mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-18 21:10:05 +00:00
Merge pull request #1143 from YunfeiBai/master
Add kuka grasping block playback.
This commit is contained in:
erwincoumans
GitHub
commit
f63ca87049
32
data/block.urdf
Normal file
32
data/block.urdf
Normal file
@ -0,0 +1,32 @@
|
||||
<?xml version="1.0"?>
|
||||
<robot name="block_2">
|
||||
<link name="block_2_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="1.0"/>
|
||||
<rolling_friction value="0.0"/>
|
||||
<inertia_scaling value="3.0"/>
|
||||
<contact_cfm value="0.0"/>
|
||||
<contact_erp value="1.0"/>
|
||||
</contact>
|
||||
<inertial>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<mass value="0.02"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
<material name="blockmat">
|
||||
<color rgba="0.1 0.7 0.1 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||
<geometry>
|
||||
<box size="0.10 0.018 0.018"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
BIN
data/block_grasp_log.bin
Normal file
BIN
data/block_grasp_log.bin
Normal file
Binary file not shown.
760
data/kuka_iiwa/kuka_with_gripper.sdf
Normal file
760
data/kuka_iiwa/kuka_with_gripper.sdf
Normal file
@ -0,0 +1,760 @@
|
||||
<?xml version="1.0" ?>
|
||||
<!--This file contains the SDF model of a KUKA iiwa robot with a wsg50 gripper.
|
||||
It has been produced from the varients in //third_party/robotics/models.
|
||||
Note: This file is temporary, and should be deleted once Bullet supports
|
||||
importing models in SDF. Also, this file has been specialized for Bullet,
|
||||
because the mass of the base link has been set to 0, as needed by Bullet.
|
||||
Note: All of the gripper link poses have been adjusted in the z direction
|
||||
to achieve a reasonable position of the gripper relative to the arm.
|
||||
Note: The joint names for the KUKA have been changed to J0, J1, etc. -->
|
||||
<sdf version='1.6'>
|
||||
<world name='default'>
|
||||
<model name='lbr_iiwa_with_wsg50'>
|
||||
<link name='lbr_iiwa_link_0'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.1 0 0.07 0 -0 0</pose>
|
||||
<mass>0</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.06</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.03</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_0_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>/meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_0_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_0.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.5 0.5 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<link name='lbr_iiwa_link_1'>
|
||||
<pose frame=''>0 0 0.1575 0 -0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 -0.03 0.12 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.1</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.09</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.02</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_1_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_1_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_1.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.5 0.5 0.5 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J0' type='revolute'>
|
||||
<child>lbr_iiwa_link_1</child>
|
||||
<parent>lbr_iiwa_link_0</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_2'>
|
||||
<pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
|
||||
<mass>4</mass>
|
||||
<inertia>
|
||||
<ixx>0.05</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.044</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_2_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_2_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_2.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J1' type='revolute'>
|
||||
<child>lbr_iiwa_link_2</child>
|
||||
<parent>lbr_iiwa_link_1</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_3'>
|
||||
<pose frame=''>0 -0 0.5645 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.03 0.13 0 -0 0</pose>
|
||||
<mass>3</mass>
|
||||
<inertia>
|
||||
<ixx>0.08</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.075</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.01</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_3_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_3_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_3.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J2' type='revolute'>
|
||||
<child>lbr_iiwa_link_3</child>
|
||||
<parent>lbr_iiwa_link_2</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_4'>
|
||||
<pose frame=''>0 -0 0.78 1.5708 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.067 0.034 0 -0 0</pose>
|
||||
<mass>2.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.03</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.01</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.029</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_4_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_4_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_4.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J3' type='revolute'>
|
||||
<child>lbr_iiwa_link_4</child>
|
||||
<parent>lbr_iiwa_link_3</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_5'>
|
||||
<pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
|
||||
<mass>1.7</mass>
|
||||
<inertia>
|
||||
<ixx>0.02</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.018</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.005</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_5_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_5_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_5.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J4' type='revolute'>
|
||||
<child>lbr_iiwa_link_5</child>
|
||||
<parent>lbr_iiwa_link_4</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.96706</lower>
|
||||
<upper>2.96706</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_6'>
|
||||
<pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
|
||||
<mass>1.8</mass>
|
||||
<inertia>
|
||||
<ixx>0.005</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.0036</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.0047</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_6_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_6_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_6.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>1.0 0.42 0.04 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J5' type='revolute'>
|
||||
<child>lbr_iiwa_link_6</child>
|
||||
<parent>lbr_iiwa_link_5</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-2.0944</lower>
|
||||
<upper>2.0944</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
<link name='lbr_iiwa_link_7'>
|
||||
<pose frame=''>0 0 1.261 0 0 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.02 0 -0 0</pose>
|
||||
<mass>0.3</mass>
|
||||
<inertia>
|
||||
<ixx>0.001</ixx>
|
||||
<ixy>0</ixy>
|
||||
<ixz>0</ixz>
|
||||
<iyy>0.001</iyy>
|
||||
<iyz>0</iyz>
|
||||
<izz>0.001</izz>
|
||||
</inertia>
|
||||
</inertial>
|
||||
<collision name='lbr_iiwa_link_7_collision'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
<visual name='lbr_iiwa_link_7_visual'>
|
||||
<pose frame=''>0 0 0 0 -0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1</scale>
|
||||
<uri>meshes/link_7.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
<material>
|
||||
<ambient>1 0 0 1</ambient>
|
||||
<diffuse>0.6 0.6 0.6 1</diffuse>
|
||||
<specular>0.1 0.1 0.1 1</specular>
|
||||
<emissive>0 0 0 0</emissive>
|
||||
</material>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='J6' type='revolute'>
|
||||
<child>lbr_iiwa_link_7</child>
|
||||
<parent>lbr_iiwa_link_6</parent>
|
||||
<axis>
|
||||
<xyz>0 0 1</xyz>
|
||||
<limit>
|
||||
<lower>-3.05433</lower>
|
||||
<upper>3.05433</upper>
|
||||
<effort>300</effort>
|
||||
<velocity>10</velocity>
|
||||
</limit>
|
||||
<dynamics>
|
||||
<damping>0.5</damping>
|
||||
<friction>0</friction>
|
||||
<spring_reference>0</spring_reference>
|
||||
<spring_stiffness>0</spring_stiffness>
|
||||
</dynamics>
|
||||
</axis>
|
||||
</joint>
|
||||
|
||||
<!-- Attach the base of the gripper to the end of the arm -->
|
||||
<joint name='gripper_to_arm' type='fixed'>
|
||||
<parent>lbr_iiwa_link_7</parent>
|
||||
<child>base_link</child>
|
||||
</joint>
|
||||
<link name='base_link'>
|
||||
<pose frame=''>0 0 1.305 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>
|
||||
<box>
|
||||
<size>0.05 0.05 0.1 </size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
|
||||
<joint name='base_left_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>left_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.4</lower>
|
||||
<upper>0.01</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>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_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 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='left_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='left_finger_base_joint' type='fixed'>
|
||||
<parent>left_finger</parent>
|
||||
<child>left_finger_base</child>
|
||||
</joint>
|
||||
<link name='left_finger_base'>
|
||||
<pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>-0.003 0 0.04 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='left_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='left_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='left_base_tip_joint' type='revolute'>
|
||||
<parent>left_finger_base</parent>
|
||||
<child>left_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.1</lower>
|
||||
<upper>0.3</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>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_finger_tip'>
|
||||
<contact>
|
||||
<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>
|
||||
<inertial>
|
||||
<pose frame=''>-0.005 0 0.026 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='left_finger_tip_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='left_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_left.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='base_right_finger_joint' type='revolute'>
|
||||
<parent>base_link</parent>
|
||||
<child>right_finger</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.01</lower>
|
||||
<upper>0.4</upper>
|
||||
<effort>100</effort>
|
||||
<velocity>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='right_finger'>
|
||||
<pose frame=''>0 0.024 1.35 0 0.05 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0 0 0.04 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='right_finger_visual'>
|
||||
<pose frame=''>0 0 0.04 0 0 0</pose>
|
||||
<geometry>
|
||||
<box>
|
||||
<size>0.01 0.01 0.08</size>
|
||||
</box>
|
||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
<joint name='right_finger_base_joint' type='fixed'>
|
||||
<parent>right_finger</parent>
|
||||
<child>right_finger_base</child>
|
||||
</joint>
|
||||
<link name='right_finger_base'>
|
||||
<pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
|
||||
<inertial>
|
||||
<pose frame=''>0.003 0 0.04 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='right_finger_base_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='right_finger_base_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0 </pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_base_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name='right_base_tip_joint' type='revolute'>
|
||||
<parent>right_finger_base</parent>
|
||||
<child>right_finger_tip</child>
|
||||
<axis>
|
||||
<xyz>0 1 0</xyz>
|
||||
<limit>
|
||||
<lower>-0.3</lower>
|
||||
<upper>0.1</upper>
|
||||
<effort>0</effort>
|
||||
<velocity>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='right_finger_tip'>
|
||||
<contact>
|
||||
<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>
|
||||
<inertial>
|
||||
<pose frame=''>0.005 0 0.026 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='right_finger_visual'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision name='right_finger_tip_collision'>
|
||||
<pose frame=''>0 0 0 0 0 0</pose>
|
||||
<geometry>
|
||||
<mesh>
|
||||
<scale>1 1 1 </scale>
|
||||
<uri>meshes/finger_tip_right.stl</uri>
|
||||
</mesh>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</model>
|
||||
</world>
|
||||
</sdf>
|
||||
BIN
data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_base_left.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_base_right.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_tip_left.stl
Executable file
Binary file not shown.
BIN
data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
BIN
data/kuka_iiwa/meshes/finger_tip_right.stl
Executable file
Binary file not shown.
30
data/tray/tray.urdf
Executable file
30
data/tray/tray.urdf
Executable file
@ -0,0 +1,30 @@
|
||||
<robot name="tray">
|
||||
<link name="tray_base_link">
|
||||
<contact>
|
||||
<lateral_friction value="0.5"/>
|
||||
<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"/>
|
||||
<mass value="0"/>
|
||||
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
<material name="tray_material">
|
||||
<color rgba="0.7 0.7 0.7 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<mesh filename="tray_textured4.obj" scale="0.5 0.5 0.5"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
13
data/tray/tray_textured4.mtl
Executable file
13
data/tray/tray_textured4.mtl
Executable file
@ -0,0 +1,13 @@
|
||||
# Blender MTL File: 'None'
|
||||
# Material Count: 1
|
||||
|
||||
newmtl None
|
||||
Ns 0.000000
|
||||
Ka 0.000000 0.000000 0.000000
|
||||
Kd 0.800000 0.800000 0.800000
|
||||
Ks 0.800000 0.800000 0.800000
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
#map_Kd tray.jpg
|
||||
256
data/tray/tray_textured4.obj
Executable file
256
data/tray/tray_textured4.obj
Executable file
@ -0,0 +1,256 @@
|
||||
# Blender v2.77 (sub 0) OBJ File: ''
|
||||
# www.blender.org
|
||||
mtllib tray_textured5.mtl
|
||||
o edge_2_Cube
|
||||
v 0.593683 0.625721 0.255175
|
||||
v 0.406317 0.459389 0.004580
|
||||
v 0.576239 0.625721 0.266503
|
||||
v 0.593683 -0.580640 0.255175
|
||||
v 0.423761 0.459389 -0.006748
|
||||
v 0.576239 -0.580640 0.266503
|
||||
v 0.423761 -0.413369 -0.007320
|
||||
v 0.406317 -0.413369 0.004008
|
||||
vt 0.9410 0.8520
|
||||
vt 0.7523 0.8566
|
||||
vt 0.9234 0.8524
|
||||
vt 0.8896 0.1426
|
||||
vt 0.7698 0.8562
|
||||
vt 0.8721 0.1430
|
||||
vt 0.7185 0.1468
|
||||
vt 0.7009 0.1472
|
||||
vn -0.2561 0.8826 -0.3943
|
||||
vn 0.8394 0.0003 -0.5435
|
||||
vn 0.8390 0.0001 -0.5441
|
||||
vn 0.8389 0.0000 -0.5443
|
||||
vn -0.2569 -0.8818 -0.3956
|
||||
vn -0.8390 -0.0003 0.5441
|
||||
vn -0.8394 -0.0001 0.5436
|
||||
vn -0.8395 -0.0000 0.5434
|
||||
vn -0.5446 0.0005 -0.8387
|
||||
vn 0.5446 -0.0000 0.8387
|
||||
vn 0.8396 0.0004 -0.5433
|
||||
vn -0.8388 -0.0004 0.5444
|
||||
usemtl None
|
||||
s 1
|
||||
f 1/1/1 2/2/1 3/3/1
|
||||
f 4/4/2 5/5/3 1/1/4
|
||||
f 6/6/5 7/7/5 4/4/5
|
||||
f 3/3/6 8/8/7 6/6/8
|
||||
f 5/5/9 8/8/9 2/2/9
|
||||
f 4/4/10 3/3/10 6/6/10
|
||||
f 1/1/1 5/5/1 2/2/1
|
||||
f 4/4/2 7/7/11 5/5/3
|
||||
f 6/6/5 8/8/5 7/7/5
|
||||
f 3/3/6 2/2/12 8/8/7
|
||||
f 5/5/9 7/7/9 8/8/9
|
||||
f 4/4/10 1/1/10 3/3/10
|
||||
o edge_3_Cube.002
|
||||
v 0.580000 -0.573309 0.261247
|
||||
v -0.419400 -0.409917 0.008678
|
||||
v -0.580000 -0.573309 0.261247
|
||||
v 0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.409917 0.009162
|
||||
v -0.580000 -0.590083 0.250354
|
||||
v 0.419883 -0.426691 -0.001731
|
||||
v -0.419400 -0.426691 -0.002215
|
||||
vt 0.8690 0.1040
|
||||
vt 0.1365 0.1739
|
||||
vt 0.0188 0.1040
|
||||
vt 0.8690 0.0968
|
||||
vt 0.7517 0.1739
|
||||
vt 0.0188 0.0968
|
||||
vt 0.7517 0.1668
|
||||
vt 0.1365 0.1668
|
||||
vn -0.0002 0.8392 0.5438
|
||||
vn -0.0000 0.8395 0.5433
|
||||
vn 0.0000 0.8396 0.5432
|
||||
vn 0.8825 0.2562 -0.3945
|
||||
vn 0.0002 -0.8396 -0.5433
|
||||
vn 0.0000 -0.8392 -0.5438
|
||||
vn 0.0000 -0.8391 -0.5439
|
||||
vn -0.8821 0.2565 -0.3950
|
||||
vn -0.8822 0.2565 -0.3950
|
||||
vn 0.0005 0.5446 -0.8387
|
||||
vn 0.0000 -0.5446 0.8387
|
||||
vn -0.0003 0.8391 0.5440
|
||||
vn 0.0003 -0.8397 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 9/9/13 10/10/14 11/11/15
|
||||
f 12/12/16 13/13/16 9/9/16
|
||||
f 14/14/17 15/15/18 12/12/19
|
||||
f 11/11/20 16/16/21 14/14/21
|
||||
f 13/13/22 16/16/22 10/10/22
|
||||
f 12/12/23 11/11/23 14/14/23
|
||||
f 9/9/13 13/13/24 10/10/14
|
||||
f 12/12/16 15/15/16 13/13/16
|
||||
f 14/14/17 16/16/25 15/15/18
|
||||
f 11/11/20 10/10/21 16/16/21
|
||||
f 13/13/22 15/15/22 16/16/22
|
||||
f 12/12/23 9/9/23 11/11/23
|
||||
o base_Cube.004
|
||||
v 0.417551 0.466622 0.009942
|
||||
v -0.417551 0.466622 -0.009942
|
||||
v -0.417551 0.466622 0.009942
|
||||
v 0.417551 -0.415378 0.009942
|
||||
v 0.417551 0.466622 -0.009942
|
||||
v -0.417551 -0.415378 0.009942
|
||||
v 0.417551 -0.415378 -0.009942
|
||||
v -0.417551 -0.415378 -0.009942
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3038 0.8371
|
||||
vt -0.3038 0.8371
|
||||
vt 0.7012 0.1905
|
||||
vt 0.7524 0.8072
|
||||
vt -0.3550 0.2204
|
||||
vt 0.7012 0.1905
|
||||
vt -0.3550 0.2204
|
||||
vn 0.0000 1.0000 0.0000
|
||||
vn 1.0000 -0.0000 0.0000
|
||||
vn 0.0000 -1.0000 0.0000
|
||||
vn -1.0000 -0.0000 0.0000
|
||||
vn 0.0000 0.0000 -1.0000
|
||||
vn 0.0000 -0.0000 1.0000
|
||||
usemtl None
|
||||
s 1
|
||||
f 17/17/26 18/18/26 19/19/26
|
||||
f 20/20/27 21/21/27 17/17/27
|
||||
f 22/22/28 23/23/28 20/20/28
|
||||
f 19/19/29 24/24/29 22/22/29
|
||||
f 21/21/30 24/24/30 18/18/30
|
||||
f 20/20/31 19/19/31 22/22/31
|
||||
f 17/17/26 21/21/26 18/18/26
|
||||
f 20/20/27 23/23/27 21/21/27
|
||||
f 22/22/28 24/24/28 23/23/28
|
||||
f 19/19/29 18/18/29 24/24/29
|
||||
f 21/21/30 23/23/30 24/24/30
|
||||
f 20/20/31 17/17/31 19/19/31
|
||||
o edge_4_Cube.001
|
||||
v -0.576397 0.631608 0.266791
|
||||
v -0.423603 0.464243 -0.007768
|
||||
v -0.593877 0.631608 0.255439
|
||||
v -0.576397 -0.577253 0.266791
|
||||
v -0.406123 0.464243 0.003584
|
||||
v -0.593877 -0.577253 0.255439
|
||||
v -0.406123 -0.409889 0.004087
|
||||
v -0.423603 -0.409889 -0.007265
|
||||
vt 0.9046 0.2397
|
||||
vt 0.7929 0.2434
|
||||
vt 0.9174 0.2393
|
||||
vt 0.9537 0.7559
|
||||
vt 0.7801 0.2438
|
||||
vt 0.9664 0.7554
|
||||
vt 0.8291 0.7599
|
||||
vt 0.8419 0.7595
|
||||
vn 0.2565 0.8821 -0.3950
|
||||
vn 0.8392 0.0002 0.5438
|
||||
vn 0.8395 0.0000 0.5433
|
||||
vn 0.8396 -0.0000 0.5432
|
||||
vn 0.2568 -0.8819 -0.3954
|
||||
vn -0.8396 -0.0002 -0.5433
|
||||
vn -0.8392 -0.0000 -0.5438
|
||||
vn -0.8391 0.0000 -0.5439
|
||||
vn 0.5446 -0.0005 -0.8387
|
||||
vn -0.5446 -0.0000 0.8387
|
||||
vn 0.8391 0.0003 0.5440
|
||||
vn -0.8397 -0.0003 -0.5430
|
||||
usemtl None
|
||||
s 1
|
||||
f 25/25/32 26/26/32 27/27/32
|
||||
f 28/28/33 29/29/34 25/25/35
|
||||
f 30/30/36 31/31/36 28/28/36
|
||||
f 27/27/37 32/32/38 30/30/39
|
||||
f 29/29/40 32/32/40 26/26/40
|
||||
f 28/28/41 27/27/41 30/30/41
|
||||
f 25/25/32 29/29/32 26/26/32
|
||||
f 28/28/33 31/31/42 29/29/34
|
||||
f 30/30/36 32/32/36 31/31/36
|
||||
f 27/27/37 26/26/43 32/32/38
|
||||
f 29/29/40 31/31/40 32/32/40
|
||||
f 28/28/41 25/25/41 27/27/41
|
||||
o edge_5_Cube.005
|
||||
v -0.326052 0.623641 0.266072
|
||||
v -0.174054 0.457147 -0.007058
|
||||
v -0.343442 0.623641 0.254779
|
||||
v -0.326052 -0.578931 0.266072
|
||||
v -0.156664 0.457147 0.004235
|
||||
v -0.343442 -0.578931 0.254779
|
||||
v -0.156664 -0.412938 0.005326
|
||||
v -0.174054 -0.412938 -0.005967
|
||||
vt 0.0506 0.8517
|
||||
vt 0.1935 0.8492
|
||||
vt 0.0342 0.8520
|
||||
vt 0.0164 0.1914
|
||||
vt 0.2099 0.8489
|
||||
vt 0.0001 0.1917
|
||||
vt 0.1757 0.1886
|
||||
vt 0.1594 0.1889
|
||||
vn 0.2565 0.8821 -0.3950
|
||||
vn 0.8387 0.0005 0.5446
|
||||
vn 0.8394 0.0001 0.5434
|
||||
vn 0.8396 -0.0000 0.5432
|
||||
vn 0.2565 -0.8822 -0.3950
|
||||
vn -0.8395 -0.0005 -0.5434
|
||||
vn -0.8388 -0.0001 -0.5445
|
||||
vn -0.8386 0.0000 -0.5448
|
||||
vn 0.5446 -0.0011 -0.8387
|
||||
vn -0.5446 -0.0000 0.8387
|
||||
vn 0.8384 0.0007 0.5451
|
||||
vn -0.8398 -0.0007 -0.5429
|
||||
usemtl None
|
||||
s 1
|
||||
f 33/33/44 34/34/44 35/35/44
|
||||
f 36/36/45 37/37/46 33/33/47
|
||||
f 38/38/48 39/39/48 36/36/48
|
||||
f 35/35/49 40/40/50 38/38/51
|
||||
f 37/37/52 40/40/52 34/34/52
|
||||
f 36/36/53 35/35/53 38/38/53
|
||||
f 33/33/44 37/37/44 34/34/44
|
||||
f 36/36/45 39/39/54 37/37/46
|
||||
f 38/38/48 40/40/48 39/39/48
|
||||
f 35/35/49 34/34/55 40/40/50
|
||||
f 37/37/52 39/39/52 40/40/52
|
||||
f 36/36/53 33/33/53 35/35/53
|
||||
o edge_1_Cube.003
|
||||
v 0.580000 0.640851 0.250354
|
||||
v -0.419960 0.477459 -0.001860
|
||||
v -0.580000 0.640851 0.250354
|
||||
v 0.580000 0.624077 0.261247
|
||||
v 0.420014 0.477459 -0.001059
|
||||
v -0.580000 0.624077 0.261247
|
||||
v 0.420014 0.460685 0.009834
|
||||
v -0.419960 0.460685 0.009033
|
||||
vt 0.8346 0.9187
|
||||
vt 0.2203 0.8574
|
||||
vt 0.1480 0.9187
|
||||
vt 0.8346 0.9129
|
||||
vt 0.7623 0.8574
|
||||
vt 0.1480 0.9129
|
||||
vt 0.7623 0.8511
|
||||
vt 0.2203 0.8511
|
||||
vn 0.0004 0.8386 -0.5448
|
||||
vn 0.0001 0.8391 -0.5439
|
||||
vn 0.0000 0.8393 -0.5437
|
||||
vn 0.8823 -0.2564 -0.3948
|
||||
vn -0.0004 -0.8392 0.5439
|
||||
vn -0.0001 -0.8386 0.5447
|
||||
vn 0.0000 -0.8385 0.5449
|
||||
vn -0.8826 -0.2560 -0.3942
|
||||
vn 0.0008 -0.5446 -0.8387
|
||||
vn 0.0000 0.5446 0.8387
|
||||
vn 0.0005 0.8383 -0.5452
|
||||
vn -0.0005 -0.8394 0.5435
|
||||
usemtl None
|
||||
s 1
|
||||
f 41/41/56 42/42/57 43/43/58
|
||||
f 44/44/59 45/45/59 41/41/59
|
||||
f 46/46/60 47/47/61 44/44/62
|
||||
f 43/43/63 48/48/63 46/46/63
|
||||
f 45/45/64 48/48/64 42/42/64
|
||||
f 44/44/65 43/43/65 46/46/65
|
||||
f 41/41/56 45/45/66 42/42/57
|
||||
f 44/44/59 47/47/59 45/45/59
|
||||
f 46/46/60 48/48/67 47/47/61
|
||||
f 43/43/63 42/42/63 48/48/63
|
||||
f 45/45/64 47/47/64 48/48/64
|
||||
f 44/44/65 41/41/65 43/43/65
|
||||
91
examples/pybullet/examples/kuka_grasp_block_playback.py
Normal file
91
examples/pybullet/examples/kuka_grasp_block_playback.py
Normal file
@ -0,0 +1,91 @@
|
||||
import pybullet as p
|
||||
import time
|
||||
import math
|
||||
from datetime import datetime
|
||||
from numpy import *
|
||||
from pylab import *
|
||||
import struct
|
||||
import sys
|
||||
import os, fnmatch
|
||||
import argparse
|
||||
from time import sleep
|
||||
|
||||
def readLogFile(filename, verbose = True):
|
||||
f = open(filename, 'rb')
|
||||
|
||||
print('Opened'),
|
||||
print(filename)
|
||||
|
||||
keys = f.readline().decode('utf8').rstrip('\n').split(',')
|
||||
fmt = f.readline().decode('utf8').rstrip('\n')
|
||||
|
||||
# The byte number of one record
|
||||
sz = struct.calcsize(fmt)
|
||||
# The type number of one record
|
||||
ncols = len(fmt)
|
||||
|
||||
if verbose:
|
||||
print('Keys:'),
|
||||
print(keys)
|
||||
print('Format:'),
|
||||
print(fmt)
|
||||
print('Size:'),
|
||||
print(sz)
|
||||
print('Columns:'),
|
||||
print(ncols)
|
||||
|
||||
# Read data
|
||||
wholeFile = f.read()
|
||||
# split by alignment word
|
||||
chunks = wholeFile.split(b'\xaa\xbb')
|
||||
log = list()
|
||||
for chunk in chunks:
|
||||
if len(chunk) == sz:
|
||||
values = struct.unpack(fmt, chunk)
|
||||
record = list()
|
||||
for i in range(ncols):
|
||||
record.append(values[i])
|
||||
log.append(record)
|
||||
|
||||
return log
|
||||
|
||||
#clid = p.connect(p.SHARED_MEMORY)
|
||||
p.connect(p.GUI)
|
||||
p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf")
|
||||
p.loadURDF("tray/tray.urdf",[0,0,0])
|
||||
p.loadURDF("block.urdf",[0,0,2])
|
||||
|
||||
log = readLogFile("data/block_grasp_log.bin")
|
||||
|
||||
recordNum = len(log)
|
||||
itemNum = len(log[0])
|
||||
objectNum = p.getNumBodies()
|
||||
|
||||
print('record num:'),
|
||||
print(recordNum)
|
||||
print('item num:'),
|
||||
print(itemNum)
|
||||
|
||||
def Step(stepIndex):
|
||||
for objectId in range(objectNum):
|
||||
record = log[stepIndex*objectNum+objectId]
|
||||
Id = record[2]
|
||||
pos = [record[3],record[4],record[5]]
|
||||
orn = [record[6],record[7],record[8],record[9]]
|
||||
p.resetBasePositionAndOrientation(Id,pos,orn)
|
||||
numJoints = p.getNumJoints(Id)
|
||||
for i in range (numJoints):
|
||||
jointInfo = p.getJointInfo(Id,i)
|
||||
qIndex = jointInfo[3]
|
||||
if qIndex > -1:
|
||||
p.resetJointState(Id,i,record[qIndex-7+17])
|
||||
|
||||
|
||||
stepIndexId = p.addUserDebugParameter("stepIndex",0,recordNum/objectNum-1,0)
|
||||
|
||||
while True:
|
||||
stepIndex = int(p.readUserDebugParameter(stepIndexId))
|
||||
Step(stepIndex)
|
||||
p.stepSimulation()
|
||||
Step(stepIndex)
|
||||
|
||||
@ -6,15 +6,15 @@ p.connect(p.GUI)
|
||||
planeId = p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
|
||||
p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
|
||||
cubeId = p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
|
||||
p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
|
||||
#p.changeDynamicsInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
|
||||
#p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=0.1)
|
||||
p.changeDynamics(bodyUniqueId=2,linkIndex=-1,mass=100.0)
|
||||
p.setGravity(0,0,-10)
|
||||
p.setRealTimeSimulation(0)
|
||||
t=0
|
||||
while 1:
|
||||
t=t+1
|
||||
if t > 400:
|
||||
p.changeDynamicsInfo(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
|
||||
p.changeDynamics(bodyUniqueId=0,linkIndex=-1,lateralFriction=0.01)
|
||||
mass1,frictionCoeff1=p.getDynamicsInfo(bodyUniqueId=planeId,linkIndex=-1)
|
||||
mass2,frictionCoeff2=p.getDynamicsInfo(bodyUniqueId=cubeId,linkIndex=-1)
|
||||
print mass1,frictionCoeff1
|
||||
|
||||
Loading…
Reference in New Issue
Block a user