_idx = np.array(deltas_idx)
rollout_rewards = np.array(rollout_rewards, dtype = np.float64)
print('Maximum reward of collected rollouts:', rollout_rewards.max())
t2 = time.time()
print('Time to generate rollouts:', t2 - t1)
if evaluate:
return rollout_rewards
# select top performing directions if deltas_used < num_deltas
max_rewards = np.max(rollout_rewards, axis = 1)
if self.deltas_used > self.num_deltas:
self.deltas_used = self.num_deltas
idx = np.arange(max_rewards.size)[max_rewards >= np.percentile(max_rewards, 100*(1 - (self.deltas_used / self.num_deltas)))]
deltas_idx = deltas_idx[idx]
rollout_rewards = rollout_rewards[idx,:]
# normalize rewards by their standard deviation
np_std = np.std(rollout_rewards)
if np_std>1e-6:
rollout_rewards /= np_std
t1 = time.time()
# aggregate rollouts to form g_hat, the gradient used to compute SGD step
g_hat, count = utils.batched_weighted_sum(rollout_rewards[:,0] - rollout_rewards[:,1],
(self.deltas.get(idx, self.w_policy.size)
for idx in deltas_idx),
batch_size = 500)
g_hat /= deltas_idx.size
t2 = time.time()
print('time to aggregate rollouts', t2 - t1)
return g_hat
def train_step(self):
"""
Perform one update step of the policy weights.
"""
g_hat = self.aggregate_rollouts()
print("Euclidean norm of update step:", np.linalg.norm(g_hat))
self.w_policy -= self.optimizer._compute_step(g_hat).reshape(self.w_policy.shape)
return
def train(self, num_iter):
start = time.time()
best_mean_rewards = -1e30
for i in range(num_iter):
t1 = time.time()
self.train_step()
t2 = time.time()
print('total time of one step', t2 - t1)
print('iter ', i,' done')
# record statistics every 10 iterations
if ((i + 1) % 10 == 0):
rewards = self.aggregate_rollouts(num_rollouts = 100, evaluate = True)
w = ray.get(self.workers[0].get_weights_plus_stats.remote())
np.savez(self.logdir + "/lin_policy_plus_latest", w)
mean_rewards = np.mean(rewards)
if (mean_rewards > best_mean_rewards):
best_mean_rewards = mean_rewards
np.savez(self.logdir + "/lin_policy_plus_best_"+str(i+1), w)
print(sorted(self.params.items()))
logz.log_tabular("Time", time.time() - start)
logz.log_tabular("Iteration", i + 1)
logz.log_tabular("AverageReward", np.mean(rewards))
logz.log_tabular("StdRewards", np.std(rewards))
logz.log_tabular("MaxRewardRollout", np.max(rewards))
logz.log_tabular("MinRewardRollout", np.min(rewards))
logz.log_tabular("timesteps", self.timesteps)
logz.dump_tabular()
t1 = time.time()
# get statistics from all workers
for j in range(self.num_workers):
self.policy.observation_filter.update(ray.get(self.workers[j].get_filter.remote()))
self.policy.observation_filter.stats_increment()
# make sure master filter buffer is clear
self.policy.observation_filter.clear_buffer()
# sync all workers
filter_id = ray.put(self.policy.observation_filter)
setting_filters_ids = [worker.sync_filter.remote(filter_id) for worker in self.workers]
# waiting for sync of all workers
ray.get(setting_filters_ids)
increment_filters_ids = [worker.stats_increment.remote() for worker in self.workers]
# waiting for increment of all workers
ray.get(increment_filters_ids)
t2 = time.time()
print('Time to sync statistics:', t2 - t1)
return
def run_ars(params):
dir_path = params['dir_path']
if not(os.path.exists(dir_path)):
os.makedirs(dir_path)
logdir = dir_path
if not(os.path.exists(logdir)):
os.makedirs(logdir)
try:
import pybullet_envs
except:
pass
try:
import tds_environments
except:
pass
env = create_laikago_env()
ob_dim = env.observation_space.shape[0]
ac_dim = env.action_space.shape[0]
ac_lb = env.action_space.low
ac_ub = env.action_space.high
# set policy parameters. Possible filters: 'MeanStdFilter' for v2, 'NoFilter' for v1.
if params["policy_type"]=="nn":
policy_sizes_string = params['policy_network_size_list'].split(',')
print("policy_sizes_string=",policy_sizes_string)
policy_sizes_list = [int(item) for item in policy_sizes_string]
print("policy_sizes_list=",policy_sizes_list)
activation = params['activation']
policy_params={'type': params["policy_type"],
'ob_filter':params['filter'],
'policy_network_size' : policy_sizes_list,
'ob_dim':ob_dim,
'ac_dim':ac_dim,
'activation' : activation,
'action_lower_bound' : ac_lb,
'action_upper_bound' : ac_ub,
}
else:
del params['policy_network_size_list']
del params['activation']
policy_params={'type': params["policy_type"],
'ob_filter':params['filter'],
'ob_dim':ob_dim,
'ac_dim':ac_dim,
'action_lower_bound' : ac_lb,
'action_upper_bound' : ac_ub,
}
ARS = ARSLearner(env_name=params['env_name'],
policy_params=policy_params,
num_workers=params['n_workers'],
num_deltas=params['n_directions'],
deltas_used=params['deltas_used'],
step_size=params['step_size'],
delta_std=params['delta_std'],
logdir=logdir,
rollout_length=params['rollout_length'],
shift=params['shift'],
params=params,
seed = params['seed'])
ARS.train(params['n_iter'])
return
if __name__ == '__main__':
import argparse
parser = argparse.ArgumentParser()
parser.add_argument('--env_name', type=str, default='InvertedPendulumSwingupBulletEnv-v0')
parser.add_argument('--n_iter', '-n', type=int, default=1000)
parser.add_argument('--n_directions', '-nd', type=int, default=16)
parser.add_argument('--deltas_used', '-du', type=int, default=16)
parser.add_argument('--step_size', '-s', type=float, default=0.03)
parser.add_argument('--delta_std', '-std', type=float, default=.03)
parser.add_argument('--n_workers', '-e', type=int, default=18)
parser.add_argument('--rollout_length', '-r', type=int, default=2000)
# for Swimmer-v1 and HalfCheetah-v1 use shift = 0
# for Hopper-v1, Walker2d-v1, and Ant-v1 use shift = 1
# for Humanoid-v1 used shift = 5
parser.add_argument('--shift', type=float, default=0)
parser.add_argument('--seed', type=int, default=37)
parser.add_argument('--policy_type', type=str, help="Policy type, linear or nn (neural network)", default= 'linear')
parser.add_argument('--dir_path', type=str, default='data')
# for ARS V1 use filter = 'NoFilter'
parser.add_argument('--filter', type=str, default='MeanStdFilter')
parser.add_argument('--activation', type=str, help="Neural network policy activation function, tanh or clip", default="tanh")
parser.add_argument('--policy_network_size', action='store', dest='policy_network_size_list',type=str, nargs='*', default='64,64')
local_ip = socket.gethostbyname(socket.gethostname())
ray.init(address= local_ip + ':6379')
args = parser.parse_args()
params = vars(args)
run_ars(params)

80
examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
View File

@ -1,56 +1,72 @@
# Code adapted from https://github.com/araffin/rl-baselines-zoo
# it requires stable-baselines to be installed
# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F
# Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo
# it requires stable-baselines3 to be installed
# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb
# You can run it using: python -m pybullet_envs.stable_baselines.enjoy --algo td3 --env HalfCheetahBulletEnv-v0
# Author: Antonin RAFFIN
# MIT License
import os
import time
import argparse
import multiprocessing
import gym
import numpy as np
import pybullet_envs
from stable_baselines import SAC, TD3
from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
from stable_baselines3 import SAC, TD3
if __name__ == '__main__':
parser = argparse.ArgumentParser("Enjoy an RL agent trained using Stable Baselines")
parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
type=str, required=False, choices=['sac', 'td3'])
parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
parser.add_argument('-n', '--n-episodes', help='Number of episodes', default=5,
type=int)
parser.add_argument('--no-render', action='store_true', default=False,
help='Do not render the environment')
parser.add_argument('--load-best', action='store_true', default=False,
help='Load best model instead of last model if available')
if __name__ == "__main__":
parser = argparse.ArgumentParser(
"Enjoy an RL agent trained using Stable Baselines3"
)
parser.add_argument(
"--algo",
help="RL Algorithm (Soft Actor-Critic by default)",
default="sac",
type=str,
required=False,
choices=["sac", "td3"],
)
parser.add_argument(
"--env", type=str, default="HalfCheetahBulletEnv-v0", help="environment ID"
)
parser.add_argument(
"-n", "--n-episodes", help="Number of episodes", default=5, type=int
)
parser.add_argument(
"--no-render",
action="store_true",
default=False,
help="Do not render the environment",
)
parser.add_argument(
"--load-best",
action="store_true",
default=False,
help="Load best model instead of last model if available",
)
args = parser.parse_args()
env_id = args.env
# Create an env similar to the training env
env = TimeFeatureWrapper(gym.make(env_id))
env = gym.make(env_id)
# Use SubprocVecEnv for rendering
# Enable GUI
if not args.no_render:
env.render(mode='human')
env.render(mode="human")
algo = {
'sac': SAC,
'td3': TD3
"sac": SAC,
"td3": TD3,
}[args.algo]
# We assume that the saved model is in the same folder
save_path = '{}_{}.zip'.format(args.algo, env_id)
save_path = f"{args.algo}_{env_id}.zip"
if not os.path.isfile(save_path) or args.load_best:
print("Loading best model")
# Try to load best model
save_path = os.path.join('{}_{}'.format(args.algo, env_id), 'best_model.zip')
save_path = os.path.join(f"{args.algo}_{env_id}", "best_model.zip")
# Load the saved model
model = algo.load(save_path, env=env)
@ -70,12 +86,14 @@ if __name__ == '__main__':
episode_length += 1
if not args.no_render:
env.render(mode='human')
dt = 1. / 240.
env.render(mode="human")
dt = 1.0 / 240.0
time.sleep(dt)
episode_rewards.append(episode_reward)
episode_lengths.append(episode_length)
print("Episode {} reward={}, length={}".format(len(episode_rewards), episode_reward, episode_length))
print(
f"Episode {len(episode_rewards)} reward={episode_reward}, length={episode_length}"
)
mean_reward = np.mean(episode_rewards)
std_reward = np.std(episode_rewards)
@ -83,10 +101,10 @@ if __name__ == '__main__':
mean_len, std_len = np.mean(episode_lengths), np.std(episode_lengths)
print("==== Results ====")
print("Episode_reward={:.2f} +/- {:.2f}".format(mean_reward, std_reward))
print("Episode_length={:.2f} +/- {:.2f}".format(mean_len, std_len))
print(f"Episode_reward={mean_reward:.2f} +/- {std_reward:.2f}")
print(f"Episode_length={mean_len:.2f} +/- {std_len:.2f}")
except KeyboardInterrupt:
pass
# Close process
env.close()
env.close()

103
examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
View File

@ -1,74 +1,105 @@
# Code adapted from https://github.com/araffin/rl-baselines-zoo
# it requires stable-baselines to be installed
# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F
# Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo
# it requires stable-baselines3 to be installed
# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb
# You can run it using: python -m pybullet_envs.stable_baselines.train --algo td3 --env HalfCheetahBulletEnv-v0
# Author: Antonin RAFFIN
# MIT License
import argparse
import pybullet_envs
import pybullet_envs # register pybullet envs
import gym
import numpy as np
from stable_baselines import SAC, TD3
from stable_baselines.common.noise import NormalActionNoise
from stable_baselines.common.callbacks import EvalCallback, CheckpointCallback
from stable_baselines.common.vec_env import DummyVecEnv
from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
from stable_baselines3 import SAC, TD3
from stable_baselines3.common.noise import NormalActionNoise
from stable_baselines3.common.callbacks import EvalCallback, CheckpointCallback
from stable_baselines3.common.monitor import Monitor
if __name__ == '__main__':
parser = argparse.ArgumentParser("Train an RL agent using Stable Baselines")
parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
type=str, required=False, choices=['sac', 'td3'])
parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
parser.add_argument('-n', '--n-timesteps', help='Number of training timesteps', default=int(1e6),
type=int)
parser.add_argument('--save-freq', help='Save the model every n steps (if negative, no checkpoint)',
default=-1, type=int)
if __name__ == "__main__":
parser = argparse.ArgumentParser("Train an RL agent using Stable Baselines3")
parser.add_argument(
"--algo",
help="RL Algorithm (Soft Actor-Critic by default)",
default="sac",
type=str,
required=False,
choices=["sac", "td3"],
)
parser.add_argument(
"--env", type=str, default="HalfCheetahBulletEnv-v0", help="environment ID"
)
parser.add_argument(
"-n",
"--n-timesteps",
help="Number of training timesteps",
default=int(1e6),
type=int,
)
parser.add_argument(
"--save-freq",
help="Save the model every n steps (if negative, no checkpoint)",
default=-1,
type=int,
)
args = parser.parse_args()
env_id = args.env
n_timesteps = args.n_timesteps
save_path = '{}_{}'.format(args.algo, env_id)
save_path = f"{args.algo}_{env_id}"
# Instantiate and wrap the environment
env = TimeFeatureWrapper(gym.make(env_id))
env = gym.make(env_id)
# Create the evaluation environment and callbacks
eval_env = DummyVecEnv([lambda: TimeFeatureWrapper(gym.make(env_id))])
eval_env = Monitor(gym.make(env_id))
callbacks = [EvalCallback(eval_env, best_model_save_path=save_path)]
# Save a checkpoint every n steps
if args.save_freq > 0:
callbacks.append(CheckpointCallback(save_freq=args.save_freq, save_path=save_path,
name_prefix='rl_model'))
callbacks.append(
CheckpointCallback(
save_freq=args.save_freq, save_path=save_path, name_prefix="rl_model"
)
)
algo = {
'sac': SAC,
'td3': TD3
"sac": SAC,
"td3": TD3,
}[args.algo]
n_actions = env.action_space.shape[0]
# Tuned hyperparameters from https://github.com/araffin/rl-baselines-zoo
# Tuned hyperparameters from https://github.com/DLR-RM/rl-baselines3-zoo
hyperparams = {
'sac': dict(batch_size=256, gamma=0.98, policy_kwargs=dict(layers=[256, 256]),
learning_starts=10000, buffer_size=int(2e5), tau=0.01),
'td3': dict(batch_size=100, policy_kwargs=dict(layers=[400, 300]),
learning_rate=1e-3, learning_starts=10000, buffer_size=int(1e6),
train_freq=1000, gradient_steps=1000,
action_noise=NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)))
"sac": dict(
batch_size=256,
gamma=0.98,
policy_kwargs=dict(net_arch=[256, 256]),
learning_starts=10000,
buffer_size=int(3e5),
tau=0.01,
),
"td3": dict(
batch_size=100,
policy_kwargs=dict(net_arch=[400, 300]),
learning_rate=1e-3,
learning_starts=10000,
buffer_size=int(1e6),
train_freq=1,
gradient_steps=1,
action_noise=NormalActionNoise(
mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)
),
),
}[args.algo]
model = algo('MlpPolicy', env, verbose=1, **hyperparams)
model = algo("MlpPolicy", env, verbose=1, **hyperparams)
try:
model.learn(n_timesteps, callback=callbacks)
except KeyboardInterrupt:
pass
print("Saving to {}.zip".format(save_path))
print(f"Saving to {save_path}.zip")
model.save(save_path)

59
examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
View File

@ -1,59 +0,0 @@
# Code adapted from https://github.com/araffin/rl-baselines-zoo
# it requires stable-baselines to be installed
# Author: Antonin RAFFIN
# MIT License
import gym
import numpy as np
from gym.wrappers import TimeLimit
class TimeFeatureWrapper(gym.Wrapper):
"""
Add remaining time to observation space for fixed length episodes.
See https://arxiv.org/abs/1712.00378 and https://github.com/aravindr93/mjrl/issues/13.
:param env: (gym.Env)
:param max_steps: (int) Max number of steps of an episode
if it is not wrapped in a TimeLimit object.
:param test_mode: (bool) In test mode, the time feature is constant,
equal to zero. This allow to check that the agent did not overfit this feature,
learning a deterministic pre-defined sequence of actions.
"""
def __init__(self, env, max_steps=1000, test_mode=False):
assert isinstance(env.observation_space, gym.spaces.Box)
# Add a time feature to the observation
low, high = env.observation_space.low, env.observation_space.high
low, high = np.concatenate((low, [0])), np.concatenate((high, [1.]))
env.observation_space = gym.spaces.Box(low=low, high=high, dtype=np.float32)
super(TimeFeatureWrapper, self).__init__(env)
if isinstance(env, TimeLimit):
self._max_steps = env._max_episode_steps
else:
self._max_steps = max_steps
self._current_step = 0
self._test_mode = test_mode
def reset(self):
self._current_step = 0
return self._get_obs(self.env.reset())
def step(self, action):
self._current_step += 1
obs, reward, done, info = self.env.step(action)
return self._get_obs(obs), reward, done, info
def _get_obs(self, obs):
"""
Concatenate the time feature to the current observation.
:param obs: (np.ndarray)
:return: (np.ndarray)
"""
# Remaining time is more general
time_feature = 1 - (self._current_step / self._max_steps)
if self._test_mode:
time_feature = 1.0
# Optionnaly: concatenate [time_feature, time_feature ** 2]
return np.concatenate((obs, [time_feature]))

56
examples/pybullet/pybullet.c
View File

@ -1,4 +1,4 @@
//#include "D:/dev/visual leak detector/include/vld.h"
//#include "D:/dev/VisualLeakDetector/include/vld.h"
#include "../SharedMemory/PhysicsClientC_API.h"
#include "../SharedMemory/PhysicsDirectC_API.h"
@ -9116,6 +9116,55 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
return NULL;
}
static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds)
{
int bodyUniqueId = -1;
b3PhysicsClientHandle sm = 0;
b3SharedMemoryCommandHandle command;
b3SharedMemoryStatusHandle statusHandle;
struct b3MeshData meshData;
int statusType;
PyObject* verticesObj = 0;
int physicsClientId = 0;
int numVertices = 0;
static char* kwlist[] = { "bodyUniqueId", "vertices", "physicsClientId", NULL};
if (!PyArg_ParseTupleAndKeywords(args, keywds, "iO|i", kwlist, &bodyUniqueId, &verticesObj, &physicsClientId))
{
return NULL;
}
sm = getPhysicsClient(physicsClientId);
if (sm == 0)
{
PyErr_SetString(SpamError, "Not connected to physics server.");
return NULL;
}
numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
if (numVertices)
{
double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
command = b3ResetMeshDataCommandInit(sm, bodyUniqueId, numVertices, vertices);
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
statusType = b3GetStatusType(statusHandle);
free(vertices);
if (statusType == CMD_RESET_MESH_DATA_COMPLETED)
{
Py_INCREF(Py_None);
return Py_None;
}
}
PyErr_SetString(SpamError, "resetMeshData failed");
return NULL;
}
static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
{
int physicsClientId = 0;
@ -12522,9 +12571,12 @@ static PyMethodDef SpamMethods[] = {
{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
"Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
"Get mesh data. Returns vertices etc from the mesh."},
{"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS,
"Reset mesh data. Only implemented for deformable bodies."},
{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
"Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},

4
src/BulletSoftBody/btDeformableContactConstraint.h
View File

@ -37,7 +37,7 @@ public:
{
}
btDeformableContactConstraint() {}
btDeformableContactConstraint() : m_static(false) {}
btDeformableContactConstraint(const btDeformableContactConstraint& other)
: m_static(other.m_static), m_normal(other.m_normal), m_infoGlobal(other.m_infoGlobal)
@ -150,7 +150,7 @@ public:
btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
btDeformableRigidContactConstraint() {}
btDeformableRigidContactConstraint() : m_binding(false) {}
virtual ~btDeformableRigidContactConstraint()
{
}