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add more URDF files to pybullet_data

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This commit is contained in:
Erwin Coumans 2017-08-27 19:26:53 -07:00
parent 793904fc89
commit d9faea8c1c
50 changed files with 355992 additions and 0 deletions
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48
examples/pybullet/gym/pybullet_data/cube.obj Normal file
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# cube.obj
#
o cube
mtllib cube.mtl
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000
vt 0.000000 0.000000
vt 1.000000 0.000000
vt 0.000000 1.000000
vt 1.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 -1.000000 0.000000
vn 1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
g cube
usemtl cube
s 1
f 1/1/1 2/2/1 3/3/1
f 3/3/1 2/2/1 4/4/1
s 2
f 3/1/2 4/2/2 5/3/2
f 5/3/2 4/2/2 6/4/2
s 3
f 5/4/3 6/3/3 7/2/3
f 7/2/3 6/3/3 8/1/3
s 4
f 7/1/4 8/2/4 1/3/4
f 1/3/4 8/2/4 2/4/4
s 5
f 2/1/5 8/2/5 4/3/5
f 4/3/5 8/2/5 6/4/5
s 6
f 7/1/6 1/2/6 5/3/6
f 5/3/6 1/2/6 3/4/6

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examples/pybullet/gym/pybullet_data/cube_small.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="cube.obj" scale=".05 .05 .05"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size=".05 .05 .05"/>
</geometry>
</collision>
</link>
</robot>

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examples/pybullet/gym/pybullet_data/duck.dae Normal file
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examples/pybullet/gym/pybullet_data/duck.mtl Normal file
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# Blender MTL File: 'None'
# Material Count: 1
newmtl blinn3
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.000000 0.000000 0.000000
Ni 1.000000
d 1.000000
illum 2
map_Ka duckCM.png
map_Kd duckCM.png

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examples/pybullet/gym/pybullet_data/duck.obj Normal file
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609
examples/pybullet/gym/pybullet_data/duck_vhacd.obj Normal file
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examples/pybullet/gym/pybullet_data/duck_vhacd.urdf Normal file
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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="baseLink">
<contact>
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<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
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</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="duck.obj" scale=".05 .05 .05"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.26 3.14 0 0</pose>
<link name='world'>
</link>
<joint name='base_joint' type='prismatic'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.5</lower>
<upper>10</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.047</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='revolute'>
<child>gripper_left</child>
<parent>left_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='revolute'>
<child>gripper_right</child>
<parent>right_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-1.0</lower>
<upper>1.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

394
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf Normal file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 -2.3 2.1 0 0 0</pose>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
</link>
<joint name='base_joint' type='fixed'>
<parent>world</parent>
<child>base_link</child>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.047</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='revolute'>
<child>gripper_left</child>
<parent>left_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-4.0</lower>
<upper>4.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='revolute'>
<child>gripper_right</child>
<parent>right_hinge</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-4.0</lower>
<upper>4.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0.01</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='finger_right'>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

27
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_left_finger.urdf Normal file
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<?xml version="0.0" ?>
<robot name="left_finger.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 4.71239" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.042"/>
<geometry>
<box size="0.02 0.02 0.15"/>
</geometry>
</collision>
</link>
</robot>

394
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf Normal file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.7 3.14 0 0</pose>
<link name='world'>
</link>
<joint name='base_joint' type='prismatic'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.5</lower>
<upper>10</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.055</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='prismatic'>
<child>gripper_left</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.05</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='prismatic'>
<child>gripper_right</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.05</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='finger_right'>
<contact>
<spinning_friction>.3</spinning_friction>
<rolling_friction>0.04</rolling_friction>
</contact>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<contact>
<spinning_friction>.3</spinning_friction>
<rolling_friction>0.04</rolling_friction>
</contact>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

391
examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf Normal file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
<link name='world'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
</link>
<joint name='base_joint' type='fixed'>
<parent>world</parent>
<child>base_link</child>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.055</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='prismatic'>
<child>gripper_left</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.05</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='prismatic'>
<child>gripper_right</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.05</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='finger_right'>
<contact>
<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>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<contact>
<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>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

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examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf Normal file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.4 3.14 0 0</pose>
<link name='world'>
</link>
<joint name='base_joint' type='prismatic'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-10</lower>
<upper>10</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
</link>
<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
</box>
</geometry>
</visual>
</link>
<joint name='base_joint_motor' type='prismatic'>
<child>motor</child>
<parent>base_link</parent>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.055</lower>
<upper>0.001</upper>
<effort>10.0</effort>
<velocity>10.0</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_left_hinge_joint' type='revolute'>
<child>left_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
</box>
</geometry>
</visual>
</link>
<joint name='motor_right_hinge_joint' type='revolute'>
<child>right_hinge</child>
<parent>motor</parent>
<axis>
<xyz>0 1 0</xyz>
<limit>
<lower>-20.0</lower>
<upper>20.0</upper>
<effort>10</effort>
<velocity>10</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
<use_parent_model_frame>0</use_parent_model_frame>
</axis>
</joint>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_left_hinge_joint' type='prismatic'>
<child>gripper_left</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.01</lower>
<upper>0.04</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 3.14159</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_right_hinge_joint' type='prismatic'>
<child>gripper_right</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.04</lower>
<upper>0.01</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>0</damping>
<friction>0</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
</model>
</world>
</sdf>

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examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_right_finger.urdf Normal file
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<?xml version="0.0" ?>
<robot name="right_finger.urdf">
<link name="baseLink">
<contact>
<lateral_friction value="1.0"/>
<inertia_scaling value="3.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.05"/>
<mass value=".2"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 1.5708" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/l_gripper_tip_scaled.stl" scale="1 1 1"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.042"/>
<geometry>
<box size="0.02 0.02 0.15"/>
</geometry>
</collision>
</link>
</robot>

306
examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf Normal file
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<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.27 3.14 0 0</pose>
<link name='world'>
</link>
<joint name='base_joint' type='prismatic'>
<parent>world</parent>
<child>base_link</child>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.5</lower>
<upper>10</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>100</damping>
<friction>100</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='base_link'>
<pose frame=''>0 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>0.2 0.05 0.05 </size>
</box>
</geometry>
</collision>
<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>meshes/WSG50_110.stl</uri>
</mesh>
</geometry>
<material>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
</link>
<link name='gripper_left'>
<pose frame=''>-0.055 0 0 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='gripper_left_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</collision>
<collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</collision>
<visual name='gripper_left_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='base_joint_gripper_left' type='prismatic'>
<child>gripper_left</child>
<parent>base_link</parent>
<axis>
<xyz>1 0 0</xyz>
<limit>
<lower>-0.001</lower>
<upper>0.055</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>100</damping>
<friction>100</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='gripper_right'>
<pose frame=''>0.055 0 0 0 -0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='gripper_right_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</collision>
<collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</collision>
<visual name='gripper_right_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/GUIDE_WSG50_110.stl</uri>
</mesh>
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 0.023 0 -0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
<uri>meshes/WSG-FMF.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='base_joint_gripper_right' type='prismatic'>
<child>gripper_right</child>
<parent>base_link</parent>
<axis>
<xyz>-1 0 0</xyz>
<limit>
<lower>-0.055</lower>
<upper>0.001</upper>
<effort>1</effort>
<velocity>1</velocity>
</limit>
<dynamics>
<damping>100</damping>
<friction>100</friction>
<spring_reference>0</spring_reference>
<spring_stiffness>0</spring_stiffness>
</dynamics>
</axis>
</joint>
<link name='finger_right'>
<contact>
<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>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_right' type='fixed'>
<parent>gripper_right</parent>
<child>finger_right</child>
</joint>
<link name='finger_left'>
<contact>
<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>
<inertial>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.1</iyy>
<iyz>0</iyz>
<izz>0.1</izz>
</inertia>
</inertial>
<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
</box>
</geometry>
</collision>
<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
<uri>meshes/l_gripper_tip_scaled.stl</uri>
</mesh>
</geometry>
</visual>
</link>
<joint name='gripper_finger_left' type='fixed'>
<parent>gripper_left</parent>
<child>finger_left</child>
</joint>
</model>
</world>
</sdf>

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

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

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examples/pybullet/gym/pybullet_data/jenga/jenga.obj Normal file
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# jenga.obj
#
o jenga
mtllib jenga.mtl
v -0.5 -0.5 0.5
v 0.5 -0.5 0.5
v 0.5 0.5 0.5
v -0.5 0.5 0.5
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v 0.5 -0.5 -0.5
v 0.5 0.5 -0.5
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v -0.5 -0.5 -0.5
v -0.5 0.5 -0.5
v -0.5 0.5 0.5
v -0.5 -0.5 0.5
v 0.5 -0.5 -0.5
v 0.5 0.5 -0.5
v 0.5 0.5 0.5
v 0.5 -0.5 0.5
v -0.5 -0.5 -0.5
v -0.5 -0.5 0.5
v 0.5 -0.5 0.5
v 0.5 -0.5 -0.5
v -0.5 0.5 -0.5
v -0.5 0.5 0.5
v 0.5 0.5 0.5
v 0.5 0.5 -0.5
vt 0 1
vt 0 0.75
vt 0.25 0.75
vt 0.25 1
vt 0.25 0.5
vt 0.25 0.75
vt 0.5 0.75
vt 0.5 0.5
vt 1 0.75
vt 0.75 0.75
vt 0.75 1
vt 1 1
vt 0.25 0.75
vt 0.5 0.75
vt 0.5 1
vt 0.25 1
vt 0 0.5
vt 0 0.75
vt 0.25 0.75
vt 0.25 0.5
vt 0.75 0.75
vt 0.75 1
vt 0.5 1
vt 0.5 0.75
vn 0 0 1
vn 0 0 1
vn 0 0 1
vn 0 0 1
vn 0 0 -1
vn 0 0 -1
vn 0 0 -1
vn 0 0 -1
vn -1 0 0
vn -1 0 0
vn -1 0 0
vn -1 0 0
vn 1 0 0
vn 1 0 0
vn 1 0 0
vn 1 0 0
vn 0 -1 0
vn 0 -1 0
vn 0 -1 0
vn 0 -1 0
vn 0 1 0
vn 0 1 0
vn 0 1 0
vn 0 1 0
g jenga
usemtl jenga
s 1
f 1/1/1 2/2/2 3/3/3
f 1/1/1 3/3/3 4/4/4
s 2
f 7/7/7 6/6/6 5/5/5
f 8/8/8 7/7/7 5/5/5
s 3
f 11/11/11 10/10/10 9/9/9
f 12/12/12 11/11/11 9/9/9
s 4
f 13/13/13 14/14/14 15/15/15
f 13/13/13 15/15/15 16/16/16
s 5
f 19/19/19 18/18/18 17/17/17
f 20/20/20 19/19/19 17/17/17
s 6
f 21/21/21 22/22/22 23/23/23
f 21/21/21 23/23/23 24/24/24

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

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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Amazon Pod">
<static>1</static>
<pose>0 1 0 0 0 0</pose>
<link name="pod_link">
<inertial>
<pose>0.0 .0 1.2045 0 0 0</pose>
<mass>0</mass>
<inertia>
<ixx>0</ixx>
<ixy>0.0</ixy>
<ixz>0.0</ixz>
<izz>0.0</izz>
<iyz>0.0</iyz>
<iyy>0.0</iyy>
</inertia>
</inertial>
<visual name="pod_visual">
<pose>0 0 0 1.5707 0 0 </pose>
<geometry>
<mesh>
<uri>meshes/pod_lowres.stl</uri>
</mesh>
</geometry>
<material>
<diffuse>0.9 0.8 0.5 1</diffuse>
</material>
</visual>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.21515 1.5707 0 0</pose>
<geometry>
<box>
<size>0.875 1.754 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.42 0 1.18 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.754 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.42 0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.42 0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.42 -0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.42 -0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.15 0 1.49 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.32 0.01</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.15 0 1.49 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.32 0.01</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 .57 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 0.45 0.01</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.42 0 1.18 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.754 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.06 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.06 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 0.80 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0.43 0.81 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 -0.43 0.81 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0.43 1.08 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 -0.43 1.08 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 0.37 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.29 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.53 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.78 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
</link>
</model>
</sdf>

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<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="legobrick">
<contact>
<lateral_friction value="1.0"/>
<rolling_friction value="0.0"/>
<contact_cfm value="0.0"/>
<contact_erp value="1.0"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
<geometry>
<mesh filename="lego.obj" scale=".1 .1 .1"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="1.570796 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.032 0.023 0.032"/>
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</collision>
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</robot>

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examples/pybullet/gym/pybullet_data/pr2_gripper.urdf Normal file
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<?xml version="1.0"?>
<robot name="physics">
<link name="gripper_pole">
<visual>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
<material name="Gray">
<color rgba=".7 .7 .7 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.2" radius=".01"/>
</geometry>
<origin rpy="0 1.57075 0 " xyz="0.1 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
</joint>
<link name="left_gripper">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="left_tip_joint" type="fixed">
<parent link="left_gripper"/>
<child link="left_tip"/>
</joint>
<link name="left_tip">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="0.0 0.0 0" xyz="0.105 -0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>
</joint>
<link name="right_gripper">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</visual>
<collision>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="l_finger_collision.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="right_tip_joint" type="fixed">
<parent link="right_gripper"/>
<child link="right_tip"/>
</joint>
<link name="right_tip">
<contact>
<lateral_friction value="1.0"/>
<spinning_friction value="1.5"/>
</contact>
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<mesh filename="l_finger_tip.stl"/>
</geometry>
</visual>
<collision>
<geometry>
<box size=".03 .01 .02"/>
</geometry>
<origin rpy="-3.1415 0 0" xyz="0.105 0.015 0"/>
</collision>
<collision>
<geometry>
<box size=".01 .02 .02"/>
</geometry>
<origin rpy="-3.1415 0 -0.5" xyz="0.095 0.005 0"/>
</collision>
<inertial>
<mass value="0.1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
</robot>

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<?xml version="1.0"?>
<robot name="physics">
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.6" radius="0.2"/>
</geometry>
<material name="blue">
<color rgba="0 0 .8 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.6" radius="0.17"/>
</geometry>
</collision>
<inertial>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="right_leg">
<visual>
<geometry>
<box size="0.6 .2 .1"/>
</geometry>
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<geometry>
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<child link="right_base"/>
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<link name="right_front_wheel">
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<geometry>
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<child link="right_front_wheel"/>
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<link name="right_back_wheel">
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<child link="right_back_wheel"/>
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<link name="left_front_wheel">
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<link name="right_gripper">
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<link name="right_tip">
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<link name="box">
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<geometry>
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<joint name="tobox" type="fixed">
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26
examples/pybullet/gym/pybullet_data/samurai.urdf Normal file
View File

@ -0,0 +1,26 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
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<geometry>
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<material name="white">
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<collision concave="yes">
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740
examples/pybullet/gym/pybullet_data/samurai_monastry.mtl Normal file
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