AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-04 17:40:06 +00:00
Code Issues Releases Wiki Activity

Added manually converted widowx.urdf from https://github.com/RobotnikAutomation/widowx_arm

Browse Source 
Added simple pybullet file in Bullet/examples/pybullet/examples/widows.py (preliminary, both URDF and py file needs more work to be useful)
https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
See also http://www.trossenrobotics.com/widowxrobotarm
This commit is contained in:
Erwin Coumans 2017-06-29 17:54:04 -07:00
parent b4f21e77af
commit bf800e30d5
11 changed files with 322 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
data/widowx/bsd_license.txt Normal file
View File

@ -0,0 +1,22 @@
Converted from https://github.com/RobotnikAutomation/widowx_arm/blob/master/widowx_arm_description/package.xml
Copyright 2017 robotnik
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
<package>
<name>widowx_arm_description</name>
<version>0.0.2</version>
<description>The widowx_arm_description package</description>
<maintainer email="jmrapado@robotnik.es">Jose Rapado García</maintainer>
<maintainer email="rnavarro@robotnik.es">Román Navarro</maintainer>
<maintainer email="cvillar@robotnik.es">Carlos Villar</maintainer>

BIN
data/widowx/meshes/base_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/biceps_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/forearm_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/gripper_hand_fixed_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/gripper_rail_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/shoulder_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/wrist_1_link.stl Normal file
View File

Binary file not shown.

BIN
data/widowx/meshes/wrist_2_link.stl Normal file
View File

Binary file not shown.

279
data/widowx/widowx.urdf Normal file
View File

@ -0,0 +1,279 @@
<?xml version="1.0" encoding="UTF-8"?>
<robot name="widowx" xmlns:xacro="http://ros.org/wiki/xacro">
<material name="yellow">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<material name="white">
<color rgba="0.86 0.85 0.81 1.0"/>
</material>
<material name="black">
<color rgba="0.15 0.15 0.15 1.0"/>
</material>
<material name="grey">
<color rgba="0.34 0.35 0.36 1.0"/>
</material>
<material name="greyish">
<color rgba="0.75 0.75 0.75 1.0"/>
</material>
<link name="arm_base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/base_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value="13" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="shoulder_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/shoulder_link.stl" />
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/shoulder_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="biceps_link">
<visual>
<origin xyz="0.04825 0 0.140" rpy="0 0 0" />
<!--origin xyz="0 0 0" rpy="0 0 0" /-->
<geometry>
<mesh filename="meshes/biceps_link.stl" />
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0.04825 0 0.140" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/biceps_link.stl" />
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="forearm_link">
<visual>
<origin xyz="0 0 0.14203" rpy="0 0 0" />
<!--origin xyz="0 0 0" rpy="0 0 0" /-->
<geometry>
<mesh filename="meshes/forearm_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0.14203" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/forearm_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="wrist_1_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_1_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_1_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="wrist_2_link">
<visual>
<origin xyz="0 0 0.043" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_2_link.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 0 0.043" rpy="0 0 0" />
<geometry>
<mesh filename="meshes/wrist_2_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="gripper_rail_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_rail_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_rail_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="gripper_aux_link">
</link>
<link name="gripper_1_link">
<visual>
<origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
<material name="black"/>
</visual>
<collision>
<origin xyz="0 -0.0007 0" rpy="0 0 1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<link name="gripper_2_link">
<visual>
<origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
<material name="greyish"/>
</visual>
<collision>
<origin xyz="0 0.0007 0" rpy="0 0 -1.57" />
<geometry>
<mesh filename="meshes/gripper_hand_fixed_link.stl"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0" />
<mass value=".1" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
</inertial>
</link>
<!-- joints -->
<joint name="joint_1" type="revolute">
<origin xyz="0 0 0.125" rpy="0 0 0" />
<parent link="arm_base_link" />
<child link="shoulder_link" />
<axis xyz="0 0 1" />
<limit lower="-2.617" upper="2.617" effort="0" velocity="0.785" />
</joint>
<joint name="joint_2" type="revolute">
<!--origin xyz="0.04825 0 0.14203" rpy="0 0 0" /-->
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="shoulder_link" />
<child link="biceps_link" />
<axis xyz="0 1 0" />
<limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
</joint>
<joint name="joint_3" type="revolute">
<origin xyz="0.04825 0 0.14203" rpy="0 1.5707963268 0" />
<parent link="biceps_link" />
<child link="forearm_link" />
<axis xyz="0 1 0" />
<limit lower="-1.571" upper="1.571" effort="0" velocity="1.571" />
</joint>
<joint name="joint_4" type="revolute">
<origin xyz="0 0 0.14203" rpy="0 0 0" />
<parent link="forearm_link" />
<child link="wrist_1_link" />
<axis xyz="0 1 0" />
<limit lower="-1.745" upper="1.745" effort="0" velocity="1.571" />
</joint>
<joint name="joint_5" type="revolute">
<origin xyz="0 0 0.0715" rpy="0 0 0" />
<parent link="wrist_1_link" />
<child link="wrist_2_link" />
<axis xyz="0 0 1" />
<limit lower="-2.617" upper="2.617" effort="0" velocity="1.571" />
</joint>
<joint name="joint_6" type="fixed">
<origin xyz = "0 0 0.043" rpy="0 0 0" />
<parent link="wrist_2_link" />
<child link="gripper_rail_link" />
<axis xyz="0 0 1" />
<limit lower="-0.31" upper="0.1" effort="0" velocity="0.5" />
</joint>
<joint name="gripper_revolute_joint" type="revolute">
<origin xyz = "0 0 0" rpy="0 0 0" />
<parent link="gripper_rail_link" />
<child link="gripper_aux_link" />
<axis xyz="0 0 1" />
<limit lower="0" upper="2.6" effort="0" velocity="0.5" />
</joint>
<joint name="gripper_prismatic_joint_1" type="prismatic">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="gripper_rail_link" />
<child link="gripper_1_link" />
<axis xyz="0 -1 0" />
<limit lower="0" upper="0.027" effort="0" velocity="0.5" />
</joint>
<joint name="gripper_prismatic_joint_2" type="prismatic">
<origin xyz="0 0 0" rpy="0 0 0" />
<parent link="gripper_rail_link" />
<child link="gripper_2_link" />
<mimic joint="gripper_prismatic_joint_1" />
<axis xyz="0 1 0" />
<limit lower="0" upper="0.027" effort="0" velocity="0.5" />
</joint>
</robot>

21
examples/pybullet/examples/widows.py Normal file
View File

@ -0,0 +1,21 @@
import pybullet as p
import time
p.connect(p.GUI)
p.loadURDF("table/table.urdf", 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
p.setGravity(0,0,-10)
arm = p.loadURDF("widowx/widowx.urdf",useFixedBase=True)
p.resetBasePositionAndOrientation(arm,[-0.098612,-0.000726,-0.194018],[0.000000,0.000000,0.000000,1.000000])
while (1):
p.stepSimulation()
time.sleep(0.01)
#p.saveWorld("test.py")
viewMat = p.getDebugVisualizerCamera()[2]
#projMatrix = [0.7499999403953552, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, -1.0000200271606445, -1.0, 0.0, 0.0, -0.02000020071864128, 0.0]
projMatrix = p.getDebugVisualizerCamera()[3]
width=640
height=480
img_arr = p.getCameraImage(width=width,height=height,viewMatrix=viewMat,projectionMatrix=projMatrix)