feat(urdf): 添加吸盘模型和测试用例
- 新增吸盘模型文件 base.obj - 添加多个测试用例 URDF 文件，包括立方体、圆柱体等简单模型 - 创建 jaka_description 包的 CMakeLists.txt 和 display.launch 文件
This commit is contained in:
commit
f02a735179
6
.idea/inspectionProfiles/profiles_settings.xml
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6
.idea/inspectionProfiles/profiles_settings.xml
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<component name="InspectionProjectProfileManager">
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<settings>
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<option name="USE_PROJECT_PROFILE" value="false" />
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<version value="1.0" />
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</settings>
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</component>
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532
DOA_SAC_sim2real.py
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532
DOA_SAC_sim2real.py
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import time
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import gym
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from gym import error, spaces, utils
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from gym.utils import seeding
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import os
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import pybullet as p
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import pybullet_data
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import math
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import numpy as np
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import random
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from scipy import signal
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import sys
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# sys.path.append('D:\\vs2019ws\PythonCtt\PythonCtt')
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import jkrc
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import matplotlib as mpl
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from mpl_toolkits.mplot3d import Axes3D
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import matplotlib.pyplot as plt
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import pandas as pd
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os.environ["KMP_DUPLICATE_LIB_OK"]="TRUE"
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MAX_EPISODE_LEN = 20 * 100
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x = []
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y = []
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z = []
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#运动模式
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# PI=3.1415926
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# ABS = 0 # 绝对运动
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# INCR = 1 # 增量运动
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# Enable = True
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# Disable = False
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# robot = jkrc.RC("192.168.31.5")#返回一个机器人对象
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# robot.login()#登录
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# # robot.servo_move_use_none_filter()
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# robot.power_on() #上电
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# robot.enable_robot()
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# # joint_pos=[0, 1.57, 1.57, 1.57, -1.57, 0]
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# # robot.joint_move(joint_pos,ABS,True,1)
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# robot.servo_move_enable(Enable) #进入位置控制模式
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def goal_distance(goal_a, goal_b):
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return np.linalg.norm(np.array(goal_a) - np.array(goal_b), axis=-1)
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def is_collision(robotId, bodyA, bodyB):
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is_bool1 = p.getContactPoints(robotId, bodyA)
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is_bool2 = p.getContactPoints(robotId, bodyB)
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if is_bool1:
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return True
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elif is_bool2:
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return True
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else:
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return False
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class jakaEnv(gym.Env):
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metadata = {"render.modes": ["human"]}
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def __init__(self):
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self.step_counter = 0
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self.eposide = 0
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self.collision_frequency = 0
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self.success_frequency = 0
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self.overstep_frequency = 0
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self.out = 0
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self.reward_type = "dense"
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p.connect(
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p.GUI,
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# options="--background_color_red=0.0 --background_color_green=0.93--background_color_blue=0.54",
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)
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p.resetDebugVisualizerCamera(
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cameraDistance=1.25,
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cameraYaw=45,
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cameraPitch=-30,
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cameraTargetPosition=[0.65, -0.0, 0.65],
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)
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self.x_low = 0.3
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self.x_high = 0.7
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self.y_low = -0.05
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self.y_high = 1.05
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self.z_low = 0.65
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self.z_high = 1.3
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self.speed = [0.3, 0.5, 0.8, 1.0]
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self.action_space = spaces.Box(np.array([-1] * 3), np.array([1] * 3))
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self.observation_space = spaces.Box(np.array([-1] * 38, np.float32), np.array([1] * 38, np.float32))
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def compute_reward(self, achieved_goal, goal):
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d = goal_distance(achieved_goal, goal)
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if self.reward_type == "sparse":
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return -(d > self.distance_threshold).astyp(np.float32)
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else:
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return -d
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def step(self, action):
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p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING)
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orientation = p.getQuaternionFromEuler([-math.pi / 2, -math.pi, math.pi / 2.])
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dv = 0.05
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dx = action[0] * dv
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dy = action[1] * dv
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dz = action[2] * dv
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# print(action)
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currentPose = p.getLinkState(self.jaka_id, 6)
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currentPosition = currentPose[0]
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newPosition = [
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currentPosition[0] + dx,
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currentPosition[1] + dy,
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currentPosition[2] + dz,
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]
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jointPoses = p.calculateInverseKinematics(
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self.jaka_id, 6, newPosition, orientation
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)[0:6]
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p.setJointMotorControlArray(
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self.jaka_id,
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list(range(1, 7)),
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p.POSITION_CONTROL,
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list(jointPoses),
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)
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print(jointPoses)
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p.resetBaseVelocity(self.blockId, linearVelocity=[0, random.choice(self.speed), 0])
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p.stepSimulation()
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# robot.servo_move_enable(True)
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# robot.servo_p(cartesian_pose=[dx*100, dy*100, dz*50, 0, 0, 0], move_mode=1)
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# time.sleep(0.008)
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state_object, state_object_orienation = p.getBasePositionAndOrientation(self.objectId)
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twist_object, twist_object_orienation = p.getBaseVelocity(self.objectId)
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state_robot = p.getLinkState(self.jaka_id, 6)[0]
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block_speed, block_speed_orienation = p.getBaseVelocity(self.blockId)
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block_state, block_state_orienation = p.getBasePositionAndOrientation(self.blockId)
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block2_state, block2state_orienation = p.getBasePositionAndOrientation(self.blockId2)
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p.addUserDebugLine(lineFromXYZ=currentPosition, lineToXYZ=state_robot, lineColorRGB=[0, 1, 0], lineWidth=2)
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x.append(state_robot[0])
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y.append(state_robot[1])
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z.append(state_robot[2])
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self.distance_threshold = 0.05
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d = goal_distance(state_robot, state_object)
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if (state_robot[0] > self.x_high or state_robot[0] < self.x_low
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or state_robot[1] > self.y_high or state_robot[1] < self.y_low
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or state_robot[2] > self.z_high or state_robot[2] <= self.z_low + 0.05):
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reward = -400
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self.eposide = self.eposide + 1
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self.out = self.out + 1
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print()
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print("=" * 50)
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print("\033[36meposide{}:out of range\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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elif is_collision(self.jaka_id, self.blockId, self.blockId2):
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reward = -400
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self.eposide = self.eposide + 1
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self.collision_frequency = self.collision_frequency + 1
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print()
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print("=" * 50)
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print("\033[33meposide{}:collision\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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elif d < self.distance_threshold:
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reward = -1 / self.compute_reward(state_robot, state_object)
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self.eposide = self.eposide + 1
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self.success_frequency = self.success_frequency + 1
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print()
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print("=" * 50)
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print("\033[31eposide{}:success\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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else:
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reward = self.compute_reward(state_robot, state_object)
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done = False
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self.step_counter += 1
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if self.step_counter > MAX_EPISODE_LEN:
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# reward = 0
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self.eposide = self.eposide + 1
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self.overstep_frequency = self.overstep_frequency + 1
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print()
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print("=" * 50)
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print("\033[34meposide{}:overstep\033[0m".format(self.eposide))
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print()
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print("\t当前碰撞次数:{}\t当前成功次数:{}\t当前超时次数:{}\t当前超出范围次数:{}".format(
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self.collision_frequency,
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self.success_frequency,
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self.overstep_frequency, self.out))
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print("=" * 50)
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print()
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done = True
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info = {"object_position": state_object}
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robot_pos = np.array(state_robot)
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object_pos = np.array(state_object)
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object_rel_pos = object_pos - robot_pos
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object_rot = np.array(state_object_orienation)
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object_velp = np.array(twist_object)
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object_velr = np.array(twist_object_orienation)
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block_velp = np.array(block_speed)
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block_velr = np.array(block_speed_orienation)
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block_vel_range = np.array(self.speed)
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block_loc = np.array(block_state)
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block_rel_pos = np.array(block_loc - robot_pos)
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block2_pos = np.array(block2_state)
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obs = np.concatenate(
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[
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robot_pos.ravel(),
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object_pos.ravel(),
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object_rel_pos.ravel(),
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object_rot.ravel(),
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object_velp.ravel(),
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object_velr.ravel(),
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block_velp.ravel(),
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block_velr.ravel(),
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block_vel_range.ravel(),
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block_loc.ravel(),
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block_rel_pos.ravel(),
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block2_pos.ravel(),
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]
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)
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return obs.copy(), reward, done, info
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def reset(self):
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self.step_counter = 0
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p.resetSimulation()
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p.configureDebugVisualizer(
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p.COV_ENABLE_RENDERING, 0
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)
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urdfRootPath = pybullet_data.getDataPath()
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p.setGravity(0, 0, -10)
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planeId = p.loadURDF(os.path.join(urdfRootPath, "plane.urdf"))
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dir_path = os.path.dirname(os.path.realpath(__file__))
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self.tableId = p.loadURDF(os.path.join(dir_path, "urdf/table.urdf"),
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basePosition=[0.2, 0.5, 0],
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useFixedBase=True,
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)
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self.blockId = p.loadURDF(os.path.join(dir_path, "urdf/block4.urdf"),
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basePosition=[0.4, 0, 0.47],
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useFixedBase=True,
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)
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self.blockId2 = p.loadURDF(os.path.join(dir_path, "urdf/block.urdf"),
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basePosition=[0.6, 0.66, 0.43],
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useFixedBase=True,
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)
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state_object = [0.5, 0.2, 0.8]
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dir_path = os.path.dirname(os.path.realpath(__file__))
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self.objectId = p.loadURDF(
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os.path.join(dir_path, "urdf/goal.urdf"),
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basePosition=state_object,
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useFixedBase=True,
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)
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reset_poses = [0, 0.8, 2.4, 1.3, 1, -1.57, 0]
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reset_realposes = [0.8, 2.4, 1.3, 1, -1.57, 0]
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# 改变路径为你机械臂的URDF文件路径
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self.jaka_id = p.loadURDF(
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r"D:\Python\robot_DRL\env\lib64\urdf\jaka_description\urdf\jaka_description.urdf",
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basePosition=[0, 0.5, 0.65],
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baseOrientation=p.getQuaternionFromEuler([0, 0, 3.14]),
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useFixedBase=True,
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)
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for i in range(len(reset_poses)):
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p.resetJointState(self.jaka_id, i, reset_poses[i])
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# robot.joint_move(reset_realposes, ABS, True, 1)
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state_robot = p.getLinkState(self.jaka_id, 6)[0]
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self.plot_obs_boundary()
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p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 1)
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# time.sleep(10)
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robot_pos = np.array(state_robot)
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object_pos = np.array(state_object)
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object_rel_pos = object_pos - robot_pos
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object_rot = np.array([0, 0, 0, 1]) # quaternions?
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object_velp = np.array([0, 0, 0])
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object_velr = np.array([0, 0, 0])
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block_velp = np.array([0, 0, 0])
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block_velr = np.array([0, 0, 0])
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block_vel_range = np.array(self.speed)
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block_loc = np.array([0, 0, 0])
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block_rel_pos = np.array([0, 0, 0])
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block2_pos = np.array([0.6, 0.66, 0.43])
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obs = np.concatenate(
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[
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robot_pos.ravel(),
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object_pos.ravel(),
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object_rel_pos.ravel(),
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object_rot.ravel(),
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object_velp.ravel(),
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object_velr.ravel(),
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block_velp.ravel(),
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block_velr.ravel(),
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block_vel_range.ravel(),
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block_loc.ravel(),
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block_rel_pos.ravel(),
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block2_pos.ravel(),
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]
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)
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return obs.copy()
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def plot_obs_boundary(self):
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_low],
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lineToXYZ=[self.x_low, self.y_high, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_low],
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lineToXYZ=[self.x_high, self.y_low, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_low],
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lineToXYZ=[self.x_low, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_low],
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lineToXYZ=[self.x_high, self.y_low, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_low],
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lineToXYZ=[self.x_low, self.y_high, self.z_low])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_low],
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lineToXYZ=[self.x_high, self.y_high, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_low, self.z_low],
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lineToXYZ=[self.x_high, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_high, self.z_low],
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lineToXYZ=[self.x_low, self.y_high, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_high],
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lineToXYZ=[self.x_low, self.y_high, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_low, self.y_low, self.z_high],
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lineToXYZ=[self.x_high, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_high],
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lineToXYZ=[self.x_high, self.y_low, self.z_high])
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p.addUserDebugLine(
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lineFromXYZ=[self.x_high, self.y_high, self.z_high],
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lineToXYZ=[self.x_low, self.y_high, self.z_high])
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def render(self, mode="human"):
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view_matrix = p.computeViewMatrixFromYawPitchRoll(
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cameraTargetPosition=[0.7, 0, 0.65 + 0.05],
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distance=0.7,
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yaw=90,
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pitch=-50,
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roll=0,
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upAxisIndex=2,
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)
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proj_matrix = p.computeProjectionMatrixFOV(
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fov=60, aspect=float(960) / 720, nearVal=0.1, farVal=100.0
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)
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(_, _, px, _, _) = p.getCameraImage(
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width=960,
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height=720,
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viewMatrix=view_matrix,
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projectionMatrix=proj_matrix,
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renderer=p.ER_BULLET_HARDWARE_OPENGL,
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)
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rgb_array = np.array(px, dtype=np.uint8)
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rgb_array = np.reshape(rgb_array, (720, 960, 4))
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rgb_array = rgb_array[:, :, :3]
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return rgb_array
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def _get_state(self):
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return self.observation
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def close(self):
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p.disconnect()
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|
||||
if __name__ == "__main__":
|
||||
|
||||
from stable_baselines3 import SAC
|
||||
from stable_baselines3.common import results_plotter
|
||||
from stable_baselines3.common.monitor import Monitor
|
||||
from stable_baselines3.common.results_plotter import load_results, ts2xy, plot_results
|
||||
from stable_baselines3.common.noise import NormalActionNoise
|
||||
from stable_baselines3.common.callbacks import BaseCallback
|
||||
|
||||
|
||||
class SaveOnBestTrainingRewardCallback(BaseCallback):
|
||||
"""
|
||||
Callback for saving a model (the check is done every ``check_freq`` steps)
|
||||
based on the training reward (in practice, we recommend using ``EvalCallback``).
|
||||
|
||||
:param check_freq:
|
||||
:param log_dir: Path to the folder where the model will be saved.
|
||||
It must contains the file created by the ``Monitor`` wrapper.
|
||||
:param verbose: Verbosity level.
|
||||
"""
|
||||
def __init__(self, check_freq: int, log_dir: str, verbose: int = 1):
|
||||
super(SaveOnBestTrainingRewardCallback, self).__init__(verbose)
|
||||
self.check_freq = check_freq
|
||||
self.log_dir = log_dir
|
||||
self.save_path = os.path.join(log_dir, 'best_model')
|
||||
self.best_mean_reward = -np.inf
|
||||
|
||||
def _init_callback(self) -> None:
|
||||
# Create folder if needed
|
||||
if self.save_path is not None:
|
||||
os.makedirs(self.save_path, exist_ok=True)
|
||||
|
||||
def _on_step(self) -> bool:
|
||||
if self.n_calls % self.check_freq == 0:
|
||||
|
||||
# Retrieve training reward
|
||||
x, y = ts2xy(load_results(self.log_dir), 'timesteps')
|
||||
if len(x) > 0:
|
||||
# Mean training reward over the last 100 episodes
|
||||
mean_reward = np.mean(y[-100:])
|
||||
if self.verbose > 0:
|
||||
print(f"Num timesteps: {self.num_timesteps}")
|
||||
print(f"Best mean reward: {self.best_mean_reward:.2f} - Last mean reward per episode: {mean_reward:.2f}")
|
||||
|
||||
# New best model, you could save the agent here
|
||||
if mean_reward > self.best_mean_reward:
|
||||
self.best_mean_reward = mean_reward
|
||||
# Example for saving best model
|
||||
if self.verbose > 0:
|
||||
print(f"Saving new best model to {self.save_path}")
|
||||
self.model.save(self.save_path)
|
||||
|
||||
return True
|
||||
|
||||
tempt = 1
|
||||
log_dir = './tensorboard/DOA_SAC_callback/'
|
||||
os.makedirs(log_dir, exist_ok=True)
|
||||
env = jakaEnv()
|
||||
env = Monitor(env, log_dir)
|
||||
if tempt:
|
||||
model = SAC('MlpPolicy', env=env, verbose=1, tensorboard_log=log_dir,
|
||||
device="cuda"
|
||||
)
|
||||
callback = SaveOnBestTrainingRewardCallback(check_freq=1000, log_dir=log_dir)
|
||||
model.learn(total_timesteps=4000000, callback=callback)
|
||||
model.save('model/DOA_SAC_ENV_callback')
|
||||
del model
|
||||
|
||||
else:
|
||||
obs = env.reset()
|
||||
# 改变路径为你保存模型的路径
|
||||
model = SAC.load(r'C:\Users\fly\PycharmProjects\RL-PowerTracking-new\best_model.zip', env=env)
|
||||
|
||||
|
||||
for j in range(50):
|
||||
for i in range(2000):
|
||||
action, _state = model.predict(obs)
|
||||
order1 = 4
|
||||
cutoff_freq1 = 1.2
|
||||
b1, a1 = signal.butter(order1, cutoff_freq1, fs=2.5, btype='low')
|
||||
# 应用滤波器
|
||||
action[0] = signal.lfilter(b1, a1, [action[0]])
|
||||
action[1] = signal.lfilter(b1, a1, [action[1]])
|
||||
action[2] = signal.lfilter(b1, a1, [action[2]])
|
||||
obs, reward, done, info = env.step(action)
|
||||
# env.render()
|
||||
if done:
|
||||
print('done')
|
||||
# obs = env.reset()
|
||||
time.sleep(30)
|
||||
break
|
||||
break
|
||||
|
||||
|
||||
# 三维
|
||||
# fig1 = plt.figure("机械臂运行轨迹")
|
||||
# ax = fig1.add_subplot(projection="3d") # 三维图形
|
||||
# ax.plot(x, y, z, label="simulation")
|
||||
# # plt.xlabel("X")
|
||||
# # plt.ylabel("Y")
|
||||
# ax.set_xlabel("X坐标（米）")
|
||||
# ax.set_ylabel("Y坐标（米）")
|
||||
# ax.set_zlabel("Z坐标（米）")
|
||||
# ax.legend()
|
||||
# # plt.savefig('jaka_3d.png')
|
||||
# plt.show()
|
||||
#
|
||||
# # xy方向
|
||||
# fig2 = plt.figure()
|
||||
# plt.plot(x, y, label="xy-simulation", color="g")
|
||||
# plt.xlabel("X")
|
||||
# plt.ylabel("Y")
|
||||
# plt.savefig("jaka_xy.png")
|
||||
# plt.show()
|
||||
#
|
||||
# # xy方向
|
||||
# fig3 = plt.figure()
|
||||
# plt.plot(y, z, label="yz-simulation", color="g")
|
||||
# plt.xlabel("y")
|
||||
# plt.ylabel("z")
|
||||
# plt.savefig("jaka_yz.png")
|
||||
# plt.show()
|
||||
|
||||
|
||||
|
||||
BIN
best_model.zip
Normal file
BIN
best_model.zip
Normal file
Binary file not shown.
BIN
environment.yaml
Normal file
BIN
environment.yaml
Normal file
Binary file not shown.
BIN
jakaAPI.dll
Normal file
BIN
jakaAPI.dll
Normal file
Binary file not shown.
BIN
jakaAPI.lib
Normal file
BIN
jakaAPI.lib
Normal file
Binary file not shown.
31
urdf/Obstacles.urdf
Normal file
31
urdf/Obstacles.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.05 1.2 0.6"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.3 0 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.05 1.2 0.6"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/base.urdf
Normal file
31
urdf/base.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cylinder">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.2" length="0.65"/>
|
||||
</geometry>
|
||||
<material name="grey">
|
||||
<color rgba="0.4 0.4 0.4 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.2" length="0.65"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/block.urdf
Normal file
31
urdf/block.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.15 0.05 0.2"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.9 0 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.15 0.05 0.2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/block2.urdf
Normal file
31
urdf/block2.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.3"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.1 0.1 0.3"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/block3.urdf
Normal file
31
urdf/block3.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.35 0.2"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.9 0 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.05 0.35 0.2"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/block4.urdf
Normal file
31
urdf/block4.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.06 0.3"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.9 0 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.25 0.06 0.3"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/block5.urdf
Normal file
31
urdf/block5.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.3 0.05 0.3"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.9 0 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.3 0.05 0.3"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/block_ur.urdf
Normal file
31
urdf/block_ur.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.3 0.05 0.35"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="0.3 0.05 0.35"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
39
urdf/dynamic_obstacle.urdf
Normal file
39
urdf/dynamic_obstacle.urdf
Normal file
@ -0,0 +1,39 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="movable_obstacle">
|
||||
<link name="block_link">
|
||||
<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>
|
||||
</link>
|
||||
<link name="sphere_link">
|
||||
<visual>
|
||||
<geometry>
|
||||
<sphere radius="0.1"/>
|
||||
</geometry>
|
||||
<origin xyz='0 0 0' rpy='0 0 0'/>
|
||||
<material name='block_color'>
|
||||
<color rgba="0 0 0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.1"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<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>
|
||||
</link>
|
||||
<joint name="car_wheel" type="prismatic">
|
||||
<parent link="block_link"/>
|
||||
<child link="sphere_link"/>
|
||||
<origin xyz="0.5 0 0.62" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit lower="-0.8" upper="0.8" />
|
||||
</joint>
|
||||
</robot>
|
||||
31
urdf/flat_table.urdf
Normal file
31
urdf/flat_table.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="cube">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="1 1.5 0.65"/>
|
||||
</geometry>
|
||||
<material name="white">
|
||||
<color rgba="0.9 0.9 0.9 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0.325"/>
|
||||
<geometry>
|
||||
<box size="1 1.5 0.65"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
31
urdf/floor.urdf
Normal file
31
urdf/floor.urdf
Normal file
@ -0,0 +1,31 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="floor">
|
||||
<link name="baseLink">
|
||||
<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"/>
|
||||
<mass value="1.0"/>
|
||||
<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>
|
||||
<box size="2 2 0.01"/>
|
||||
</geometry>
|
||||
<material name="gray">
|
||||
<color rgba="0.23 0.23 0.23 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="2 2 0.01"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
</robot>
|
||||
16
urdf/goal.urdf
Normal file
16
urdf/goal.urdf
Normal file
@ -0,0 +1,16 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="target">
|
||||
<link name="baseLink">
|
||||
|
||||
<visual>
|
||||
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||
<geometry>
|
||||
<sphere radius="0.025"/>
|
||||
</geometry>
|
||||
<material name="red">
|
||||
<color rgba="0.9 0.0 0.0 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
|
||||
</link>
|
||||
</robot>
|
||||
14
urdf/jaka_description/CMakeLists.txt
Normal file
14
urdf/jaka_description/CMakeLists.txt
Normal file
@ -0,0 +1,14 @@
|
||||
cmake_minimum_required(VERSION 2.8.3)
|
||||
|
||||
project(jaka_description)
|
||||
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
catkin_package()
|
||||
|
||||
find_package(roslaunch)
|
||||
|
||||
foreach(dir config launch meshes urdf)
|
||||
install(DIRECTORY ${dir}/
|
||||
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
|
||||
endforeach(dir)
|
||||
@ -0,0 +1 @@
|
||||
controller_joint_names: ['', 'joint1', 'joint2', 'joint3', 'joint4', 'joint5', 'joint6', ]
|
||||
1133
urdf/jaka_description/export.log
Normal file
1133
urdf/jaka_description/export.log
Normal file
File diff suppressed because one or more lines are too long
26
urdf/jaka_description/launch/display.launch
Normal file
26
urdf/jaka_description/launch/display.launch
Normal file
@ -0,0 +1,26 @@
|
||||
<launch>
|
||||
<arg
|
||||
name="model" />
|
||||
<arg
|
||||
name="gui"
|
||||
default="True" />
|
||||
<param
|
||||
name="robot_description"
|
||||
textfile="$(find jaka_description)/urdf/jaka_description.urdf" />
|
||||
<param
|
||||
name="use_gui"
|
||||
value="$(arg gui)" />
|
||||
<node
|
||||
name="joint_state_publisher"
|
||||
pkg="joint_state_publisher"
|
||||
type="joint_state_publisher" />
|
||||
<node
|
||||
name="robot_state_publisher"
|
||||
pkg="robot_state_publisher"
|
||||
type="robot_state_publisher" />
|
||||
<node
|
||||
name="rviz"
|
||||
pkg="rviz"
|
||||
type="rviz"
|
||||
args="-d $(find jaka_description)/urdf/jaka.rviz" />
|
||||
</launch>
|
||||
20
urdf/jaka_description/launch/gazebo.launch
Normal file
20
urdf/jaka_description/launch/gazebo.launch
Normal file
@ -0,0 +1,20 @@
|
||||
<launch>
|
||||
<include
|
||||
file="$(find gazebo_ros)/launch/empty_world.launch" />
|
||||
<node
|
||||
name="tf_footprint_base"
|
||||
pkg="tf"
|
||||
type="static_transform_publisher"
|
||||
args="0 0 0 0 0 0 base_link base_footprint 40" />
|
||||
<node
|
||||
name="spawn_model"
|
||||
pkg="gazebo_ros"
|
||||
type="spawn_model"
|
||||
args="-file $(find jaka_description)/urdf/jaka_description.urdf -urdf -model jaka_description"
|
||||
output="screen" />
|
||||
<node
|
||||
name="fake_joint_calibration"
|
||||
pkg="rostopic"
|
||||
type="rostopic"
|
||||
args="pub /calibrated std_msgs/Bool true" />
|
||||
</launch>
|
||||
BIN
urdf/jaka_description/meshes/base_link.STL
Normal file
BIN
urdf/jaka_description/meshes/base_link.STL
Normal file
Binary file not shown.
BIN
urdf/jaka_description/meshes/link1.STL
Normal file
BIN
urdf/jaka_description/meshes/link1.STL
Normal file
Binary file not shown.
BIN
urdf/jaka_description/meshes/link2.STL
Normal file
BIN
urdf/jaka_description/meshes/link2.STL
Normal file
Binary file not shown.
BIN
urdf/jaka_description/meshes/link3.STL
Normal file
BIN
urdf/jaka_description/meshes/link3.STL
Normal file
Binary file not shown.
BIN
urdf/jaka_description/meshes/link4.STL
Normal file
BIN
urdf/jaka_description/meshes/link4.STL
Normal file
Binary file not shown.
BIN
urdf/jaka_description/meshes/link5.STL
Normal file
BIN
urdf/jaka_description/meshes/link5.STL
Normal file
Binary file not shown.
BIN
urdf/jaka_description/meshes/link6.STL
Normal file
BIN
urdf/jaka_description/meshes/link6.STL
Normal file
Binary file not shown.
21
urdf/jaka_description/package.xml
Normal file
21
urdf/jaka_description/package.xml
Normal file
@ -0,0 +1,21 @@
|
||||
<package format="2">
|
||||
<name>jaka_description</name>
|
||||
<version>1.0.0</version>
|
||||
<description>
|
||||
<p>URDF Description package for jaka_description</p>
|
||||
<p>This package contains configuration data, 3D models and launch files
|
||||
for jaka_description robot</p>
|
||||
</description>
|
||||
<author>TODO</author>
|
||||
<maintainer email="TODO@email.com" />
|
||||
<license>BSD</license>
|
||||
<buildtool_depend>catkin</buildtool_depend>
|
||||
<depend>roslaunch</depend>
|
||||
<depend>robot_state_publisher</depend>
|
||||
<depend>rviz</depend>
|
||||
<depend>joint_state_publisher</depend>
|
||||
<depend>gazebo</depend>
|
||||
<export>
|
||||
<architecture_independent />
|
||||
</export>
|
||||
</package>
|
||||
171
urdf/jaka_description/urdf/jaka.rviz
Normal file
171
urdf/jaka_description/urdf/jaka.rviz
Normal file
@ -0,0 +1,171 @@
|
||||
Panels:
|
||||
- Class: rviz/Displays
|
||||
Help Height: 138
|
||||
Name: Displays
|
||||
Property Tree Widget:
|
||||
Expanded:
|
||||
- /Global Options1
|
||||
- /Status1
|
||||
Splitter Ratio: 0.5
|
||||
Tree Height: 379
|
||||
- Class: rviz/Selection
|
||||
Name: Selection
|
||||
- Class: rviz/Tool Properties
|
||||
Expanded:
|
||||
- /2D Pose Estimate1
|
||||
- /2D Nav Goal1
|
||||
- /Publish Point1
|
||||
Name: Tool Properties
|
||||
Splitter Ratio: 0.5886790156364441
|
||||
- Class: rviz/Views
|
||||
Expanded:
|
||||
- /Current View1
|
||||
Name: Views
|
||||
Splitter Ratio: 0.5
|
||||
- Class: rviz/Time
|
||||
Experimental: false
|
||||
Name: Time
|
||||
SyncMode: 0
|
||||
SyncSource: ""
|
||||
Preferences:
|
||||
PromptSaveOnExit: true
|
||||
Toolbars:
|
||||
toolButtonStyle: 2
|
||||
Visualization Manager:
|
||||
Class: ""
|
||||
Displays:
|
||||
- Alpha: 0.5
|
||||
Cell Size: 1
|
||||
Class: rviz/Grid
|
||||
Color: 160; 160; 164
|
||||
Enabled: true
|
||||
Line Style:
|
||||
Line Width: 0.029999999329447746
|
||||
Value: Lines
|
||||
Name: Grid
|
||||
Normal Cell Count: 0
|
||||
Offset:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Plane: XY
|
||||
Plane Cell Count: 10
|
||||
Reference Frame: <Fixed Frame>
|
||||
Value: true
|
||||
- Alpha: 1
|
||||
Class: rviz/RobotModel
|
||||
Collision Enabled: false
|
||||
Enabled: true
|
||||
Links:
|
||||
All Links Enabled: true
|
||||
Expand Joint Details: false
|
||||
Expand Link Details: false
|
||||
Expand Tree: false
|
||||
Link Tree Style: Links in Alphabetic Order
|
||||
base_link:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link1:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link2:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link3:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link4:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link5:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
link6:
|
||||
Alpha: 1
|
||||
Show Axes: false
|
||||
Show Trail: false
|
||||
Value: true
|
||||
Name: RobotModel
|
||||
Robot Description: robot_description
|
||||
TF Prefix: ""
|
||||
Update Interval: 0
|
||||
Value: true
|
||||
Visual Enabled: true
|
||||
Enabled: true
|
||||
Global Options:
|
||||
Background Color: 48; 48; 48
|
||||
Default Light: true
|
||||
Fixed Frame: base_link
|
||||
Frame Rate: 30
|
||||
Name: root
|
||||
Tools:
|
||||
- Class: rviz/Interact
|
||||
Hide Inactive Objects: true
|
||||
- Class: rviz/MoveCamera
|
||||
- Class: rviz/Select
|
||||
- Class: rviz/FocusCamera
|
||||
- Class: rviz/Measure
|
||||
- Class: rviz/SetInitialPose
|
||||
Theta std deviation: 0.2617993950843811
|
||||
Topic: /initialpose
|
||||
X std deviation: 0.5
|
||||
Y std deviation: 0.5
|
||||
- Class: rviz/SetGoal
|
||||
Topic: /move_base_simple/goal
|
||||
- Class: rviz/PublishPoint
|
||||
Single click: true
|
||||
Topic: /clicked_point
|
||||
Value: true
|
||||
Views:
|
||||
Current:
|
||||
Class: rviz/Orbit
|
||||
Distance: 0.4453344941139221
|
||||
Enable Stereo Rendering:
|
||||
Stereo Eye Separation: 0.05999999865889549
|
||||
Stereo Focal Distance: 1
|
||||
Swap Stereo Eyes: false
|
||||
Value: false
|
||||
Focal Point:
|
||||
X: 0
|
||||
Y: 0
|
||||
Z: 0
|
||||
Focal Shape Fixed Size: true
|
||||
Focal Shape Size: 0.05000000074505806
|
||||
Invert Z Axis: false
|
||||
Name: Current View
|
||||
Near Clip Distance: 0.009999999776482582
|
||||
Pitch: 0.6097968816757202
|
||||
Target Frame: <Fixed Frame>
|
||||
Value: Orbit (rviz)
|
||||
Yaw: 0.7153981328010559
|
||||
Saved: ~
|
||||
Window Geometry:
|
||||
Displays:
|
||||
collapsed: false
|
||||
Height: 846
|
||||
Hide Left Dock: false
|
||||
Hide Right Dock: false
|
||||
QMainWindow State: 000000ff00000000fd0000000400000000000001f700000273fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000047000002730000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f00000273fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000047000002730000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005710000005afc0100000002fb0000000800540069006d00650100000000000005710000057100fffffffb0000000800540069006d00650100000000000004500000000000000000000002030000027300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||
Selection:
|
||||
collapsed: false
|
||||
Time:
|
||||
collapsed: false
|
||||
Tool Properties:
|
||||
collapsed: false
|
||||
Views:
|
||||
collapsed: false
|
||||
Width: 1393
|
||||
X: 60
|
||||
Y: 60
|
||||
212
urdf/jaka_description/urdf/jaka.urdf.xacro
Normal file
212
urdf/jaka_description/urdf/jaka.urdf.xacro
Normal file
@ -0,0 +1,212 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot name="jaka_description">
|
||||
<link name="world"/>
|
||||
<link name="base_link">
|
||||
<inertial>
|
||||
<origin xyz="0.0078045 0.02052 0.0017471" rpy="0 0 0" />
|
||||
<mass value="0.51461" />
|
||||
<inertia ixx="0.00062136" ixy="3.2169E-06" ixz="-3.6994E-09" iyy="0.0013529" iyz="1.2577E-10" izz="0.00086645" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="fixed_joint" type="fixed">
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<parent link="world" />
|
||||
<child link="base_link" />
|
||||
|
||||
</joint>
|
||||
<link name="link1">
|
||||
<inertial>
|
||||
<origin xyz="0.0033217 0.078637 -9.9561E-07" rpy="0 0 0" />
|
||||
<mass value="1.9281" />
|
||||
<inertia ixx="0.0054895" ixy="1.9288E-06" ixz="-8.0735E-09" iyy="0.0038887" iyz="-1.0336E-08" izz="0.0056434" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link1.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint1" type="continuous">
|
||||
<origin xyz="0.0068395 -0.0017473 0.040967" rpy="1.5708 0 1.5708" />
|
||||
<parent link="base_link" />
|
||||
<child link="link1" />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="link2">
|
||||
<inertial>
|
||||
<origin xyz="0.180000209977346 0.0790053241117423 1.81612678296084E-06" rpy="0 0 0" />
|
||||
<mass value="5.46194601044026" />
|
||||
<inertia ixx="0.012915357360266" ixy="-3.31771617532355E-08" ixz="-9.02794658605086E-09" iyy="0.0177711235371075" iyz="-2.29869349851466E-09" izz="0.0212789850441894" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link2.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint2" type="continuous">
|
||||
<origin xyz="0.06407 0.08015 0" rpy="-3.1416 -1.5708 1.5708" />
|
||||
<!-- rpy="-3.1416 0.61321 1.5708"-->
|
||||
<parent link="link1" />
|
||||
<child link="link2" />
|
||||
<axis xyz="0 -1 0" />
|
||||
</joint>
|
||||
<link name="link3">
|
||||
<inertial>
|
||||
<origin xyz="0.154631179365296 0.051491742581724 -9.87671775865007E-07" rpy="0 0 0" />
|
||||
<mass value="2.10990539238288" />
|
||||
<inertia ixx="0.002372120404392" ixy="-0.00148686871157693" ixz="1.61083887908488E-07" iyy="0.0128780808874665" iyz="1.06256446469924E-09" izz="0.0132375017255301" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link3.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link3.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint3" type="continuous">
|
||||
<origin xyz="0.36 0 0" rpy="0 3.1415926 -3.1415926" />
|
||||
<parent link="link2" />
|
||||
<child link="link3" />
|
||||
<axis xyz="0 1 0" />
|
||||
</joint>
|
||||
<link name="link4">
|
||||
<inertial>
|
||||
<origin xyz="0.0427881295343883 -0.00580030295947631 -2.00896450974763E-07" rpy="0 0 0" />
|
||||
<mass value="0.707388000054209" />
|
||||
<inertia ixx="0.000872922108461203" ixy="5.07453713157777E-05" ixz="-1.05589941183124E-08" iyy="0.000659704928306989" iyz="1.157925987427E-09" izz="0.000903595145406074" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link4.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link4.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint4" type="continuous">
|
||||
<origin xyz="0.303 -0.0054826 0" rpy="-1.5708 0 -1.5708" />
|
||||
<parent link="link3" />
|
||||
<child link="link4" />
|
||||
<axis xyz="-1 0 0" />
|
||||
</joint>
|
||||
<link name="link5">
|
||||
<inertial>
|
||||
<origin xyz="-0.0436288428352644 0.00288896862860181 -1.81856948805459E-07" rpy="0 0 0" />
|
||||
<mass value="0.806925581335565" />
|
||||
<inertia ixx="0.00160859857621588" ixy="5.47741545152081E-06" ixz="-2.28416053153104E-08" iyy="0.000744710609095292" iyz="5.43826453392794E-10" izz="0.00164590181184635" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link5.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link5.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint5" type="continuous">
|
||||
<origin xyz="0.04546 -0.067529 0" rpy="3.1415926 0 1.5708" />
|
||||
<parent link="link4" />
|
||||
<child link="link5" />
|
||||
<axis xyz="-1 0 0" />
|
||||
</joint>
|
||||
<link name="link6">
|
||||
<inertial>
|
||||
<origin xyz="-1.97893143202288E-05 -0.0163465977451872 2.35599506187012E-05" rpy="0 0 0" />
|
||||
<mass value="0.180494526010387" />
|
||||
<inertia ixx="9.10588208598242E-05" ixy="7.56822704641209E-09" ixz="4.08010848564993E-07" iyy="0.000143814497302076" iyz="2.17936727532836E-07" izz="9.20388606659827E-05" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link6.STL" />
|
||||
</geometry>
|
||||
<material name="">
|
||||
<color rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://jaka_description/meshes/link6.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="joint6" type="continuous">
|
||||
<origin xyz="-0.045971 -0.069408 0" rpy="0 -1.5708 0" />
|
||||
<parent link="link5" />
|
||||
<child link="link6" />
|
||||
<axis xyz="0 -1 0" />
|
||||
</joint>
|
||||
<link name="tool0"/>
|
||||
|
||||
<joint name="tool_joint" type="fixed">
|
||||
<origin xyz="-0.045971 -0.069408 0" rpy="0 -1.5708 0" />
|
||||
<parent link="link6" />
|
||||
<child link="tool0" />
|
||||
</joint>
|
||||
|
||||
</robot>
|
||||
8
urdf/jaka_description/urdf/jaka_description.csv
Normal file
8
urdf/jaka_description/urdf/jaka_description.csv
Normal file
@ -0,0 +1,8 @@
|
||||
Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
|
||||
base_link,0.0078045,0.02052,0.0017471,0,0,0,0.51461,0.00062136,3.2169E-06,-3.6994E-09,0.0013529,1.2577E-10,0.00086645,0,0,0,0,0,0,package://jaka_description/meshes/base_link.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/base_link.STL,,Zu 7 00_默认-1,Origin_global,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
|
||||
link1,0.0033217,0.078637,-9.9561E-07,0,0,0,1.9281,0.0054895,1.9288E-06,-8.0735E-09,0.0038887,-1.0336E-08,0.0056434,0,0,0,0,0,0,package://jaka_description/meshes/link1.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/link1.STL,,Zu 7 01_默认-1,Origin_joint1,Axis_joint1,joint1,continuous,0.0068395,-0.0017473,0.040967,1.5708,0,0.021025,base_link,0,1,0,,,,,,,,,,,,
|
||||
link2,0.180000209977346,0.0790053241117423,1.81612678296084E-06,0,0,0,5.46194601044026,0.012915357360266,-3.31771617532355E-08,-9.02794658605086E-09,0.0177711235371075,-2.29869349851466E-09,0.0212789850441894,0,0,0,0,0,0,package://jaka_description/meshes/link2.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/link2.STL,,Zu 7 02_默认-1,Origin_joint2,Axis_joint2,joint2,continuous,0.06407,0.08015,0,-3.1416,0.61321,1.5708,link1,0,1,0,,,,,,,,,,,,
|
||||
link3,0.154631179365296,0.051491742581724,-9.87671775865007E-07,0,0,0,2.10990539238288,0.002372120404392,-0.00148686871157693,1.61083887908488E-07,0.0128780808874665,1.06256446469924E-09,0.0132375017255301,0,0,0,0,0,0,package://jaka_description/meshes/link3.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/link3.STL,,Zu 7 03_默认-1,Origin_joint3,Axis_joint3,joint3,continuous,0.36,0,0,0,1.3591,-3.1416,link2,0,1,0,,,,,,,,,,,,
|
||||
link4,0.0427881295343883,-0.00580030295947631,-2.00896450974763E-07,0,0,0,0.707388000054209,0.000872922108461203,5.07453713157777E-05,-1.05589941183124E-08,0.000659704928306989,1.157925987427E-09,0.000903595145406074,0,0,0,0,0,0,package://jaka_description/meshes/link4.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/link4.STL,,Zu 7 04_默认-1,Origin_joint4,Axis_joint4,joint4,continuous,0.303,-0.0054826,0,1.9752,0,-1.5708,link3,1,0,0,,,,,,,,,,,,
|
||||
link5,-0.0436288428352644,0.00288896862860181,-1.81856948805459E-07,0,0,0,0.806925581335565,0.00160859857621588,5.47741545152081E-06,-2.28416053153104E-08,0.000744710609095292,5.43826453392794E-10,0.00164590181184635,0,0,0,0,0,0,package://jaka_description/meshes/link5.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/link5.STL,,Zu 7 05_默认-1,Origin_joint5,Axis_joint5,joint5,continuous,0.04546,-0.067529,0,1.7672,0,1.5708,link4,1,0,0,,,,,,,,,,,,
|
||||
link6,-1.97893143202288E-05,-0.0163465977451872,2.35599506187012E-05,0,0,0,0.180494526010387,9.10588208598242E-05,7.56822704641209E-09,4.08010848564993E-07,0.000143814497302076,2.17936727532836E-07,9.20388606659827E-05,0,0,0,0,0,0,package://jaka_description/meshes/link6.STL,1,1,1,1,0,0,0,0,0,0,package://jaka_description/meshes/link6.STL,,Zu 7 06_默认-1,Origin_joint6,Axis_joint6,joint6,continuous,-0.045971,-0.069408,0,0,-0.35771,0,link5,0,1,0,,,,,,,,,,,,
|
||||
|
374
urdf/jaka_description/urdf/jaka_description.urdf
Normal file
374
urdf/jaka_description/urdf/jaka_description.urdf
Normal file
@ -0,0 +1,374 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
|
||||
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
|
||||
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
|
||||
<robot
|
||||
name="jaka_description">
|
||||
|
||||
<link name="dummy">
|
||||
</link>
|
||||
<joint name="dummy_joint" type="fixed">
|
||||
<parent link="dummy"/>
|
||||
<child link="base_link"/>
|
||||
</joint>
|
||||
|
||||
<link
|
||||
name="base_link">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0078045 0.02052 0.0017471"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="0.51461" />
|
||||
<inertia
|
||||
ixx="0.00062136"
|
||||
ixy="3.2169E-06"
|
||||
ixz="-3.6994E-09"
|
||||
iyy="0.0013529"
|
||||
iyz="1.2577E-10"
|
||||
izz="0.00086645" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/base_link.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link
|
||||
name="link1">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.0033217 0.078637 -9.9561E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="1.9281" />
|
||||
<inertia
|
||||
ixx="0.0054895"
|
||||
ixy="1.9288E-06"
|
||||
ixz="-8.0735E-09"
|
||||
iyy="0.0038887"
|
||||
iyz="-1.0336E-08"
|
||||
izz="0.0056434" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/link1.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/link1.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint1"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.0068395 -0.0017473 0.040967"
|
||||
rpy="1.5708 0 1.5708" />
|
||||
<parent
|
||||
link="base_link" />
|
||||
<child
|
||||
link="link1" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link2">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.180000209977346 0.0790053241117423 1.81612678296084E-06"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="5.46194601044026" />
|
||||
<inertia
|
||||
ixx="0.012915357360266"
|
||||
ixy="-3.31771617532355E-08"
|
||||
ixz="-9.02794658605086E-09"
|
||||
iyy="0.0177711235371075"
|
||||
iyz="-2.29869349851466E-09"
|
||||
izz="0.0212789850441894" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/link2.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/link2.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint2"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.06407 0.08015 0"
|
||||
rpy="-3.1416 -1.5708 1.5708" />
|
||||
<!-- rpy="-3.1416 0.61321 1.5708"-->
|
||||
<parent
|
||||
link="link1" />
|
||||
<child
|
||||
link="link2" />
|
||||
<axis
|
||||
xyz="0 -1 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link3">
|
||||
<inertial>
|
||||
<origin
|
||||
xyz="0.154631179365296 0.051491742581724 -9.87671775865007E-07"
|
||||
rpy="0 0 0" />
|
||||
<mass
|
||||
value="2.10990539238288" />
|
||||
<inertia
|
||||
ixx="0.002372120404392"
|
||||
ixy="-0.00148686871157693"
|
||||
ixz="1.61083887908488E-07"
|
||||
iyy="0.0128780808874665"
|
||||
iyz="1.06256446469924E-09"
|
||||
izz="0.0132375017255301" />
|
||||
</inertial>
|
||||
<visual>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/link3.STL" />
|
||||
</geometry>
|
||||
<material
|
||||
name="">
|
||||
<color
|
||||
rgba="1 1 1 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin
|
||||
xyz="0 0 0"
|
||||
rpy="0 0 0" />
|
||||
<geometry>
|
||||
<mesh
|
||||
filename="package://jaka_description/meshes/link3.STL" />
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint
|
||||
name="joint3"
|
||||
type="continuous">
|
||||
<origin
|
||||
xyz="0.36 0 0"
|
||||
rpy="0 3.1415926 -3.1415926" />
|
||||
<parent
|
||||
link="link2" />
|
||||
<child
|
||||
link="link3" />
|
||||
<axis
|
||||
xyz="0 1 0" />
|
||||
</joint>
|
||||
<link
|
||||
name="link4">
|
||||
<inertial>
|
||||
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urdf/meshes/panda/collision/finger-high-quality.obj
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|
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
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|
||||
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|
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|
||||
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 110 109 136
|
||||
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|
||||
f 92 122 137
|
||||
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|
||||
f 104 97 138
|
||||
f 110 104 138
|
||||
f 97 119 138
|
||||
f 119 110 138
|
||||
f 108 99 139
|
||||
f 114 108 139
|
||||
f 112 114 139
|
||||
f 99 135 139
|
||||
f 135 112 139
|
||||
f 114 112 140
|
||||
f 96 120 140
|
||||
f 120 114 140
|
||||
f 124 96 140
|
||||
f 103 124 140
|
||||
f 135 103 140
|
||||
f 112 135 140
|
||||
f 119 115 141
|
||||
f 105 123 141
|
||||
f 123 119 141
|
||||
f 126 105 141
|
||||
239
urdf/meshes/panda/collision/finger.obj
Normal file
239
urdf/meshes/panda/collision/finger.obj
Normal file
@ -0,0 +1,239 @@
|
||||
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
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||||
# (assimp v3.0.1262)
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||||
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||||
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|
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|
||||
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|
||||
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|
||||
|
||||
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|
||||
|
||||
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||||
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vn -0.99999 -0.000585782 -0.00447174
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vn -0.99999 -0.000585782 -0.00447174
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|
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|
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|
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
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|
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|
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|
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|
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vn 0.006542 -0.999267 0.0377181
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vn 0.006542 -0.999267 0.0377181
|
||||
vn 0.798906 -0.0450007 0.59977
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vn 0.798906 -0.0450007 0.59977
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vn 0.798906 -0.0450007 0.59977
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vn -0.00899609 -0.999957 -0.00218479
|
||||
vn -0.00899609 -0.999957 -0.00218479
|
||||
vn -0.00899609 -0.999957 -0.00218479
|
||||
vn -0.510144 -0.000216662 0.860089
|
||||
vn -0.510144 -0.000216662 0.860089
|
||||
vn -0.510144 -0.000216662 0.860089
|
||||
vn -0.998608 -0.0142745 0.0507836
|
||||
vn -0.998608 -0.0142745 0.0507836
|
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vn -0.998608 -0.0142745 0.0507836
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vn 0.665648 0.00209596 0.746263
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vn 0.665648 0.00209596 0.746263
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vn 0.665648 0.00209596 0.746263
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vn -0.858159 -4.90786e-05 0.513384
|
||||
vn -0.858159 -4.90786e-05 0.513384
|
||||
vn -0.858159 -4.90786e-05 0.513384
|
||||
|
||||
# Mesh '<STL_BINARY>' with 32 faces
|
||||
g <STL_BINARY>
|
||||
usemtl DefaultMaterial
|
||||
f 1//1 2//2 3//3
|
||||
f 4//4 5//5 6//6
|
||||
f 7//7 8//8 9//9
|
||||
f 10//10 11//11 12//12
|
||||
f 13//13 14//14 15//15
|
||||
f 16//16 17//17 18//18
|
||||
f 19//19 20//20 21//21
|
||||
f 22//22 23//23 24//24
|
||||
f 25//25 26//26 27//27
|
||||
f 28//28 29//29 30//30
|
||||
f 31//31 32//32 33//33
|
||||
f 34//34 35//35 36//36
|
||||
f 37//37 38//38 39//39
|
||||
f 40//40 41//41 42//42
|
||||
f 43//43 44//44 45//45
|
||||
f 46//46 47//47 48//48
|
||||
f 49//49 50//50 51//51
|
||||
f 52//52 53//53 54//54
|
||||
f 55//55 56//56 57//57
|
||||
f 58//58 59//59 60//60
|
||||
f 61//61 62//62 63//63
|
||||
f 64//64 65//65 66//66
|
||||
f 67//67 68//68 69//69
|
||||
f 70//70 71//71 72//72
|
||||
f 73//73 74//74 75//75
|
||||
f 76//76 77//77 78//78
|
||||
f 79//79 80//80 81//81
|
||||
f 82//82 83//83 84//84
|
||||
f 85//85 86//86 87//87
|
||||
f 88//88 89//89 90//90
|
||||
f 91//91 92//92 93//93
|
||||
f 94//94 95//95 96//96
|
||||
|
||||
517
urdf/meshes/panda/collision/hand.obj
Normal file
517
urdf/meshes/panda/collision/hand.obj
Normal file
@ -0,0 +1,517 @@
|
||||
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
||||
# (assimp v3.1.187496374)
|
||||
|
||||
mtllib hand.obj.mtl
|
||||
|
||||
# 102 vertex positions
|
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||||
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|
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|
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|
||||
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|
||||
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|
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|
||||
v 0.00381034 -0.0829662 -0.0244493
|
||||
v 0.0206709 0.0936918 0.0433083
|
||||
v 0.0254479 0.0811805 0.0035006
|
||||
v -0.00363682 -0.0835859 -0.0246063
|
||||
v -0.0165327 -0.0822363 -0.00511811
|
||||
v -0.0140171 -0.100091 0.0560269
|
||||
v -0.0160131 -0.0996286 0.0493014
|
||||
v -0.00321509 -0.087766 -0.0238844
|
||||
v -0.0129879 -0.0924958 0.0657119
|
||||
v -0.000505639 -0.0929453 0.0659531
|
||||
v 0.0135396 0.0926721 0.0656879
|
||||
v 0.0134248 -0.091927 0.0657313
|
||||
v -0.0192292 0.0972606 0.0505884
|
||||
v 0.0165582 -0.0851322 -0.00387274
|
||||
v 0.00349477 -0.102716 -0.00802934
|
||||
v 0.0238692 0.0904014 0.00436824
|
||||
v 0.0227078 0.0937356 0.01434
|
||||
v 0.0260343 0.0752976 -0.00503085
|
||||
v 0.0248167 0.0743775 -0.0071557
|
||||
v -0.00150015 -0.0458698 -0.0259248
|
||||
v -0.000833771 0.08026 -0.00732172
|
||||
v 0.0229591 0.0779014 -0.00739904
|
||||
v -0.0227611 0.0801744 -0.00690954
|
||||
v 3.18097e-05 -0.0994514 -0.0171612
|
||||
v -0.0166321 -0.098554 0.0547339
|
||||
v 0.00360213 -0.101195 -0.0126276
|
||||
v -0.00161673 0.0974711 0.0623073
|
||||
v 0.0157184 -0.0917796 0.0649125
|
||||
v -0.0184487 0.0920155 0.0583932
|
||||
v -0.000626994 -0.0879747 -0.0249616
|
||||
v 0.003076 -0.0879729 -0.0239787
|
||||
v 0.019802 0.0970111 0.020914
|
||||
v 0.00994155 0.100035 0.0583408
|
||||
v 0.0171295 0.0990672 0.0543052
|
||||
v -0.000314131 0.0946153 0.00757466
|
||||
v -1.59471e-05 0.0984961 0.0270818
|
||||
v -0.000337323 0.0865616 -0.00416328
|
||||
v 0.0223143 0.08825 -0.0019332
|
||||
v 0.022377 0.0833552 -0.00552611
|
||||
v -0.021325 0.0909269 0.000979802
|
||||
v -0.0227328 0.0854345 -0.00412033
|
||||
v -0.0244953 0.0858923 -0.00183273
|
||||
v 0.00184279 -0.0840023 -0.0255249
|
||||
v -0.0246502 0.076668 -0.00693213
|
||||
v 0.0131387 -0.0940629 0.0646832
|
||||
v -0.00932387 -0.0999826 0.0584892
|
||||
v -0.0190668 0.0976971 0.0246275
|
||||
v -0.00449439 0.100426 0.0581191
|
||||
v -0.0146231 0.100168 0.0557349
|
||||
v 0.0158049 -0.0994163 0.0549703
|
||||
v 0.0213426 0.0943331 0.00894201
|
||||
v -0.000173406 0.090995 0.000576784
|
||||
v 0.0214829 0.0917947 0.00268413
|
||||
v 0.0245152 0.0817026 -0.00505142
|
||||
v 0.0247294 0.0857401 -0.00123169
|
||||
v -0.0206576 0.0946679 0.00953798
|
||||
v 0.00119059 -0.100301 0.0586231
|
||||
v 0.000469602 -0.0966559 0.0630784
|
||||
v 0.0153969 0.0929056 0.0645563
|
||||
v -0.000867829 -0.0825485 -0.0258702
|
||||
v -0.0235558 0.0911663 0.00460792
|
||||
v -0.014617 -0.0934417 0.0645
|
||||
v -0.0230261 0.0928969 0.00987686
|
||||
v -0.0218221 0.0954417 0.0217564
|
||||
v -0.0181926 0.0995179 0.0438142
|
||||
v -0.0160455 0.0932093 0.0636169
|
||||
v -0.0169948 0.0993629 0.0541148
|
||||
|
||||
# 0 UV coordinates
|
||||
|
||||
# 200 vertex normals
|
||||
vn 0.96934 0.00103808 0.245721
|
||||
vn -0.986759 -0.159734 -0.0281361
|
||||
vn -0.997162 0.0697563 -0.0283202
|
||||
vn 0.986571 -0.160626 -0.0296212
|
||||
vn 0.99137 -0.125585 0.0376046
|
||||
vn 0.972565 0.0101093 0.232413
|
||||
vn -0.981257 -0.166939 -0.096261
|
||||
vn -0.991092 -0.129756 0.0299978
|
||||
vn -0.984842 -0.16507 -0.0532708
|
||||
vn 0.303856 -0.952595 -0.0153173
|
||||
vn -0.745916 -0.631674 -0.211181
|
||||
vn -0.996795 0.0769815 0.0217643
|
||||
vn -0.992516 0.0633187 -0.104418
|
||||
vn -0.044276 0.241169 0.969473
|
||||
vn -0.763533 -0.00240486 0.645764
|
||||
vn 0.98594 -0.162885 -0.0372967
|
||||
vn 0.986849 -0.0650596 0.147976
|
||||
vn 0.991549 -0.115042 0.0599665
|
||||
vn 0.203398 -0.97883 0.0228453
|
||||
vn 0.516573 0.854926 0.0474658
|
||||
vn 0.587131 0.00352045 -0.809484
|
||||
vn 0.99247 0.0777169 0.094674
|
||||
vn -0.832137 -0.113798 -0.542768
|
||||
vn -0.990867 -0.10289 0.0871544
|
||||
vn -0.24667 -0.969077 0.00656585
|
||||
vn -0.796752 -0.375025 -0.473859
|
||||
vn -0.0190316 -2.76701e-05 0.999819
|
||||
vn -0.0193168 -7.80837e-06 0.999813
|
||||
vn 0.0200855 -9.11851e-05 0.999798
|
||||
vn 0.0159035 0.000225346 0.999874
|
||||
vn -0.991348 0.0773534 0.106043
|
||||
vn 0.846324 -0.531423 -0.0364002
|
||||
vn 0.838336 -0.119317 -0.531936
|
||||
vn 0.713391 -0.685355 -0.146159
|
||||
vn 0.752915 -0.0507794 -0.656156
|
||||
vn 0.962439 0.234445 0.136915
|
||||
vn 0.98673 0.0540529 0.153111
|
||||
vn 0.984464 0.162241 0.0671482
|
||||
vn 0.963684 0.258201 0.0681518
|
||||
vn 0.988283 0.13579 0.0696969
|
||||
vn 0.992401 0.0632947 -0.105521
|
||||
vn 0.997132 0.0735636 0.0178061
|
||||
vn 0.997125 0.0744552 -0.0141125
|
||||
vn 0.525671 0.0308018 -0.85013
|
||||
vn 0.0112429 0.145846 -0.989244
|
||||
vn -0.0191625 0.145985 -0.989101
|
||||
vn 0.295801 0.090268 -0.950975
|
||||
vn -0.753521 -0.0512984 -0.655419
|
||||
vn -0.557064 -0.525003 -0.643468
|
||||
vn -0.826525 -0.175737 -0.534765
|
||||
vn -0.815256 -0.315571 -0.485564
|
||||
vn -0.947514 -0.156066 -0.279037
|
||||
vn -0.93384 -0.292644 0.205677
|
||||
vn 0.168928 -0.868066 -0.466825
|
||||
vn -0.713161 -0.698683 0.0569532
|
||||
vn -0.304509 -0.95237 -0.0162868
|
||||
vn 0.0219418 0.621147 0.783387
|
||||
vn -0.00551132 0.61581 0.787876
|
||||
vn 0.36612 0.000413018 0.930568
|
||||
vn 0.336199 1.25396e-05 0.941791
|
||||
vn -0.969753 -7.34049e-05 0.244089
|
||||
vn -0.962126 0.000708185 0.272604
|
||||
vn -0.988229 0.0614231 0.14011
|
||||
vn -0.360462 -0.538401 -0.761703
|
||||
vn 0.829279 -0.171621 -0.53183
|
||||
vn 0.677571 -0.00184298 0.735455
|
||||
vn 0.496348 0.867083 -0.0424839
|
||||
vn 0.0755333 0.722595 0.687133
|
||||
vn 0.904977 0.383975 0.183246
|
||||
vn 0.0127058 0.980664 -0.195286
|
||||
vn 0.851811 0.0713165 -0.518972
|
||||
vn 0.0351954 0.591653 -0.805424
|
||||
vn -0.538898 0.643215 -0.543933
|
||||
vn 0.0777842 -0.00363624 -0.996964
|
||||
vn -0.19873 0.11334 -0.973479
|
||||
vn -0.793118 -0.605993 -0.0611343
|
||||
vn 0.283571 -0.958905 -0.00945907
|
||||
vn -0.178475 -0.865689 -0.467685
|
||||
vn -0.987868 0.153186 -0.0255232
|
||||
vn -0.206645 -0.00149425 0.978415
|
||||
vn -0.501132 0.000514844 0.865371
|
||||
vn 0.0467749 -0.445101 0.894258
|
||||
vn -0.0152497 -0.997215 0.0730019
|
||||
vn -0.0160242 0.980702 -0.194854
|
||||
vn -0.10472 0.777309 0.620342
|
||||
vn -0.0162484 0.999109 -0.0389505
|
||||
vn 0.812943 -0.46373 -0.352249
|
||||
vn 0.734943 -0.648754 -0.197427
|
||||
vn 0.355505 -0.889833 -0.28603
|
||||
vn 0.77975 -0.493229 0.385637
|
||||
vn 0.264343 -0.962054 0.0676396
|
||||
vn 0.542077 -0.664141 0.514848
|
||||
vn 0.470493 -0.711825 0.52148
|
||||
vn 0.584351 -0.807368 -0.0817933
|
||||
vn 0.826668 -0.548978 0.123462
|
||||
vn 0.873315 -0.427986 0.232701
|
||||
vn 0.0134981 0.821385 0.570215
|
||||
vn 0.481279 -0.00399798 -0.876558
|
||||
vn 0.0262961 0.976262 -0.21499
|
||||
vn 0.035393 0.991525 -0.125004
|
||||
vn -0.0252692 0.468427 -0.883141
|
||||
vn 0.029533 0.795427 -0.605329
|
||||
vn 0.0095104 0.447459 -0.894254
|
||||
vn 0.0293922 0.327461 -0.944407
|
||||
vn 0.0628955 0.135567 -0.98877
|
||||
vn -0.512379 0.0361849 -0.857997
|
||||
vn -0.82575 0.0709576 -0.559555
|
||||
vn 0.671124 0.490386 -0.555981
|
||||
vn -0.583104 0.00463288 -0.812385
|
||||
vn -0.0162994 0.980639 -0.195146
|
||||
vn -0.157039 0.79873 0.580834
|
||||
vn 0.973711 -0.16665 -0.155286
|
||||
vn 0.0757908 -0.76565 0.638776
|
||||
vn -0.0242742 0.999674 0.00785851
|
||||
vn 0.0265568 0.999088 0.0334344
|
||||
vn 0.763663 0.633795 -0.122975
|
||||
vn 0.59401 0.799769 0.086723
|
||||
vn 0.277533 0.743174 0.608825
|
||||
vn 0.344643 0.752738 0.560898
|
||||
vn 0.784743 0.463667 0.411327
|
||||
vn -0.0358679 0.684935 -0.72772
|
||||
vn 0.932801 0.220325 -0.285201
|
||||
vn 0.624229 0.728724 -0.281602
|
||||
vn -0.0116186 0.888023 -0.459652
|
||||
vn 0.0118944 0.888215 -0.459274
|
||||
vn 0.12674 0.000708284 -0.991936
|
||||
vn -0.412606 -0.00846907 -0.91087
|
||||
vn -0.798626 -0.520306 -0.302452
|
||||
vn -0.541514 -0.834316 0.103337
|
||||
vn -0.319295 -0.94743 -0.0206758
|
||||
vn -0.723656 -0.67023 -0.164661
|
||||
vn 0.024012 -0.608318 0.79333
|
||||
vn -0.0315557 -0.776033 0.629902
|
||||
vn 0.0205919 -0.997403 0.0690183
|
||||
vn -0.0311286 -0.997047 0.0701972
|
||||
vn -0.982775 0.184638 -0.00783846
|
||||
vn 0.216124 -0.540324 -0.813229
|
||||
vn 0.246085 -0.284389 -0.926588
|
||||
vn 0.556314 -0.528433 -0.641306
|
||||
vn 0.792539 -0.37877 -0.477928
|
||||
vn 0.880372 -0.312129 0.3571
|
||||
vn 0.325605 -0.451322 0.830837
|
||||
vn 0.101105 -0.786037 0.609856
|
||||
vn 0.53596 -0.156588 -0.829594
|
||||
vn 0.580736 0.650676 0.489251
|
||||
vn 0.491562 0.198884 0.847828
|
||||
vn 0.828341 0.380744 0.410957
|
||||
vn 0.035746 0.926351 -0.374962
|
||||
vn 0.656777 0.749488 -0.083134
|
||||
vn 0.720531 0.692906 -0.0267625
|
||||
vn 0.572813 0.248018 -0.781263
|
||||
vn 0.990951 0.132224 -0.0230681
|
||||
vn 0.985773 0.167665 0.011866
|
||||
vn -0.0153618 0.730516 -0.682723
|
||||
vn 0.0128537 0.730055 -0.683268
|
||||
vn -0.0185446 0.449169 -0.893255
|
||||
vn -0.619205 -0.779582 -0.0940023
|
||||
vn -0.320427 -0.88655 -0.333701
|
||||
vn -0.0989435 -0.715546 0.691523
|
||||
vn -0.0841099 -0.712852 0.696252
|
||||
vn -0.60803 -0.644894 0.463045
|
||||
vn -0.423761 -0.343804 0.837989
|
||||
vn -0.605208 0.788757 -0.107633
|
||||
vn -0.0174541 0.996656 -0.0798282
|
||||
vn -0.0193589 0.998627 -0.0486783
|
||||
vn -0.634294 0.640925 -0.432304
|
||||
vn 0.0379495 -0.163387 -0.985832
|
||||
vn 0.538782 0.502971 -0.675821
|
||||
vn 0.813644 0.191216 -0.549017
|
||||
vn 0.652479 0.653287 -0.384041
|
||||
vn 0.717815 0.58535 -0.37697
|
||||
vn -0.286085 -0.763532 0.578942
|
||||
vn -0.0374327 -0.618147 0.785171
|
||||
vn -0.709079 -0.37258 0.598657
|
||||
vn -0.878489 0.351219 0.323886
|
||||
vn -0.890816 0.299973 0.341268
|
||||
vn -0.868133 0.372523 0.327981
|
||||
vn -0.605163 0.772391 -0.192849
|
||||
vn -0.984555 0.156402 0.0786764
|
||||
vn -0.982298 0.176886 0.06166
|
||||
vn -0.981595 0.187328 0.0371542
|
||||
vn -0.44589 0.832394 -0.329094
|
||||
vn -0.363723 0.729882 0.578773
|
||||
vn -0.575721 0.322294 0.751446
|
||||
vn 0.442358 0.333164 -0.832659
|
||||
vn -0.70625 0.351573 -0.614497
|
||||
vn -0.654528 0.356931 -0.666478
|
||||
vn -0.838844 0.274101 -0.47033
|
||||
vn -0.354702 0.933343 0.0552966
|
||||
vn -0.561743 0.820557 -0.105505
|
||||
vn -0.851741 0.52214 0.0436597
|
||||
vn -0.759618 0.642942 0.0980105
|
||||
vn -0.0360333 0.916716 -0.39791
|
||||
vn -0.560808 0.66826 0.488798
|
||||
vn -0.414234 0.480837 0.772791
|
||||
vn -0.390321 -0.168871 -0.905059
|
||||
vn -0.752648 -0.506645 0.420514
|
||||
vn -0.029743 0.995213 -0.0930902
|
||||
vn -0.346496 -0.193469 -0.917884
|
||||
vn -0.602128 0.796943 -0.0481963
|
||||
|
||||
# Mesh '<STL_BINARY>' with 200 faces
|
||||
g <STL_BINARY>
|
||||
usemtl DefaultMaterial
|
||||
f 1//1 2//1 3//1
|
||||
f 4//2 5//2 6//2
|
||||
f 7//3 6//3 8//3
|
||||
f 9//4 10//4 11//4
|
||||
f 10//5 3//5 11//5
|
||||
f 12//6 1//6 3//6
|
||||
f 13//7 6//7 14//7
|
||||
f 8//8 6//8 5//8
|
||||
f 4//9 6//9 13//9
|
||||
f 15//10 16//10 17//10
|
||||
f 18//11 19//11 13//11
|
||||
f 20//12 7//12 8//12
|
||||
f 21//13 6//13 7//13
|
||||
f 22//14 23//14 24//14
|
||||
f 25//15 26//15 27//15
|
||||
f 28//16 10//16 9//16
|
||||
f 2//17 29//17 3//17
|
||||
f 29//18 11//18 3//18
|
||||
f 30//19 16//19 15//19
|
||||
f 31//20 32//20 33//20
|
||||
f 34//21 35//21 36//21
|
||||
f 37//22 3//22 38//22
|
||||
f 6//23 39//23 40//23
|
||||
f 25//24 8//24 5//24
|
||||
f 41//25 42//25 16//25
|
||||
f 18//26 14//26 43//26
|
||||
f 22//27 24//27 44//27
|
||||
f 44//28 45//28 22//28
|
||||
f 46//29 22//29 45//29
|
||||
f 45//30 47//30 46//30
|
||||
f 20//31 8//31 48//31
|
||||
f 9//32 11//32 15//32
|
||||
f 36//33 10//33 49//33
|
||||
f 50//34 28//34 9//34
|
||||
f 10//35 36//35 35//35
|
||||
f 12//36 37//36 32//36
|
||||
f 37//37 12//37 3//37
|
||||
f 37//38 38//38 51//38
|
||||
f 37//39 52//39 32//39
|
||||
f 52//40 37//40 51//40
|
||||
f 10//41 35//41 53//41
|
||||
f 10//42 53//42 38//42
|
||||
f 10//43 38//43 3//43
|
||||
f 54//44 35//44 34//44
|
||||
f 55//45 56//45 57//45
|
||||
f 56//46 55//46 58//46
|
||||
f 57//47 54//47 34//47
|
||||
f 39//48 6//48 21//48
|
||||
f 59//49 18//49 43//49
|
||||
f 40//50 39//50 43//50
|
||||
f 14//51 40//51 43//51
|
||||
f 14//52 6//52 40//52
|
||||
f 60//53 25//53 5//53
|
||||
f 59//54 61//54 17//54
|
||||
f 42//55 60//55 5//55
|
||||
f 16//56 42//56 17//56
|
||||
f 62//57 22//57 46//57
|
||||
f 22//58 62//58 23//58
|
||||
f 1//59 46//59 63//59
|
||||
f 47//60 63//60 46//60
|
||||
f 25//61 64//61 8//61
|
||||
f 64//62 25//62 27//62
|
||||
f 64//63 48//63 8//63
|
||||
f 65//64 59//64 43//64
|
||||
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517
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517
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|
||||
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||||
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|
||||
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|
||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
vn -0.784297 0.365988 0.500931
|
||||
vn -0.743675 0.147478 0.652072
|
||||
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|
||||
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|
||||
vn -0.946042 0.295169 0.133715
|
||||
vn -0.699993 0.303725 0.646344
|
||||
vn -0.690574 0.326044 0.645603
|
||||
vn -0.722223 0.238827 0.64912
|
||||
vn -0.862635 0.0731211 0.500513
|
||||
vn -0.860436 0.0839585 0.502594
|
||||
vn -0.823144 0.266065 0.501641
|
||||
vn -0.850508 0.155797 0.502359
|
||||
vn -0.850275 0.158766 0.501823
|
||||
vn -0.824425 0.262885 0.501214
|
||||
vn -0.000104827 0.000138107 -1
|
||||
vn -6.4345e-05 4.8788e-05 -1
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||||
vn -0.000255153 -5.05889e-05 -1
|
||||
vn 8.56579e-06 1.35717e-06 -1
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||||
vn 3.45225e-06 -5.63502e-06 -1
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||||
vn 0.000304041 -4.54974e-06 -1
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||||
vn 0.0004587 -0.000166978 -1
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vn -4.30629e-05 3.84989e-05 -1
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vn 6.31049e-05 7.3988e-06 -1
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||||
vn -0.0003035 2.77655e-05 -1
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||||
|
||||
# Mesh '<STL_BINARY>' with 200 faces
|
||||
g <STL_BINARY>
|
||||
usemtl DefaultMaterial
|
||||
f 1//1 2//1 3//1
|
||||
f 4//2 2//2 1//2
|
||||
f 3//3 5//3 1//3
|
||||
f 6//4 7//4 8//4
|
||||
f 9//5 1//5 10//5
|
||||
f 1//6 11//6 10//6
|
||||
f 12//7 13//7 14//7
|
||||
f 13//7 15//8 14//7
|
||||
f 2//9 13//9 3//9
|
||||
f 16//10 9//10 17//10
|
||||
f 14//11 18//11 19//11
|
||||
f 20//12 2//12 4//12
|
||||
f 21//13 20//13 4//13
|
||||
f 22//14 23//14 4//14
|
||||
f 23//15 21//15 4//15
|
||||
f 1//16 5//16 11//16
|
||||
f 13//17 24//17 15//17
|
||||
f 20//18 21//18 24//18
|
||||
f 25//19 26//19 14//19
|
||||
f 15//20 27//20 14//20
|
||||
f 28//21 29//21 14//20
|
||||
f 14//22 30//22 25//22
|
||||
f 14//22 31//23 12//23
|
||||
f 32//24 25//24 30//24
|
||||
f 33//25 17//25 14//25
|
||||
f 34//26 35//26 14//26
|
||||
f 36//27 37//27 14//27
|
||||
f 14//28 37//28 34//28
|
||||
f 38//29 33//29 14//29
|
||||
f 19//30 38//30 14//30
|
||||
f 39//31 18//31 40//31
|
||||
f 7//32 6//32 41//32
|
||||
f 42//33 43//33 44//33
|
||||
f 45//34 43//34 42//34
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
f 11//39 31//39 10//39
|
||||
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|
||||
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|
||||
f 13//42 49//42 3//42
|
||||
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|
||||
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|
||||
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||||
f 52//46 30//46 14//46
|
||||
f 27//47 52//47 14//47
|
||||
f 53//48 32//48 30//48
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f 9//49 54//49 1//49
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|
||||
f 56//51 44//51 43//51
|
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|
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f 4//53 47//53 57//53
|
||||
f 58//54 46//54 4//54
|
||||
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|
||||
f 57//56 22//56 4//56
|
||||
f 57//57 59//57 22//57
|
||||
f 59//58 15//58 22//58
|
||||
f 60//59 61//59 62//59
|
||||
f 24//60 48//60 15//60
|
||||
f 24//61 21//61 48//61
|
||||
f 49//62 5//62 3//62
|
||||
f 5//63 12//63 11//63
|
||||
f 50//64 4//64 45//64
|
||||
f 4//65 50//65 58//65
|
||||
f 32//66 53//66 58//66
|
||||
f 42//67 26//67 25//67
|
||||
f 52//68 27//68 63//68
|
||||
f 9//69 16//69 54//69
|
||||
f 37//70 64//70 34//70
|
||||
f 38//71 19//71 65//71
|
||||
f 40//72 6//72 39//72
|
||||
f 8//73 66//73 6//73
|
||||
f 6//74 66//74 39//74
|
||||
f 18//75 67//75 19//75
|
||||
f 68//76 19//76 67//76
|
||||
f 67//77 69//77 68//77
|
||||
f 40//78 70//78 55//78
|
||||
f 71//79 72//79 60//79
|
||||
f 73//80 74//80 35//80
|
||||
f 55//81 75//81 40//81
|
||||
f 57//82 46//82 59//82
|
||||
f 76//83 77//83 78//83
|
||||
f 62//84 77//84 76//84
|
||||
f 79//85 44//85 56//85
|
||||
f 80//86 24//86 13//86
|
||||
f 24//87 80//87 20//87
|
||||
f 2//88 80//88 13//88
|
||||
f 20//89 80//89 2//89
|
||||
f 15//90 48//90 22//90
|
||||
f 22//91 48//91 23//91
|
||||
f 49//92 12//92 5//92
|
||||
f 25//93 50//93 42//93
|
||||
f 58//94 50//94 32//94
|
||||
f 42//95 81//95 26//95
|
||||
f 59//96 46//96 63//96
|
||||
f 59//97 63//97 27//97
|
||||
f 82//98 54//98 16//98
|
||||
f 82//99 83//99 54//99
|
||||
f 54//100 83//100 1//100
|
||||
f 16//101 84//101 82//101
|
||||
f 33//102 84//102 16//102
|
||||
f 39//103 67//103 18//103
|
||||
f 69//104 67//104 39//104
|
||||
f 8//105 39//105 66//105
|
||||
f 1//106 39//106 8//106
|
||||
f 69//107 39//107 1//107
|
||||
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|
||||
f 70//109 18//109 14//109
|
||||
f 55//110 70//110 14//110
|
||||
f 72//111 75//111 85//111
|
||||
f 7//112 41//112 71//112
|
||||
f 60//113 72//113 61//113
|
||||
f 59//114 27//114 15//114
|
||||
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|
||||
f 86//116 77//116 62//116
|
||||
f 87//117 88//117 89//117
|
||||
f 51//118 90//118 14//118
|
||||
f 42//119 50//119 45//119
|
||||
f 14//120 26//120 28//120
|
||||
f 42//121 44//121 81//121
|
||||
f 44//122 91//122 81//122
|
||||
f 53//123 63//123 46//123
|
||||
f 52//124 53//124 30//124
|
||||
f 63//125 53//125 52//125
|
||||
f 33//126 16//126 17//126
|
||||
f 65//127 84//127 38//127
|
||||
f 33//128 38//128 84//128
|
||||
f 69//129 1//129 92//129
|
||||
f 83//130 92//130 1//130
|
||||
f 75//131 72//131 93//131
|
||||
f 93//132 72//132 71//132
|
||||
f 6//133 40//133 75//133
|
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f 41//134 93//134 71//134
|
||||
f 85//135 55//135 35//135
|
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f 74//136 85//136 35//136
|
||||
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|
||||
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|
||||
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|
||||
f 78//140 96//140 76//140
|
||||
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|
||||
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|
||||
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|
||||
f 28//144 91//144 29//144
|
||||
f 26//145 81//145 28//145
|
||||
f 91//146 28//146 81//146
|
||||
f 73//147 64//147 86//147
|
||||
f 65//148 82//148 84//148
|
||||
f 92//149 65//149 99//149
|
||||
f 93//150 41//150 75//150
|
||||
f 72//151 85//151 61//151
|
||||
f 61//152 85//152 74//152
|
||||
f 61//153 74//153 73//153
|
||||
f 36//154 78//154 37//154
|
||||
f 37//155 77//155 64//155
|
||||
f 98//156 91//156 79//156
|
||||
f 79//157 100//157 98//157
|
||||
f 97//158 101//158 79//158
|
||||
f 95//159 101//159 97//159
|
||||
f 64//160 73//160 34//160
|
||||
f 73//161 35//161 34//161
|
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f 69//162 92//162 99//162
|
||||
f 19//163 69//163 99//163
|
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|
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|
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|
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f 85//168 75//168 55//168
|
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f 41//169 6//169 75//169
|
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|
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f 77//171 37//171 78//171
|
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f 86//172 61//172 73//172
|
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|
||||
f 79//174 101//174 100//174
|
||||
f 102//175 90//175 51//175
|
||||
f 36//176 14//176 90//176
|
||||
f 91//177 44//177 79//177
|
||||
f 95//178 94//178 101//178
|
||||
f 29//179 98//179 51//179
|
||||
f 100//180 51//180 98//180
|
||||
f 102//181 51//181 100//181
|
||||
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|
||||
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|
||||
f 101//184 102//184 100//184
|
||||
f 94//185 89//185 102//185
|
||||
f 90//186 102//186 89//186
|
||||
f 101//187 94//187 102//187
|
||||
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|
||||
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|
||||
f 1//190 8//190 87//190
|
||||
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|
||||
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|
||||
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|
||||
f 56//194 43//194 87//194
|
||||
f 45//195 87//195 43//195
|
||||
f 8//196 7//196 87//196
|
||||
f 62//197 87//197 60//197
|
||||
f 97//198 87//198 95//198
|
||||
f 71//199 87//199 7//199
|
||||
f 88//200 87//200 76//200
|
||||
|
||||
766
urdf/meshes/panda/collision/link1.obj
Normal file
766
urdf/meshes/panda/collision/link1.obj
Normal file
@ -0,0 +1,766 @@
|
||||
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
||||
# (assimp v3.1.187496374)
|
||||
|
||||
mtllib link1.obj.mtl
|
||||
|
||||
# 152 vertex positions
|
||||
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|
||||
v 0.0513749 -0.063873 0.0195316
|
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v 0.0482782 -0.0903983 0.0138827
|
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v -0.00573017 -0.0004888 0.0549427
|
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v -0.00865872 -0.0642507 0.0544349
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|
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|
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|
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|
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|
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|
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v 0.0240356 -0.0647337 0.0495459
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|
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|
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|
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v 0.0426344 -0.109893 -0.0124493
|
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|
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|
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v 0.000198012 0.054921 -0.125178
|
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v 0.00894457 0.0542616 -0.126225
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|
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|
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|
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|
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|
||||
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|
||||
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|
||||
v -0.00848543 -0.125357 -0.0205038
|
||||
v -0.00799961 -0.0547004 -0.192
|
||||
v -0.0257311 -0.000521429 0.0491616
|
||||
v -0.0333099 0.0438739 -0.126128
|
||||
v -0.0547684 -0.000602188 0.00751677
|
||||
v -0.0531977 -0.0620308 0.0142816
|
||||
v -0.0534048 0.0136221 -0.118476
|
||||
v -0.054942 0.00402568 -0.192
|
||||
v -0.054987 -0.0602758 0.00294462
|
||||
v 0.0460155 -0.000516632 0.0304275
|
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v 0.0518771 -0.000502056 0.0185822
|
||||
v 0.0280254 0.0474072 -0.126459
|
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v 0.0551612 -0.00362816 -0.192004
|
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|
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|
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v 0.0122025 0.0537025 -0.192
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|
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|
||||
v -0.00432267 -0.107417 0.0461527
|
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v -0.00826549 -0.126733 0.0162014
|
||||
v -0.00576861 -0.128742 0.00785566
|
||||
v 0.00420393 -0.127918 0.0136598
|
||||
v 0.00392783 -0.125091 0.0225939
|
||||
v -0.0112115 -0.122478 0.0261508
|
||||
v -0.0318289 -0.0640683 0.0450332
|
||||
v -0.0282799 -0.120773 0.0132274
|
||||
v -0.0192735 -0.125821 0.0080081
|
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v -0.0407676 -0.113565 -0.00356635
|
||||
v -0.0465462 -0.107219 -0.000318154
|
||||
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||||
vn 0.66236 -0.162763 0.731291
|
||||
vn 0.5861 -0.236419 0.774979
|
||||
vn -0.836818 -0.168404 0.520938
|
||||
vn -0.17234 -0.956405 -0.235771
|
||||
vn -0.357748 -0.925848 -0.121741
|
||||
vn -0.484428 0.874825 -0.00312875
|
||||
vn -0.777706 0.628628 0.000684221
|
||||
vn -0.869286 0.49097 0.0573582
|
||||
vn 0.723466 -0.654252 0.220342
|
||||
vn 0.987866 -0.00501397 0.155229
|
||||
vn -0.0555007 -0.996918 0.0554383
|
||||
vn -0.212112 -0.972889 -0.0921686
|
||||
vn 0.0490124 -0.987844 -0.147522
|
||||
vn 0.311897 -0.163507 0.935941
|
||||
vn 0.167702 -0.657357 0.734682
|
||||
vn 0.16048 -0.641372 0.750258
|
||||
vn -0.792156 -0.227205 0.566451
|
||||
vn 0.552106 -0.822562 -0.136271
|
||||
vn 0.574021 -0.804611 0.151993
|
||||
vn 0.383304 -0.229382 0.894685
|
||||
vn 0.319927 -0.211421 0.923552
|
||||
vn -0.107213 -0.965019 -0.239255
|
||||
vn 0.248657 -0.951015 -0.183686
|
||||
vn 0.199104 -0.949536 -0.242362
|
||||
vn -0.668137 0.744033 0.00289478
|
||||
vn -0.649445 0.746612 0.144191
|
||||
vn -0.763823 0.645421 -0.0025081
|
||||
vn -0.762794 0.638883 0.0998648
|
||||
vn -0.896187 0.443649 -0.00491388
|
||||
vn 0.864259 -0.229175 0.447811
|
||||
vn 0.833448 -0.189422 0.519118
|
||||
vn 0.598107 -0.678476 0.426543
|
||||
vn 0.597529 -0.653861 0.464139
|
||||
vn 0.972839 0.0036151 0.231454
|
||||
vn 0.954947 -0.00312198 0.29676
|
||||
vn -0.0988836 -0.993641 -0.0538403
|
||||
vn 0.2008 -0.89594 0.396196
|
||||
vn 0.280693 -0.662524 0.694459
|
||||
vn 0.297238 -0.173219 0.93896
|
||||
vn -0.940751 0.339072 0.00429645
|
||||
vn -0.0443691 -0.987648 -0.150274
|
||||
vn 0.152119 -0.187179 0.970476
|
||||
vn -0.875051 0.484031 0.000878792
|
||||
vn 3.36252e-05 3.85133e-05 -1
|
||||
vn 9.22556e-06 -1.65946e-05 -1
|
||||
vn 8.39064e-06 -1.50979e-05 -1
|
||||
vn 5.95889e-06 -1.04781e-05 -1
|
||||
vn 0 -1.03124e-07 -1
|
||||
vn 1.96831e-06 6.97027e-07 -1
|
||||
vn 4.24668e-06 6.71906e-07 -1
|
||||
vn 7.50599e-07 -8.35544e-07 -1
|
||||
vn -1.69719e-06 5.76635e-06 -1
|
||||
vn 0.000141745 0.000539471 -1
|
||||
vn -8.05578e-05 -1.995e-05 -1
|
||||
vn -5.26382e-05 3.61721e-05 -1
|
||||
vn 0.000145371 -0.000104168 -1
|
||||
vn -2.3275e-07 3.28855e-05 -1
|
||||
vn -0.000111292 -0.000209832 -1
|
||||
vn 0.000425521 2.71983e-06 -1
|
||||
vn -5.49084e-05 9.02892e-05 -1
|
||||
vn -6.38801e-05 8.97751e-05 -1
|
||||
vn -3.11318e-05 -0.000269269 -1
|
||||
vn -0.000377677 0.000146986 -1
|
||||
|
||||
# Mesh '<STL_BINARY>' with 300 faces
|
||||
g <STL_BINARY>
|
||||
usemtl DefaultMaterial
|
||||
f 1//1 2//1 3//1
|
||||
f 4//2 5//2 6//2
|
||||
f 7//3 8//3 9//3
|
||||
f 10//4 11//4 12//4
|
||||
f 13//5 14//5 15//5
|
||||
f 16//6 17//6 18//6
|
||||
f 19//7 20//7 21//7
|
||||
f 22//8 23//8 24//8
|
||||
f 25//9 15//9 14//9
|
||||
f 26//10 27//10 14//10
|
||||
f 28//11 29//11 30//11
|
||||
f 31//12 32//12 33//12
|
||||
f 11//13 34//13 12//13
|
||||
f 35//14 13//14 15//14
|
||||
f 36//15 37//15 5//15
|
||||
f 38//16 37//16 36//16
|
||||
f 20//17 39//17 21//17
|
||||
f 40//18 29//18 28//18
|
||||
f 34//19 41//19 42//19
|
||||
f 34//20 42//20 12//20
|
||||
f 16//21 18//21 42//21
|
||||
f 41//22 16//22 42//22
|
||||
f 43//23 5//23 4//23
|
||||
f 43//24 36//24 5//24
|
||||
f 4//25 15//25 25//25
|
||||
f 20//26 44//26 45//26
|
||||
f 45//27 46//27 20//27
|
||||
f 47//28 48//28 45//28
|
||||
f 49//29 45//29 48//29
|
||||
f 50//30 51//30 52//30
|
||||
f 53//31 9//31 54//31
|
||||
f 27//32 25//32 14//32
|
||||
f 53//33 7//33 9//33
|
||||
f 27//34 55//34 25//34
|
||||
f 27//35 26//35 56//35
|
||||
f 57//36 58//36 59//36
|
||||
f 60//37 61//37 62//37
|
||||
f 63//38 64//38 60//38
|
||||
f 19//39 65//39 43//39
|
||||
f 65//40 19//40 21//40
|
||||
f 32//41 66//41 33//41
|
||||
f 67//42 66//42 32//42
|
||||
f 68//43 31//43 69//43
|
||||
f 30//44 70//44 69//44
|
||||
f 23//45 10//45 24//45
|
||||
f 22//46 24//46 71//46
|
||||
f 6//47 5//47 58//47
|
||||
f 58//48 5//48 37//48
|
||||
f 70//49 49//49 48//49
|
||||
f 72//50 65//50 21//50
|
||||
f 73//51 16//51 74//51
|
||||
f 73//52 74//52 32//52
|
||||
f 16//53 75//53 17//53
|
||||
f 16//54 41//54 76//54
|
||||
f 77//55 48//55 47//55
|
||||
f 44//56 20//56 78//56
|
||||
f 53//57 54//57 79//57
|
||||
f 80//58 81//58 82//58
|
||||
f 83//59 71//59 53//59
|
||||
f 84//60 85//60 86//60
|
||||
f 1//61 3//61 79//61
|
||||
f 87//62 8//62 7//62
|
||||
f 82//63 9//63 88//63
|
||||
f 82//64 81//64 52//64
|
||||
f 89//65 90//65 91//65
|
||||
f 92//66 93//66 89//66
|
||||
f 92//67 89//67 94//67
|
||||
f 95//68 92//68 61//68
|
||||
f 61//69 92//69 62//69
|
||||
f 94//70 96//70 62//70
|
||||
f 63//71 62//71 96//71
|
||||
f 97//72 64//72 63//72
|
||||
f 98//73 99//73 100//73
|
||||
f 101//74 102//74 103//74
|
||||
f 97//75 63//75 99//75
|
||||
f 64//76 101//76 104//76
|
||||
f 97//77 101//77 64//77
|
||||
f 104//78 105//78 106//78
|
||||
f 104//79 107//79 105//79
|
||||
f 105//80 108//80 33//80
|
||||
f 105//81 33//81 66//81
|
||||
f 106//82 64//82 104//82
|
||||
f 105//83 66//83 106//83
|
||||
f 106//84 66//84 67//84
|
||||
f 69//85 28//85 30//85
|
||||
f 109//86 110//86 75//86
|
||||
f 11//87 10//87 111//87
|
||||
f 86//88 22//88 71//88
|
||||
f 11//89 112//89 89//89
|
||||
f 113//90 102//90 38//90
|
||||
f 37//91 38//91 102//91
|
||||
f 65//92 38//92 36//92
|
||||
f 65//93 36//93 43//93
|
||||
f 114//94 6//94 58//94
|
||||
f 45//95 49//95 46//95
|
||||
f 39//96 20//96 46//96
|
||||
f 61//97 60//97 67//97
|
||||
f 95//98 61//98 67//98
|
||||
f 95//99 67//99 74//99
|
||||
f 115//100 70//100 110//100
|
||||
f 55//101 116//101 117//101
|
||||
f 25//102 43//102 4//102
|
||||
f 117//103 43//103 25//103
|
||||
f 117//104 19//104 43//104
|
||||
f 78//105 118//105 119//105
|
||||
f 80//106 8//106 87//106
|
||||
f 8//107 88//107 9//107
|
||||
f 2//108 51//108 50//108
|
||||
f 120//109 121//109 2//109
|
||||
f 83//110 53//110 79//110
|
||||
f 84//111 86//111 83//111
|
||||
f 22//112 86//112 85//112
|
||||
f 22//113 85//113 23//113
|
||||
f 90//114 85//114 84//114
|
||||
f 88//115 80//115 82//115
|
||||
f 122//116 26//116 52//116
|
||||
f 26//117 50//117 52//117
|
||||
f 122//118 56//118 26//118
|
||||
f 55//119 27//119 56//119
|
||||
f 94//120 89//120 91//120
|
||||
f 96//121 94//121 91//121
|
||||
f 123//122 124//122 125//122
|
||||
f 103//123 104//123 101//123
|
||||
f 103//124 113//124 107//124
|
||||
f 113//125 126//125 107//125
|
||||
f 58//126 102//126 59//126
|
||||
f 57//127 59//127 98//127
|
||||
f 58//128 57//128 114//128
|
||||
f 101//129 99//129 98//129
|
||||
f 107//130 104//130 103//130
|
||||
f 60//131 62//131 63//131
|
||||
f 33//132 28//132 31//132
|
||||
f 75//133 18//133 17//133
|
||||
f 75//134 110//134 18//134
|
||||
f 68//135 32//135 31//135
|
||||
f 111//136 10//136 23//136
|
||||
f 127//137 120//137 50//137
|
||||
f 127//138 50//138 14//138
|
||||
f 128//139 129//139 121//139
|
||||
f 6//140 15//140 4//140
|
||||
f 6//141 35//141 15//141
|
||||
f 35//142 6//142 114//142
|
||||
f 13//143 130//143 14//143
|
||||
f 131//144 132//144 133//144
|
||||
f 134//145 135//145 133//145
|
||||
f 46//146 49//146 30//146
|
||||
f 30//147 49//147 70//147
|
||||
f 126//148 108//148 107//148
|
||||
f 136//149 41//149 34//149
|
||||
f 74//150 67//150 32//150
|
||||
f 106//151 60//151 64//151
|
||||
f 75//152 16//152 73//152
|
||||
f 109//153 115//153 110//153
|
||||
f 115//154 69//154 70//154
|
||||
f 115//155 109//155 68//155
|
||||
f 137//156 72//156 21//156
|
||||
f 25//157 55//157 117//157
|
||||
f 118//158 117//158 116//158
|
||||
f 19//159 117//159 118//159
|
||||
f 78//160 138//160 44//160
|
||||
f 78//161 19//161 118//161
|
||||
f 20//162 19//162 78//162
|
||||
f 120//163 2//163 50//163
|
||||
f 3//164 121//164 139//164
|
||||
f 2//165 121//165 3//165
|
||||
f 140//166 79//166 3//166
|
||||
f 82//167 51//167 9//167
|
||||
f 83//168 86//168 71//168
|
||||
f 1//169 79//169 54//169
|
||||
f 140//170 83//170 79//170
|
||||
f 83//171 140//171 84//171
|
||||
f 81//172 122//172 52//172
|
||||
f 51//173 82//173 52//173
|
||||
f 62//174 92//174 94//174
|
||||
f 92//175 141//175 93//175
|
||||
f 96//176 124//176 123//176
|
||||
f 99//177 63//177 142//177
|
||||
f 113//178 103//178 102//178
|
||||
f 142//179 143//179 134//179
|
||||
f 134//180 100//180 142//180
|
||||
f 114//181 57//181 144//181
|
||||
f 101//182 59//182 102//182
|
||||
f 97//183 99//183 101//183
|
||||
f 126//184 113//184 72//184
|
||||
f 108//185 105//185 107//185
|
||||
f 40//186 33//186 108//186
|
||||
f 33//187 40//187 28//187
|
||||
f 31//188 28//188 69//188
|
||||
f 69//189 115//189 68//189
|
||||
f 75//190 68//190 109//190
|
||||
f 90//191 124//191 91//191
|
||||
f 127//192 131//192 128//192
|
||||
f 131//193 135//193 128//193
|
||||
f 100//194 134//194 133//194
|
||||
f 131//195 130//195 13//195
|
||||
f 130//196 127//196 14//196
|
||||
f 123//197 125//197 145//197
|
||||
f 123//198 145//198 143//198
|
||||
f 134//199 145//199 135//199
|
||||
f 58//200 37//200 102//200
|
||||
f 72//201 38//201 65//201
|
||||
f 29//202 40//202 39//202
|
||||
f 39//203 46//203 29//203
|
||||
f 137//204 39//204 40//204
|
||||
f 137//205 126//205 72//205
|
||||
f 46//206 30//206 29//206
|
||||
f 136//207 34//207 93//207
|
||||
f 76//208 95//208 74//208
|
||||
f 106//209 67//209 60//209
|
||||
f 138//210 146//210 44//210
|
||||
f 147//211 47//211 45//211
|
||||
f 118//212 116//212 119//212
|
||||
f 80//213 88//213 8//213
|
||||
f 3//214 139//214 140//214
|
||||
f 125//215 84//215 139//215
|
||||
f 129//216 125//216 139//216
|
||||
f 26//217 14//217 50//217
|
||||
f 96//218 91//218 124//218
|
||||
f 142//219 96//219 123//219
|
||||
f 100//220 99//220 142//220
|
||||
f 72//221 113//221 38//221
|
||||
f 143//222 145//222 134//222
|
||||
f 142//223 123//223 143//223
|
||||
f 144//224 57//224 148//224
|
||||
f 101//225 98//225 59//225
|
||||
f 126//226 40//226 108//226
|
||||
f 73//227 68//227 75//227
|
||||
f 73//228 32//228 68//228
|
||||
f 11//229 111//229 112//229
|
||||
f 90//230 112//230 85//230
|
||||
f 112//231 90//231 89//231
|
||||
f 112//232 111//232 23//232
|
||||
f 124//233 84//233 125//233
|
||||
f 127//234 128//234 120//234
|
||||
f 129//235 128//235 135//235
|
||||
f 13//236 132//236 131//236
|
||||
f 130//237 131//237 127//237
|
||||
f 131//238 133//238 135//238
|
||||
f 137//239 21//239 39//239
|
||||
f 41//240 149//240 76//240
|
||||
f 74//241 16//241 76//241
|
||||
f 119//242 138//242 78//242
|
||||
f 150//243 151//243 152//243
|
||||
f 152//244 147//244 45//244
|
||||
f 140//245 139//245 84//245
|
||||
f 1//246 54//246 9//246
|
||||
f 141//247 92//247 95//247
|
||||
f 76//248 149//248 95//248
|
||||
f 136//249 93//249 141//249
|
||||
f 132//250 13//250 35//250
|
||||
f 148//251 98//251 100//251
|
||||
f 148//252 57//252 98//252
|
||||
f 40//253 126//253 137//253
|
||||
f 112//254 23//254 85//254
|
||||
f 90//255 84//255 124//255
|
||||
f 148//256 133//256 132//256
|
||||
f 144//257 148//257 132//257
|
||||
f 136//258 149//258 41//258
|
||||
f 93//259 11//259 89//259
|
||||
f 11//260 93//260 34//260
|
||||
f 44//261 146//261 150//261
|
||||
f 44//262 150//262 45//262
|
||||
f 146//263 151//263 150//263
|
||||
f 45//264 150//264 152//264
|
||||
f 147//265 151//265 77//265
|
||||
f 129//266 139//266 121//266
|
||||
f 128//267 121//267 120//267
|
||||
f 145//268 125//268 129//268
|
||||
f 129//269 135//269 145//269
|
||||
f 1//270 9//270 51//270
|
||||
f 51//271 2//271 1//271
|
||||
f 95//272 149//272 141//272
|
||||
f 142//273 63//273 96//273
|
||||
f 100//274 133//274 148//274
|
||||
f 132//275 35//275 144//275
|
||||
f 77//276 47//276 147//276
|
||||
f 136//277 141//277 149//277
|
||||
f 144//278 35//278 114//278
|
||||
f 147//279 152//279 151//279
|
||||
f 71//280 24//280 151//280
|
||||
f 151//281 56//281 122//281
|
||||
f 116//282 55//282 151//281
|
||||
f 122//281 81//283 151//281
|
||||
f 12//284 42//284 151//284
|
||||
f 151//284 10//285 12//284
|
||||
f 42//284 18//286 151//284
|
||||
f 151//284 24//285 10//285
|
||||
f 151//284 80//287 87//287
|
||||
f 151//284 55//288 56//288
|
||||
f 7//289 53//289 151//289
|
||||
f 18//290 110//290 151//290
|
||||
f 48//291 77//291 151//291
|
||||
f 146//292 138//292 151//292
|
||||
f 81//293 80//293 151//293
|
||||
f 53//294 71//294 151//294
|
||||
f 151//295 110//295 70//295
|
||||
f 119//296 116//296 151//296
|
||||
f 151//296 138//297 119//296
|
||||
f 151//298 87//298 7//298
|
||||
f 70//299 48//299 151//299
|
||||
|
||||
765
urdf/meshes/panda/collision/link2.obj
Normal file
765
urdf/meshes/panda/collision/link2.obj
Normal file
@ -0,0 +1,765 @@
|
||||
# File produced by Open Asset Import Library (http://www.assimp.sf.net)
|
||||
# (assimp v3.1.187496374)
|
||||
|
||||
mtllib link2.obj.mtl
|
||||
|
||||
# 152 vertex positions
|
||||
v 0.0547799 0.00875545 0.000695036
|
||||
v 0.0549849 0.00179704 0.0600771
|
||||
v 0.0549358 -0.194003 -0.0050002
|
||||
v 0.0541351 0.00944441 0.0628215
|
||||
v 0.031051 -0.126082 -0.0455013
|
||||
v 0.047601 0.0280333 0.000489744
|
||||
v 0.0502436 0.0226741 0.0632384
|
||||
v 0.0212053 -0.126588 -0.0508097
|
||||
v 0.0399461 -0.124494 -0.0379263
|
||||
v 0.0484134 -0.123261 -0.026532
|
||||
v -0.0518832 -0.194 -0.0183946
|
||||
v -0.0500141 -0.121697 -0.0232611
|
||||
v -0.0466703 -0.194 -0.0294255
|
||||
v -0.0439629 0.0332954 0.000489695
|
||||
v -0.036151 0.0416476 0.0644805
|
||||
v -0.0320994 0.0449999 0.000508252
|
||||
v -0.0152371 -0.0171926 0.125084
|
||||
v -0.0237602 -0.194 0.0497122
|
||||
v -0.010578 -0.194 0.054149
|
||||
v -0.0254664 -0.0161975 0.121439
|
||||
v 0.0307019 -0.0160908 0.118495
|
||||
v 0.0218367 -0.194 0.0506868
|
||||
v 0.0369534 -0.194 0.041087
|
||||
v 0.016094 0.0527631 0.0641438
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|
||||
vn 0.1541 0.454601 0.877264
|
||||
vn -0.136379 0.78679 0.601965
|
||||
vn 0.136436 0.974993 0.175423
|
||||
vn 0.175233 0.971466 0.159838
|
||||
vn -0.0702394 0.974396 0.213587
|
||||
vn 0.640947 0.396988 0.656954
|
||||
vn 0.487217 0.042278 0.872257
|
||||
vn 0.206759 -0.250703 0.945727
|
||||
vn 0.573957 -0.17969 0.798927
|
||||
vn 0.582319 -0.190013 0.790442
|
||||
vn -0.575564 0.336043 0.745521
|
||||
vn -0.334494 0.265346 0.904271
|
||||
vn -0.704479 -0.0206901 0.709423
|
||||
vn -0.608945 0.206044 0.765984
|
||||
vn -0.0449612 0.192288 0.980308
|
||||
vn -0.0570372 0.646519 0.760763
|
||||
vn -0.0456084 0.612006 0.789537
|
||||
vn -0.0688257 0.487991 0.870131
|
||||
vn -0.126278 0.386235 0.913716
|
||||
vn -0.518988 -0.260184 0.814221
|
||||
vn -0.771213 -0.00475059 -0.63656
|
||||
vn -0.846044 0.00632099 -0.533076
|
||||
vn 0.603962 0.79701 0.00198059
|
||||
vn -0.609696 -0.151946 0.777935
|
||||
vn -0.582506 -0.000532993 -0.812826
|
||||
vn -0.546305 0.810879 0.209823
|
||||
vn -0.433541 0.873649 0.220861
|
||||
vn -0.430493 0.874883 0.221938
|
||||
vn -0.592933 0.774279 0.221183
|
||||
vn -0.674545 0.712683 0.192542
|
||||
vn -0.196288 0.558895 0.805672
|
||||
vn 0.276421 -0.0514573 0.959658
|
||||
vn 0.196341 -0.0131192 0.980448
|
||||
vn 0.265625 0.580477 0.769733
|
||||
vn 0.181753 0.563216 0.806073
|
||||
vn 0.13212 0.714636 0.686906
|
||||
vn 0.139644 0.966955 0.2133
|
||||
vn 0.497395 0.326283 0.803827
|
||||
vn 0.494051 0.32504 0.806389
|
||||
vn 0.465971 0.246662 0.849722
|
||||
vn 0.326294 0.232587 0.916207
|
||||
vn 0.638437 0.333373 0.69373
|
||||
vn 0.732082 -0.111401 0.672046
|
||||
vn 0.565801 -0.0587605 0.822445
|
||||
vn 0.515701 -0.0207842 0.856517
|
||||
vn -0.87513 0.431818 0.218357
|
||||
vn -0.646555 0.0460771 0.761474
|
||||
vn -0.362237 0.239517 0.900786
|
||||
vn -0.304864 0.440552 0.844377
|
||||
vn -0.0868798 0.547816 0.832075
|
||||
vn -0.384864 -0.131303 0.913586
|
||||
vn -0.346098 -0.200322 0.916563
|
||||
vn 0.503112 0.841219 0.198061
|
||||
vn 0.823456 0.53742 0.181934
|
||||
vn 0.854693 0.490881 0.168927
|
||||
vn -0.66898 -0.148703 0.728253
|
||||
vn -0.697792 -0.109036 0.707953
|
||||
vn -0.359042 -0.00132172 -0.933321
|
||||
vn -0.467735 0.599727 0.64927
|
||||
vn -0.673614 0.710425 0.203813
|
||||
vn -0.717482 0.660503 0.22126
|
||||
vn -0.00182421 0.739045 0.673654
|
||||
vn -0.149619 0.961356 0.231102
|
||||
vn 0.239458 0.728761 0.641534
|
||||
vn 0.279376 0.684365 0.673494
|
||||
vn 0.468902 0.856539 0.215576
|
||||
vn 0.829645 0.504676 0.238727
|
||||
vn 0.312865 0.559373 0.767605
|
||||
vn 0.803861 0.555776 0.211944
|
||||
vn 0.528926 0.482947 0.697853
|
||||
vn -0.656801 0.216914 0.722191
|
||||
vn -0.290729 0.415762 0.861753
|
||||
vn -0.584387 0.0366406 0.810648
|
||||
vn -0.542911 -0.044139 0.838629
|
||||
vn -0.447889 -0.0593559 0.892116
|
||||
vn -0.425426 0.0383972 0.904178
|
||||
vn 0.128926 0.437161 0.890095
|
||||
vn 0.926929 0.310385 0.210866
|
||||
vn 0.90493 0.374345 0.202403
|
||||
vn 0.0481549 0.759987 0.648152
|
||||
vn 0.0562881 0.968845 0.241186
|
||||
vn 0.933093 0.269674 0.237935
|
||||
vn 0.51793 0.469893 0.714807
|
||||
vn 0.328419 0.379525 0.864929
|
||||
vn 0.726008 0.652385 0.217498
|
||||
vn 0.719844 0.208843 0.661974
|
||||
vn 0.594619 0.286757 0.751132
|
||||
vn -0.718715 0.201884 0.665351
|
||||
vn -0.659221 0.175302 0.73123
|
||||
vn -0.494093 0.355034 0.793614
|
||||
vn 0.127052 0.610153 0.78203
|
||||
vn 0.617571 0.760526 0.200515
|
||||
vn 0.580874 0.790772 0.193041
|
||||
vn 0.401827 0.901464 0.160927
|
||||
vn 0.525761 0.508862 0.681641
|
||||
vn 0.390316 0.666012 0.635674
|
||||
vn 0.309209 0.933033 0.183955
|
||||
vn 0.303165 0.92496 0.229214
|
||||
vn 0.382883 0.437987 0.813368
|
||||
vn 0.379105 0.412169 0.82849
|
||||
vn 0.681299 0.704644 0.198262
|
||||
vn 0.674255 0.145379 0.724048
|
||||
vn 0.634115 0.168265 0.754709
|
||||
vn 0.432342 0.6082 0.665713
|
||||
vn 0.465852 0.593485 0.656321
|
||||
vn 0.295628 0.928431 0.224987
|
||||
|
||||
# Mesh '<STL_BINARY>' with 300 faces
|
||||
g <STL_BINARY>
|
||||
usemtl DefaultMaterial
|
||||
f 1//1 2//1 3//1
|
||||
f 1//2 4//2 2//2
|
||||
f 5//3 6//3 1//3
|
||||
f 6//4 7//4 1//4
|
||||
f 5//5 8//5 6//5
|
||||
f 9//6 1//6 10//6
|
||||
f 11//7 12//7 13//7
|
||||
f 14//8 15//8 16//8
|
||||
f 17//9 18//9 19//9
|
||||
f 20//10 18//10 17//10
|
||||
f 21//11 22//11 23//11
|
||||
f 24//12 25//12 26//12
|
||||
f 25//13 24//13 27//13
|
||||
f 28//14 25//14 29//14
|
||||
f 28//15 26//15 25//15
|
||||
f 16//16 30//16 14//16
|
||||
f 8//17 31//17 6//17
|
||||
f 29//18 31//18 8//18
|
||||
f 29//19 25//19 31//19
|
||||
f 7//20 4//20 1//20
|
||||
f 5//21 1//21 9//21
|
||||
f 32//22 33//22 34//22
|
||||
f 35//23 12//23 36//23
|
||||
f 37//24 35//24 38//24
|
||||
f 39//25 35//25 40//25
|
||||
f 16//26 41//26 30//26
|
||||
f 42//27 41//27 16//27
|
||||
f 16//28 43//28 42//28
|
||||
f 44//29 42//29 43//29
|
||||
f 44//30 45//30 42//30
|
||||
f 46//31 40//31 35//31
|
||||
f 3//32 47//32 1//32
|
||||
f 48//33 49//33 50//33
|
||||
f 49//34 51//34 50//34
|
||||
f 49//35 19//35 51//35
|
||||
f 52//36 21//36 23//36
|
||||
f 53//37 54//37 55//37
|
||||
f 53//38 56//38 54//38
|
||||
f 52//39 23//39 56//39
|
||||
f 57//40 58//40 59//40
|
||||
f 18//41 20//41 60//41
|
||||
f 28//42 45//42 26//42
|
||||
f 7//43 6//43 61//43
|
||||
f 2//44 4//44 62//44
|
||||
f 4//45 7//45 63//45
|
||||
f 8//46 5//46 64//46
|
||||
f 9//47 65//47 66//47
|
||||
f 10//48 65//48 9//48
|
||||
f 66//49 5//49 9//49
|
||||
f 33//50 67//50 37//50
|
||||
f 67//51 68//51 37//51
|
||||
f 36//52 11//52 38//52
|
||||
f 32//53 69//53 60//53
|
||||
f 36//54 12//54 11//54
|
||||
f 38//55 35//55 36//55
|
||||
f 68//56 35//56 37//56
|
||||
f 70//57 39//57 40//57
|
||||
f 15//58 71//58 72//58
|
||||
f 41//59 42//59 45//59
|
||||
f 41//60 45//60 28//60
|
||||
f 73//61 43//61 74//61
|
||||
f 73//62 74//62 75//62
|
||||
f 76//63 43//63 15//63
|
||||
f 15//64 77//64 76//64
|
||||
f 43//65 16//65 15//65
|
||||
f 78//66 26//66 45//66
|
||||
f 78//67 24//67 26//67
|
||||
f 79//68 47//68 3//68
|
||||
f 1//69 47//69 10//69
|
||||
f 80//70 51//70 22//70
|
||||
f 80//71 50//71 51//71
|
||||
f 81//72 49//72 48//72
|
||||
f 82//73 83//73 80//73
|
||||
f 21//74 80//74 22//74
|
||||
f 56//75 23//75 54//75
|
||||
f 55//76 3//76 2//76
|
||||
f 2//77 62//77 55//77
|
||||
f 84//78 57//78 48//78
|
||||
f 57//79 81//79 48//79
|
||||
f 33//80 37//80 34//80
|
||||
f 85//81 57//81 59//81
|
||||
f 69//82 18//82 60//82
|
||||
f 86//83 41//83 87//83
|
||||
f 53//84 55//84 62//84
|
||||
f 31//85 61//85 6//85
|
||||
f 61//86 31//86 88//86
|
||||
f 31//87 25//87 88//87
|
||||
f 32//88 34//88 69//88
|
||||
f 35//89 39//89 89//89
|
||||
f 14//90 71//90 15//90
|
||||
f 44//91 78//91 45//91
|
||||
f 79//92 10//92 47//92
|
||||
f 90//93 91//93 84//93
|
||||
f 49//94 17//94 19//94
|
||||
f 92//95 48//95 50//95
|
||||
f 49//96 81//96 17//96
|
||||
f 93//97 94//97 95//97
|
||||
f 80//98 21//98 82//98
|
||||
f 96//99 97//99 53//99
|
||||
f 96//100 98//100 97//100
|
||||
f 99//101 100//101 101//101
|
||||
f 81//102 57//102 85//102
|
||||
f 102//103 103//103 59//103
|
||||
f 90//104 94//104 93//104
|
||||
f 85//105 59//105 99//105
|
||||
f 41//106 28//106 87//106
|
||||
f 62//107 96//107 53//107
|
||||
f 62//108 104//108 96//108
|
||||
f 5//109 66//109 64//109
|
||||
f 65//110 10//110 79//110
|
||||
f 105//111 33//111 106//111
|
||||
f 67//112 33//112 105//112
|
||||
f 30//113 70//113 14//113
|
||||
f 70//114 40//114 14//114
|
||||
f 79//115 107//115 86//115
|
||||
f 66//116 65//116 79//116
|
||||
f 79//117 19//117 18//117
|
||||
f 23//118 22//118 79//117
|
||||
f 79//117 22//118 51//119
|
||||
f 79//117 51//119 19//117
|
||||
f 79//117 38//120 107//120
|
||||
f 38//121 79//117 18//117
|
||||
f 18//117 69//121 38//121
|
||||
f 79//122 108//122 64//122
|
||||
f 79//123 55//123 54//123
|
||||
f 79//124 54//124 23//124
|
||||
f 79//125 86//125 87//125
|
||||
f 79//126 64//126 66//126
|
||||
f 87//127 108//127 79//127
|
||||
f 79//128 3//128 55//128
|
||||
f 109//129 110//129 46//129
|
||||
f 71//130 40//130 46//130
|
||||
f 40//131 71//131 14//131
|
||||
f 110//132 72//132 71//132
|
||||
f 111//133 110//133 112//133
|
||||
f 110//134 71//134 46//134
|
||||
f 107//135 70//135 30//135
|
||||
f 76//136 74//136 43//136
|
||||
f 111//137 113//137 114//137
|
||||
f 43//138 73//138 44//138
|
||||
f 115//139 44//139 73//139
|
||||
f 116//140 109//140 105//140
|
||||
f 68//141 109//141 46//141
|
||||
f 68//142 46//142 35//142
|
||||
f 102//143 91//143 117//143
|
||||
f 48//144 92//144 84//144
|
||||
f 94//145 90//145 84//145
|
||||
f 94//146 83//146 95//146
|
||||
f 95//147 98//147 118//147
|
||||
f 80//148 83//148 92//148
|
||||
f 97//149 52//149 56//149
|
||||
f 84//150 58//150 57//150
|
||||
f 84//151 91//151 58//151
|
||||
f 119//152 99//152 101//152
|
||||
f 120//153 119//153 101//153
|
||||
f 58//154 102//154 59//154
|
||||
f 117//155 90//155 93//155
|
||||
f 91//156 90//156 117//156
|
||||
f 117//157 103//157 102//157
|
||||
f 85//158 121//158 81//158
|
||||
f 28//159 108//159 87//159
|
||||
f 108//160 28//160 29//160
|
||||
f 41//161 86//161 30//161
|
||||
f 89//162 12//162 35//162
|
||||
f 39//163 122//163 89//163
|
||||
f 7//164 123//164 63//164
|
||||
f 88//165 124//165 61//165
|
||||
f 4//166 63//166 104//166
|
||||
f 104//167 62//167 4//167
|
||||
f 64//168 108//168 8//168
|
||||
f 108//169 29//169 8//169
|
||||
f 116//170 105//170 106//170
|
||||
f 105//171 109//171 67//171
|
||||
f 38//172 122//172 107//172
|
||||
f 38//173 13//173 122//173
|
||||
f 38//174 11//174 13//174
|
||||
f 38//175 34//175 37//175
|
||||
f 38//176 69//176 34//176
|
||||
f 122//177 39//177 107//177
|
||||
f 110//178 109//178 116//178
|
||||
f 75//179 74//179 125//179
|
||||
f 126//180 75//180 125//180
|
||||
f 127//181 126//181 125//181
|
||||
f 113//182 128//182 125//182
|
||||
f 113//183 125//183 129//183
|
||||
f 111//184 112//184 130//184
|
||||
f 131//185 111//185 130//185
|
||||
f 100//186 128//186 113//186
|
||||
f 113//187 131//187 100//187
|
||||
f 113//188 111//188 131//188
|
||||
f 111//189 72//189 110//189
|
||||
f 44//190 115//190 78//190
|
||||
f 68//191 67//191 109//191
|
||||
f 125//192 128//192 127//192
|
||||
f 132//193 133//193 93//193
|
||||
f 126//194 134//194 75//194
|
||||
f 135//195 78//195 115//195
|
||||
f 135//196 24//196 78//196
|
||||
f 134//197 115//197 73//197
|
||||
f 136//198 137//198 138//198
|
||||
f 95//199 83//199 98//199
|
||||
f 92//200 50//200 80//200
|
||||
f 21//201 52//201 97//201
|
||||
f 97//202 82//202 21//202
|
||||
f 101//203 131//203 130//203
|
||||
f 103//204 100//204 59//204
|
||||
f 106//205 33//205 139//205
|
||||
f 120//206 101//206 130//206
|
||||
f 58//207 91//207 102//207
|
||||
f 126//208 127//208 140//208
|
||||
f 140//209 127//209 133//209
|
||||
f 141//210 117//210 133//210
|
||||
f 117//211 141//211 103//211
|
||||
f 121//212 60//212 20//212
|
||||
f 89//213 122//213 13//213
|
||||
f 89//214 13//214 12//214
|
||||
f 27//215 88//215 25//215
|
||||
f 121//216 139//216 60//216
|
||||
f 39//217 70//217 107//217
|
||||
f 77//218 129//218 76//218
|
||||
f 74//219 76//219 129//219
|
||||
f 74//220 129//220 125//220
|
||||
f 114//221 129//221 77//221
|
||||
f 77//222 15//222 72//222
|
||||
f 127//223 128//223 141//223
|
||||
f 94//224 92//224 83//224
|
||||
f 94//225 84//225 92//225
|
||||
f 142//226 132//226 143//226
|
||||
f 142//227 133//227 132//227
|
||||
f 144//228 140//228 142//228
|
||||
f 135//229 115//229 144//229
|
||||
f 145//230 146//230 118//230
|
||||
f 118//231 138//231 145//231
|
||||
f 95//232 118//232 146//232
|
||||
f 93//233 95//233 146//233
|
||||
f 136//234 138//234 147//234
|
||||
f 53//235 97//235 56//235
|
||||
f 97//236 98//236 82//236
|
||||
f 82//237 98//237 83//237
|
||||
f 112//238 110//238 116//238
|
||||
f 106//239 139//239 120//239
|
||||
f 99//240 59//240 100//240
|
||||
f 100//241 141//241 128//241
|
||||
f 141//242 133//242 127//242
|
||||
f 20//243 81//243 121//243
|
||||
f 20//244 17//244 81//244
|
||||
f 148//245 149//245 27//245
|
||||
f 124//246 123//246 61//246
|
||||
f 7//247 61//247 123//247
|
||||
f 60//248 139//248 32//248
|
||||
f 139//249 33//249 32//249
|
||||
f 107//250 30//250 86//250
|
||||
f 129//251 114//251 113//251
|
||||
f 72//252 114//252 77//252
|
||||
f 72//253 111//253 114//253
|
||||
f 140//254 134//254 126//254
|
||||
f 134//255 73//255 75//255
|
||||
f 150//256 144//256 142//256
|
||||
f 150//257 142//257 143//257
|
||||
f 150//258 149//258 148//258
|
||||
f 136//259 123//259 137//259
|
||||
f 151//260 143//260 132//260
|
||||
f 124//261 137//261 123//261
|
||||
f 151//262 138//262 137//262
|
||||
f 106//263 112//263 116//263
|
||||
f 141//264 100//264 103//264
|
||||
f 120//265 139//265 119//265
|
||||
f 121//266 119//266 139//266
|
||||
f 119//267 121//267 85//267
|
||||
f 99//268 119//268 85//268
|
||||
f 117//269 93//269 133//269
|
||||
f 63//270 136//270 104//270
|
||||
f 123//271 136//271 63//271
|
||||
f 134//272 140//272 144//272
|
||||
f 115//273 134//273 144//273
|
||||
f 136//274 96//274 104//274
|
||||
f 145//275 138//275 151//275
|
||||
f 132//276 93//276 146//276
|
||||
f 152//277 137//277 124//277
|
||||
f 96//278 136//278 147//278
|
||||
f 147//279 138//279 118//279
|
||||
f 106//280 130//280 112//280
|
||||
f 130//281 106//281 120//281
|
||||
f 101//282 100//282 131//282
|
||||
f 142//283 140//283 133//283
|
||||
f 88//284 149//284 152//284
|
||||
f 88//285 27//285 149//285
|
||||
f 24//286 148//286 27//286
|
||||
f 152//287 151//287 137//287
|
||||
f 150//288 143//288 149//288
|
||||
f 148//289 24//289 135//289
|
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|
||||
vn -0.421 -0.894373 0.15118
|
||||
vn -0.302637 -0.929282 0.211766
|
||||
vn -0.194179 -0.961461 0.194648
|
||||
vn -0.21287 -0.955021 0.206448
|
||||
vn -0.157033 -0.977868 0.13826
|
||||
vn -0.357941 0.929189 -0.0921217
|
||||
vn -0.979499 0.146518 0.138254
|
||||
vn -0.965424 0.227908 0.12655
|
||||
vn -0.93498 0.291376 0.202268
|
||||
vn -0.859946 0.472739 0.192382
|
||||
vn -0.904463 0.366138 0.218838
|
||||
vn -0.745379 0.545784 0.382792
|
||||
vn -0.919801 0.369653 0.131619
|
||||
vn -0.940918 0.309133 0.138239
|
||||
vn -0.952637 0.30243 0.0319315
|
||||
vn -0.685479 0.715906 0.132656
|
||||
vn -0.809391 0.584647 0.0554433
|
||||
vn -0.899049 0.426162 0.100483
|
||||
vn -0.801263 0.582871 0.135053
|
||||
vn -0.812625 0.554457 0.179493
|
||||
vn -0.798111 0.0271841 0.601897
|
||||
vn -0.800706 0.12246 0.586408
|
||||
vn -0.676367 0.172172 0.71616
|
||||
vn -0.169519 -0.936355 0.307414
|
||||
vn -0.405108 -0.852406 0.330593
|
||||
vn 0.0846594 0.238439 0.967461
|
||||
vn 0.912961 0.240773 0.329438
|
||||
vn 0.150111 0.983105 -0.104743
|
||||
vn 0.109259 0.990321 -0.0856007
|
||||
vn -0.213968 0.969419 -0.120186
|
||||
vn 0.173592 0.972766 -0.153594
|
||||
vn 0.277036 0.935861 -0.217751
|
||||
vn 0.378314 0.921007 -0.0928686
|
||||
vn 0.232143 -0.972622 0.0107747
|
||||
vn 0.391938 -0.919881 0.0142741
|
||||
vn 0.948825 0.0327552 0.314098
|
||||
vn 0.161761 0.927234 0.337744
|
||||
vn 0.156134 0.924706 0.347191
|
||||
vn 0.262345 0.797744 0.542937
|
||||
vn -0.0168424 0.924567 0.380647
|
||||
vn -0.0335358 0.741207 0.670438
|
||||
vn -0.0243553 0.92665 0.375135
|
||||
vn -0.334696 0.211256 0.918341
|
||||
vn -0.269018 0.231564 0.934884
|
||||
vn -0.351934 0.0420098 0.935081
|
||||
vn -0.228949 0.329427 0.916002
|
||||
vn -0.413335 -0.601802 0.683366
|
||||
vn -0.895926 -0.441392 0.0499009
|
||||
vn -0.432859 -0.899184 0.0640383
|
||||
vn -0.339696 -0.930654 0.135978
|
||||
vn -0.632442 -0.772506 0.0570166
|
||||
vn -0.988782 -0.0961308 0.11432
|
||||
vn -0.980604 -0.190778 0.0449353
|
||||
vn -0.992859 0.0619128 0.101973
|
||||
vn -0.818837 -0.558696 0.131777
|
||||
vn -0.851157 -0.508257 0.131175
|
||||
vn -0.950813 -0.259783 0.168724
|
||||
vn -0.881386 -0.446785 0.15343
|
||||
vn -0.0563581 -0.995776 0.0724821
|
||||
vn 0.021684 -0.995103 0.096433
|
||||
vn -0.475957 -0.86239 0.172477
|
||||
vn -0.633981 0.77161 0.0518335
|
||||
vn -0.657524 0.748586 0.085328
|
||||
vn -0.847134 0.495041 0.193126
|
||||
vn 0.065954 0.0355046 0.997191
|
||||
vn -0.239675 -0.839829 0.487075
|
||||
vn -0.424632 -0.760583 0.491123
|
||||
vn -0.385842 -0.82322 0.416456
|
||||
vn -0.617472 -0.754725 0.221626
|
||||
vn 0.887396 0.183832 0.422769
|
||||
vn -0.0897502 0.99066 -0.102657
|
||||
vn 0.0701662 0.951668 -0.299006
|
||||
vn -0.34204 0.93186 0.121021
|
||||
vn -0.341756 0.924674 0.16787
|
||||
vn -0.0650266 0.996365 0.0550291
|
||||
vn -0.0334513 0.973643 0.22561
|
||||
vn -0.233156 0.967937 0.0934625
|
||||
vn -0.207773 0.972225 0.107745
|
||||
vn -0.496739 0.0391305 0.867018
|
||||
vn -0.527294 0.0434334 0.848572
|
||||
vn -0.509316 0.233686 0.828244
|
||||
vn -0.497226 0.226721 0.837475
|
||||
vn -0.316815 0.0363428 0.947791
|
||||
vn -0.299821 -0.950334 0.0835028
|
||||
vn -0.668209 -0.729656 0.145252
|
||||
vn -0.621964 -0.771785 0.13232
|
||||
vn -0.982644 -0.0317279 0.18277
|
||||
vn -0.934161 -0.326853 0.143219
|
||||
vn -0.774959 -0.530592 0.34338
|
||||
vn -0.621034 -0.129994 0.772929
|
||||
vn -0.860911 -0.122315 0.493834
|
||||
vn -0.871071 -0.130413 0.473527
|
||||
vn -0.942765 -0.0527834 0.329252
|
||||
vn -0.924231 0.138785 0.355718
|
||||
vn -0.71287 0.670441 0.20573
|
||||
vn -0.656421 0.749785 0.0832662
|
||||
vn -0.628388 -0.0489681 0.776358
|
||||
vn -0.668632 -0.593394 0.448123
|
||||
vn -0.631414 -0.495718 0.596305
|
||||
vn -0.691027 -0.700761 0.177242
|
||||
vn 0.260873 -0.949876 0.172278
|
||||
vn -0.246265 0.964418 -0.0961829
|
||||
vn 0.0129747 0.985028 0.171905
|
||||
vn -0.752925 -0.655778 0.0553095
|
||||
vn -0.764361 -0.636413 0.103593
|
||||
vn -0.975804 -0.203518 0.0799156
|
||||
vn -0.998591 -0.0436733 0.0301563
|
||||
vn -0.944154 -0.31377 0.100606
|
||||
vn -0.969115 -0.0832359 0.232138
|
||||
vn -0.982785 -0.111038 0.147664
|
||||
vn -0.816025 -0.527714 0.23584
|
||||
vn -0.708886 -0.18943 0.679409
|
||||
vn -0.778972 -0.341238 0.526078
|
||||
vn -0.671854 -0.373108 0.639846
|
||||
vn -0.956587 0.199092 0.212845
|
||||
vn 0.317957 -0.942823 0.0999454
|
||||
vn 0.141915 -0.986507 0.0816334
|
||||
vn -0.520526 -0.827345 0.211076
|
||||
vn -0.231354 0.924665 0.302441
|
||||
vn -0.228143 0.925533 0.302224
|
||||
vn -0.532463 -0.685293 0.496847
|
||||
vn -0.752665 -0.632672 0.182268
|
||||
vn 0.151273 -0.984791 0.0854585
|
||||
vn -0.616907 -0.659817 0.429032
|
||||
vn -0.865565 -0.253073 0.432147
|
||||
vn -0.723623 -0.338666 0.601395
|
||||
vn -0.180329 0.957405 0.225514
|
||||
vn 0.760732 0.224639 0.608953
|
||||
vn -0.342905 -0.682197 0.645774
|
||||
vn 5.79237e-05 2.76056e-05 -1
|
||||
vn -3.81102e-06 -3.2864e-05 -1
|
||||
vn -3.4974e-05 -8.3553e-05 -1
|
||||
vn 7.16203e-05 0.000138931 -1
|
||||
vn 1.58313e-05 -6.20828e-06 -1
|
||||
vn -0.000495227 -0.000126386 -1
|
||||
vn 7.36886e-05 0.000153226 -1
|
||||
vn 0.00124776 -0.00174906 -0.999998
|
||||
vn 0.00110945 -0.000927281 -0.999999
|
||||
vn 0.000195874 -3.95433e-05 -1
|
||||
vn 0.00430625 -0.00209649 -0.999989
|
||||
vn 0.0030331 -0.00384581 -0.999988
|
||||
vn -0.000280376 -8.16428e-05 -1
|
||||
vn 0.000322017 0.0001511 -1
|
||||
vn -0.000512111 0.000237019 -1
|
||||
vn -0.00247326 0.00147071 -0.999996
|
||||
vn -0.00469458 0.000393563 -0.999989
|
||||
|
||||
# Mesh '<STL_BINARY>' with 300 faces
|
||||
g <STL_BINARY>
|
||||
usemtl DefaultMaterial
|
||||
f 1//1 2//1 3//1
|
||||
f 4//2 5//2 6//2
|
||||
f 7//3 8//3 9//3
|
||||
f 9//4 8//4 10//4
|
||||
f 11//5 12//5 13//5
|
||||
f 14//6 15//6 16//6
|
||||
f 17//7 16//7 18//7
|
||||
f 16//8 19//8 18//8
|
||||
f 20//9 5//9 4//9
|
||||
f 21//10 22//10 23//10
|
||||
f 23//11 24//11 21//11
|
||||
f 25//12 21//12 24//12
|
||||
f 26//13 27//13 28//13
|
||||
f 26//14 29//14 30//14
|
||||
f 11//15 31//15 32//15
|
||||
f 33//16 34//16 35//16
|
||||
f 36//17 34//17 14//17
|
||||
f 12//18 4//18 6//18
|
||||
f 37//19 9//19 20//19
|
||||
f 38//20 39//20 8//20
|
||||
f 37//21 20//21 40//21
|
||||
f 41//22 42//22 43//22
|
||||
f 11//23 44//23 4//23
|
||||
f 19//24 16//24 15//24
|
||||
f 14//25 16//25 45//25
|
||||
f 46//26 47//26 48//26
|
||||
f 13//27 49//27 50//27
|
||||
f 51//28 52//28 53//28
|
||||
f 54//29 3//29 55//29
|
||||
f 55//30 3//30 2//30
|
||||
f 44//31 56//31 4//31
|
||||
f 56//32 20//32 4//32
|
||||
f 47//33 46//33 57//33
|
||||
f 58//34 59//34 60//34
|
||||
f 58//35 61//35 62//35
|
||||
f 35//36 63//36 33//36
|
||||
f 51//37 53//37 64//37
|
||||
f 64//38 35//38 65//38
|
||||
f 64//39 65//39 51//39
|
||||
f 66//40 13//40 12//40
|
||||
f 66//41 49//41 13//41
|
||||
f 10//42 67//42 5//42
|
||||
f 1//43 3//43 68//43
|
||||
f 31//44 69//44 68//44
|
||||
f 31//45 68//45 32//45
|
||||
f 11//46 32//46 44//46
|
||||
f 12//47 11//47 4//47
|
||||
f 14//48 34//48 15//48
|
||||
f 45//49 48//49 36//49
|
||||
f 16//50 46//50 45//50
|
||||
f 40//51 20//51 56//51
|
||||
f 56//52 55//52 40//52
|
||||
f 54//53 55//53 56//53
|
||||
f 10//54 5//54 20//54
|
||||
f 41//55 70//55 42//55
|
||||
f 71//56 72//56 42//56
|
||||
f 73//57 57//57 74//57
|
||||
f 50//58 47//58 57//58
|
||||
f 75//59 76//59 73//59
|
||||
f 77//60 58//60 60//60
|
||||
f 61//61 58//61 78//61
|
||||
f 79//62 7//62 80//62
|
||||
f 7//63 30//63 80//63
|
||||
f 81//64 82//64 83//64
|
||||
f 33//65 15//65 34//65
|
||||
f 84//66 6//66 5//66
|
||||
f 85//67 86//67 84//67
|
||||
f 53//68 52//68 87//68
|
||||
f 48//69 65//69 36//69
|
||||
f 65//70 88//70 51//70
|
||||
f 12//71 6//71 66//71
|
||||
f 89//72 66//72 6//72
|
||||
f 6//73 84//73 89//73
|
||||
f 89//74 49//74 66//74
|
||||
f 38//75 90//75 91//75
|
||||
f 8//76 39//76 10//76
|
||||
f 39//77 67//77 10//77
|
||||
f 20//78 9//78 10//78
|
||||
f 54//79 56//79 44//79
|
||||
f 3//80 54//80 44//80
|
||||
f 74//81 46//81 16//81
|
||||
f 13//82 31//82 11//82
|
||||
f 90//83 92//83 93//83
|
||||
f 93//84 92//84 86//84
|
||||
f 86//85 85//85 93//85
|
||||
f 90//86 94//86 92//86
|
||||
f 95//87 63//87 96//87
|
||||
f 63//88 97//88 33//88
|
||||
f 63//89 95//89 98//89
|
||||
f 99//90 17//90 18//90
|
||||
f 100//91 17//91 101//91
|
||||
f 101//92 17//92 99//92
|
||||
f 102//93 103//93 104//93
|
||||
f 70//94 105//94 71//94
|
||||
f 106//95 107//95 108//95
|
||||
f 108//96 109//96 106//96
|
||||
f 70//97 71//97 42//97
|
||||
f 110//98 16//98 17//98
|
||||
f 74//99 110//99 73//99
|
||||
f 16//100 110//100 74//100
|
||||
f 76//101 57//101 73//101
|
||||
f 111//102 112//102 113//102
|
||||
f 105//103 73//103 114//103
|
||||
f 77//104 78//104 58//104
|
||||
f 96//105 77//105 115//105
|
||||
f 96//106 78//106 77//106
|
||||
f 95//107 96//107 115//107
|
||||
f 116//108 80//108 61//108
|
||||
f 7//109 79//109 38//109
|
||||
f 8//110 7//110 38//110
|
||||
f 28//111 29//111 26//111
|
||||
f 28//112 117//112 118//112
|
||||
f 97//113 98//113 119//113
|
||||
f 97//114 119//114 99//114
|
||||
f 97//115 99//115 18//115
|
||||
f 120//116 121//116 21//116
|
||||
f 122//117 123//117 124//117
|
||||
f 123//118 122//118 27//118
|
||||
f 63//119 35//119 64//119
|
||||
f 64//120 125//120 63//120
|
||||
f 36//121 35//121 34//121
|
||||
f 36//122 65//122 35//122
|
||||
f 52//123 89//123 87//123
|
||||
f 89//124 84//124 87//124
|
||||
f 84//125 86//125 87//125
|
||||
f 88//126 89//126 52//126
|
||||
f 51//127 88//127 52//127
|
||||
f 91//128 39//128 38//128
|
||||
f 43//129 126//129 41//129
|
||||
f 3//130 32//130 68//130
|
||||
f 44//131 32//131 3//131
|
||||
f 50//132 126//132 69//132
|
||||
f 33//133 97//133 19//133
|
||||
f 19//134 15//134 33//134
|
||||
f 45//135 36//135 14//135
|
||||
f 45//136 46//136 48//136
|
||||
f 49//137 48//137 47//137
|
||||
f 50//138 31//138 13//138
|
||||
f 86//139 92//139 53//139
|
||||
f 53//140 87//140 86//140
|
||||
f 60//141 120//141 77//141
|
||||
f 127//142 128//142 102//142
|
||||
f 129//143 72//143 111//143
|
||||
f 105//144 70//144 75//144
|
||||
f 111//145 72//145 71//145
|
||||
f 130//146 111//146 113//146
|
||||
f 129//147 127//147 104//147
|
||||
f 131//148 124//148 123//148
|
||||
f 131//149 103//149 102//149
|
||||
f 132//150 82//150 124//150
|
||||
f 133//151 109//151 108//151
|
||||
f 134//152 135//152 60//152
|
||||
f 134//153 60//153 59//153
|
||||
f 113//154 114//154 136//154
|
||||
f 113//155 112//155 114//155
|
||||
f 136//156 114//156 137//156
|
||||
f 114//157 73//157 110//157
|
||||
f 137//158 114//158 110//158
|
||||
f 105//159 75//159 73//159
|
||||
f 80//160 116//160 79//160
|
||||
f 81//161 122//161 82//161
|
||||
f 81//162 27//162 122//162
|
||||
f 134//163 138//163 81//163
|
||||
f 59//164 117//164 138//164
|
||||
f 59//165 138//165 134//165
|
||||
f 58//166 62//166 59//166
|
||||
f 117//167 27//167 138//167
|
||||
f 27//168 81//168 138//168
|
||||
f 26//169 123//169 27//169
|
||||
f 61//170 118//170 139//170
|
||||
f 29//171 28//171 118//171
|
||||
f 27//172 117//172 28//172
|
||||
f 117//173 139//173 118//173
|
||||
f 139//174 117//174 62//174
|
||||
f 140//175 121//175 135//175
|
||||
f 60//176 135//176 121//176
|
||||
f 121//177 120//177 60//177
|
||||
f 110//178 17//178 137//178
|
||||
f 136//179 137//179 141//179
|
||||
f 63//180 98//180 97//180
|
||||
f 89//181 88//181 49//181
|
||||
f 93//182 85//182 91//182
|
||||
f 93//183 91//183 90//183
|
||||
f 79//184 142//184 38//184
|
||||
f 91//185 85//185 67//185
|
||||
f 5//186 67//186 85//186
|
||||
f 85//187 84//187 5//187
|
||||
f 126//188 43//188 69//188
|
||||
f 69//189 31//189 50//189
|
||||
f 49//190 47//190 50//190
|
||||
f 53//191 143//191 125//191
|
||||
f 53//192 92//192 143//192
|
||||
f 53//193 125//193 64//193
|
||||
f 125//194 143//194 96//194
|
||||
f 96//195 63//195 125//195
|
||||
f 96//196 143//196 144//196
|
||||
f 115//197 145//197 119//197
|
||||
f 115//198 119//198 98//198
|
||||
f 145//199 101//199 119//199
|
||||
f 95//200 115//200 98//200
|
||||
f 101//201 21//201 25//201
|
||||
f 104//202 127//202 102//202
|
||||
f 112//203 111//203 71//203
|
||||
f 112//204 105//204 114//204
|
||||
f 130//205 129//205 111//205
|
||||
f 132//206 146//206 82//206
|
||||
f 102//207 132//207 131//207
|
||||
f 122//208 124//208 82//208
|
||||
f 127//209 147//209 133//209
|
||||
f 127//210 133//210 128//210
|
||||
f 108//211 107//211 146//211
|
||||
f 133//212 108//212 128//212
|
||||
f 75//213 70//213 41//213
|
||||
f 41//214 76//214 75//214
|
||||
f 113//215 136//215 148//215
|
||||
f 30//216 29//216 80//216
|
||||
f 118//217 61//217 80//217
|
||||
f 117//218 59//218 62//218
|
||||
f 97//219 18//219 19//219
|
||||
f 137//220 17//220 100//220
|
||||
f 141//221 100//221 25//221
|
||||
f 137//222 100//222 141//222
|
||||
f 149//223 148//223 141//223
|
||||
f 88//224 48//224 49//224
|
||||
f 142//225 90//225 38//225
|
||||
f 91//226 67//226 39//226
|
||||
f 150//227 116//227 61//227
|
||||
f 150//228 61//228 78//228
|
||||
f 94//229 90//229 142//229
|
||||
f 143//230 94//230 144//230
|
||||
f 116//231 150//231 142//231
|
||||
f 142//232 150//232 94//232
|
||||
f 145//233 21//233 101//233
|
||||
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2115
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Normal file
2115
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Normal file
File diff suppressed because it is too large
Load Diff
2115
urdf/meshes/panda/collision/link5.obj
Normal file
2115
urdf/meshes/panda/collision/link5.obj
Normal file
File diff suppressed because it is too large
Load Diff
177
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Normal file
177
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Normal file
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4916
urdf/meshes/panda/collision/link6.obj
Normal file
4916
urdf/meshes/panda/collision/link6.obj
Normal file
File diff suppressed because it is too large
Load Diff
1415
urdf/meshes/panda/collision/link7.obj
Normal file
1415
urdf/meshes/panda/collision/link7.obj
Normal file
File diff suppressed because it is too large
Load Diff
411
urdf/meshes/panda/finger-high-quality.obj
Normal file
411
urdf/meshes/panda/finger-high-quality.obj
Normal file
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411
urdf/meshes/panda/finger.obj
Normal file
411
urdf/meshes/panda/finger.obj
Normal file
@ -0,0 +1,411 @@
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Normal file
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Normal file
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Load Diff
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Normal file
38512
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Normal file
File diff suppressed because it is too large
Load Diff
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Normal file
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Normal file
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Normal file
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Normal file
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Load Diff
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Normal file
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Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd colors.png
|
||||
|
||||
newmtl Shell002_002_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell003_002_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell004_001_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell005_001_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell006_003_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.901961 0.921569 0.929412
|
||||
Ks 0.015625 0.015625 0.015625
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell007_002_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250000 0.250000 0.250000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell011_002_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Shell012_002_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 1.000000 1.000000 1.000000
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd colors.png
|
||||
|
||||
newmtl Shell_003_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.250980 0.250980 0.250980
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
map_Kd colors.png
|
||||
|
||||
newmtl Union001_001_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039216 0.541176 0.780392
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
|
||||
newmtl Union_001_001_002_001.001
|
||||
Ns -1.960784
|
||||
Ka 1.000000 1.000000 1.000000
|
||||
Kd 0.039216 0.541176 0.780392
|
||||
Ks 0.003906 0.003906 0.003906
|
||||
Ke 0.000000 0.000000 0.000000
|
||||
Ni 1.000000
|
||||
d 1.000000
|
||||
illum 2
|
||||
68900
urdf/meshes/panda/visual/link6.obj
Normal file
68900
urdf/meshes/panda/visual/link6.obj
Normal file
File diff suppressed because it is too large
Load Diff
Binary file not shown.
Binary file not shown.
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BIN
urdf/meshes/robotiq_140/collision/robotiq_arg2f_base_link.stl
Normal file
BIN
urdf/meshes/robotiq_140/collision/robotiq_arg2f_base_link.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_140/collision/robotiq_arg2f_coupling.stl
Normal file
BIN
urdf/meshes/robotiq_140/collision/robotiq_arg2f_coupling.stl
Normal file
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
BIN
urdf/meshes/robotiq_140/visual/robotiq_arg2f_base_link.stl
Normal file
BIN
urdf/meshes/robotiq_140/visual/robotiq_arg2f_base_link.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_140/visual/robotiq_arg2f_coupling.stl
Normal file
BIN
urdf/meshes/robotiq_140/visual/robotiq_arg2f_coupling.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/base.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/base.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/forearm.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/forearm.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/robotiq_arg2f_85_base_link.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/robotiq_arg2f_85_base_link.stl
Normal file
Binary file not shown.
File diff suppressed because one or more lines are too long
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
File diff suppressed because it is too large
Load Diff
BIN
urdf/meshes/robotiq_85/collision/robotiq_arg2f_base_link.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/robotiq_arg2f_base_link.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/shoulder.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/shoulder.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/upperarm.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/upperarm.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/wrist1.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/wrist1.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/wrist2.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/wrist2.stl
Normal file
Binary file not shown.
BIN
urdf/meshes/robotiq_85/collision/wrist3.stl
Normal file
BIN
urdf/meshes/robotiq_85/collision/wrist3.stl
Normal file
Binary file not shown.
172
urdf/meshes/robotiq_85/visual/base.dae
Normal file
172
urdf/meshes/robotiq_85/visual/base.dae
Normal file
File diff suppressed because one or more lines are too long
445
urdf/meshes/robotiq_85/visual/forearm.dae
Normal file
445
urdf/meshes/robotiq_85/visual/forearm.dae
Normal file
File diff suppressed because one or more lines are too long
346
urdf/meshes/robotiq_85/visual/robotiq_arg2f_85_base_link.dae
Normal file
346
urdf/meshes/robotiq_85/visual/robotiq_arg2f_85_base_link.dae
Normal file
File diff suppressed because one or more lines are too long
File diff suppressed because one or more lines are too long
Some files were not shown because too many files have changed in this diff Show More
Loading…
Reference in New Issue
Block a user