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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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.gitignore
View file @ 849853e9
...@@ -76,3 +76,5 @@ etc/python/dist/* ...@@ -76,3 +76,5 @@ etc/python/dist/*
data/RobotAPI/ArVizStorage/ data/RobotAPI/ArVizStorage/
.vscode/ .vscode/
.clang-format
.clang-tidy
.gitlab-ci.yml 0 → 100644
View file @ 849853e9
stages:
- build-and-test
- deploy
- post-deploy-test
.build-and-test:
cache:
# https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
key: one-key-to-rule-them-all
paths:
- .apt
- .ccache
before_script:
# Apt cache configuration.
- rm -rf /var/cache/apt/archives || true
- rm -f /etc/apt/apt.conf.d/docker-clean # Remove docker-clean script to avoid cache deletion.
- mkdir .apt || true
- ln -s "$CI_PROJECT_DIR/.apt" /var/cache/apt/archives
# Update apt info.
- apt-get update
# Ccache configuration and introspection.
- apt-get install ccache --yes
- ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
- ccache --max-size=20G
- ccache --show-stats
# Activate Axii.
- source /axii/scripts/install_axii.sh
- _axii_auto_env_refresh
script:
- echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
# Use workspace configuration from project.
- cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
- cat "$ARMARX_WORKSPACE/armarx-workspace.json"
- axii workspace env
- _axii_auto_env_refresh
- echo "Workspace information:"
- axii workspace list-modules
- axii workspace list-modules --deps
- axii workspace info
- export PROJECT_MODULE="armarx/RobotAPI"
- export PROJECT_PATH_IN_WORKSPACE="$armarx__RobotAPI__PATH"
# Symlink project directory into Axii workspace.
- mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
- ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
# Fix "CMake Error in CMakeLists.txt: Imported target "VirtualRobot" includes non-existent path "/usr/lib/include"
# (caused by at least dmp)
- mkdir -p /usr/lib/include
# Upgrade.
- axii workspace system --accept-apt-install
- axii workspace update --prefer-https
- axii workspace upgrade -m "$PROJECT_MODULE"
- ccache --show-stats
# Test.
# ToDo: Add and use `axii ws test -m "$PROJECT_MODULE"`
- cd "$PROJECT_PATH_IN_WORKSPACE/build"
- ctest --output-on-failure --output-junit "$CI_PROJECT_DIR/report.xml" .
artifacts:
reports:
junit: report.xml
build-and-test-bionic:
stage: build-and-test
extends: .build-and-test
image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-bionic
build-and-test-jammy:
stage: build-and-test
extends: .build-and-test
image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-jammy
docker-bionic:
stage: deploy
needs: ["build-and-test-bionic"]
image:
name: gcr.io/kaniko-project/executor:v1.9.0-debug
entrypoint: [""]
script:
- /kaniko/executor
--context "${CI_PROJECT_DIR}"
--dockerfile "${CI_PROJECT_DIR}/docker/bionic"
--destination "${CI_REGISTRY_IMAGE}:latest-bionic"
rules:
- if: $CI_COMMIT_BRANCH == "master"
docker-jammy:
stage: deploy
needs: ["build-and-test-jammy"]
image:
name: gcr.io/kaniko-project/executor:v1.9.0-debug
entrypoint: [""]
script:
- /kaniko/executor
--context "${CI_PROJECT_DIR}"
--dockerfile "${CI_PROJECT_DIR}/docker/jammy"
--destination "${CI_REGISTRY_IMAGE}:latest-jammy"
rules:
- if: $CI_COMMIT_BRANCH == "master"
.test-docker-image-common:
before_script:
- source /axii/scripts/install_axii.sh
- _axii_auto_env_refresh
script:
- echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
- printenv
- axii workspace list-modules
- axii workspace list-modules --deps
- axii workspace info
- echo "RobotAPI directory = '$RobotAPI_DIR'"
- which armarx
- which armarx-package
- armarx switch docker_test --ice-host 127.0.0.1 --ice-port 10000 --ice-default-host 127.0.0.1 --mongo-host 127.0.0.1 --mongo-port 10001
- armarx profile
- armarx status || true
- cd $ArmarXGui_DIR
- ctest --output-on-failure .
test-docker-image-bionic:
stage: post-deploy-test
needs: ["docker-bionic"]
extends: .test-docker-image-common
image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-bionic
rules:
- if: $CI_COMMIT_BRANCH == "master"
test-docker-image-jammy:
stage: post-deploy-test
needs: ["docker-jammy"]
extends: .test-docker-image-common
image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-jammy
rules:
- if: $CI_COMMIT_BRANCH == "master"
.gitlab/CODEOWNERS
View file @ 849853e9
# ARON # ARON
##########################
/source/RobotAPI/libraries/aron/ @fratty @dreher /source/RobotAPI/libraries/aron/ @plewnia @hyseni
/source/RobotAPI/interface/aron/ @fratty @dreher /source/RobotAPI/interface/aron/ @plewnia @hyseni
/source/RobotAPI/interface/aron.ice @fratty @dreher /source/RobotAPI/interface/aron.ice @plewnia @hyseni @dreher
# ArMem # ArMem
/source/RobotAPI/components/armem/ @fratty @RainerKartmann @dreher ##########################
/source/RobotAPI/libraries/armem/ @fratty @RainerKartmann @dreher /source/RobotAPI/components/armem/ @plewnia
/source/RobotAPI/libraries/armem_robot_localization/ @FabianReister /source/RobotAPI/libraries/armem/ @plewnia
/source/RobotAPI/libraries/armem_robot_mapping/ @FabianReister
/source/RobotAPI/interface/armem/ @fratty @RainerKartmann @dreher /source/RobotAPI/interface/armem/ @plewnia
/source/RobotAPI/interface/armem.ice @fratty @RainerKartmann @dreher /source/RobotAPI/interface/armem.ice @plewnia @dreher
# ArMem client / helper libraries
##########################
/source/RobotAPI/libraries/armem_grasping/ @hyseni @reister
/source/RobotAPI/libraries/armem_gui/ @plewnia
/source/RobotAPI/libraries/armem_index/ @plewnia
/source/RobotAPI/libraries/armem_laser_scans/ @reister
/source/RobotAPI/libraries/armem_locations/ @plewnia
# /source/RobotAPI/libraries/armem_motions/
# /source/RobotAPI/libraries/armem_mps/
/source/RobotAPI/libraries/armem_objects/ @reister
# /source/RobotAPI/libraries/armem_reasoning/
/source/RobotAPI/libraries/armem_robot_state/ @reister
# /source/RobotAPI/libraries/armem_skills see below
# /source/RobotAPI/libraries/armem_system_state/
# /source/RobotAPI/libraries/armem_vision/
# Skill framework
##########################
/source/RobotAPI/interface/skills @meixner @rietsch
/source/RobotAPI/libraries/skills @meixner @rietsch
/source/RobotAPI/libraries/armem_skills @meixner @rietsch
# ArViz
##########################
/source/RobotAPI/components/ArViz @daab @meixner
# Others
##########################
/source/RobotAPI/libraries/ArmarXObjects @reister
/source/RobotAPI/libraries/diffik @meixner
/source/RobotAPI/libraries/natik @meixner
.gitlab/ci/armarx-workspace.json 0 → 100644
View file @ 849853e9
{
"modules": {
"tools/ccache/default": {},
"armarx/RobotAPI": {}
},
"global": {
"prepare": {
"cmake": {
"definitions": {
"CMAKE_BUILD_TYPE": "RelWithDebInfo",
"CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
"CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
}
}
}
}
}
CMakeLists.txt
View file @ 849853e9
...@@ -20,6 +20,7 @@ depends_on_armarx_package(ArmarXGui) ...@@ -20,6 +20,7 @@ depends_on_armarx_package(ArmarXGui)
find_package(DMP QUIET) find_package(DMP QUIET)
find_package(OpenCV QUIET) find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET) find_package(IVT COMPONENTS ivt ivtopencv QUIET)
find_package(manif QUIET)
add_subdirectory(source) add_subdirectory(source)
......
README.md
View file @ 849853e9
# RobotAPI
[Online Documentation](https://armarx.humanoids.kit.edu/d4/da3/RobotAPI-Overview.html),
in particular on
[ARON ("ArmarX Object Notation") / IDF (Interpretable Data Format)](https://armarx.humanoids.kit.edu/d9/d51/aron.html)
and
[ArMem ("ArmarX Memory Framework")](https://armarx.humanoids.kit.edu/d5/d6e/memory_system.html)
\ No newline at end of file
README.txt deleted 100644 → 0
View file @ cec653e7
Stub to make the package tool work.
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
View file @ 849853e9
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
</Transform> </Transform>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head_base.iv</File> <File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -17,7 +17,7 @@ ...@@ -17,7 +17,7 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/head_base.iv</File> <File type="Inventor">convexModel/head_base.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Neck_1_Pitch"/> <Child name="Neck_1_Pitch"/>
...@@ -40,7 +40,7 @@ ...@@ -40,7 +40,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File> <File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -50,7 +50,7 @@ ...@@ -50,7 +50,7 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/neck_pitch_link.iv</File> <File type="Inventor">convexModel/neck_pitch_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Neck_2_Roll"/> <Child name="Neck_2_Roll"/>
...@@ -71,7 +71,7 @@ ...@@ -71,7 +71,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File> <File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -82,7 +82,7 @@ ...@@ -82,7 +82,7 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/neck_roll_link.iv</File> <File type="Inventor">convexModel/neck_roll_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Neck_3_Yaw"/> <Child name="Neck_3_Yaw"/>
...@@ -103,7 +103,7 @@ ...@@ -103,7 +103,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File> <File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -112,8 +112,17 @@ ...@@ -112,8 +112,17 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.iv</File> <File type="Inventor">convexModel/neck_yaw_link.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Sphere radius="140">
<Transform>
<Translation x="40" y="0" z="180" />
</Transform>
</Sphere>
</Primitives>
</PrimitiveModel>
<Child name="Head_Tilt"/> <Child name="Head_Tilt"/>
</RobotNode> </RobotNode>
...@@ -140,11 +149,11 @@ ...@@ -140,11 +149,11 @@
</Physics> </Physics>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head.iv</File> <File type="Inventor">fullmodel/head.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/head.iv</File> <File type="Inventor">convexModel/head.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Head Center1"/> <Child name="Head Center1"/>
...@@ -179,7 +188,7 @@ ...@@ -179,7 +188,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/jaw.iv</File> <File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -306,7 +315,7 @@ ...@@ -306,7 +315,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File> <File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization> </Visualization>
...@@ -335,7 +344,7 @@ ...@@ -335,7 +344,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File> <File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
...@@ -395,7 +404,7 @@ ...@@ -395,7 +404,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File> <File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -404,7 +413,7 @@ ...@@ -404,7 +413,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File> <File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -439,7 +448,7 @@ ...@@ -439,7 +448,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File> <File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -451,7 +460,7 @@ ...@@ -451,7 +460,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File> <File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
View file @ 849853e9
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
</Joint> </Joint>
<Child name="Neck_1_Pitch"/> <Child name="Neck_1_Pitch"/>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head_base.iv</File> <File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -19,7 +19,7 @@ ...@@ -19,7 +19,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File> <File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization> </Visualization>
<Child name="Neck_2_Roll"/> <Child name="Neck_2_Roll"/>
</RobotNode> </RobotNode>
...@@ -30,7 +30,7 @@ ...@@ -30,7 +30,7 @@
<Limits unit="degree" lo="-45" hi="45"/> <Limits unit="degree" lo="-45" hi="45"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File> <File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization> </Visualization>
<Child name="Neck_3_Yaw"/> <Child name="Neck_3_Yaw"/>
</RobotNode> </RobotNode>
...@@ -41,7 +41,7 @@ ...@@ -41,7 +41,7 @@
<Limits unit="degree" lo="-45" hi="45"/> <Limits unit="degree" lo="-45" hi="45"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File> <File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization> </Visualization>
<Child name="Head_Tilt"/> <Child name="Head_Tilt"/>
</RobotNode> </RobotNode>
...@@ -56,10 +56,10 @@ ...@@ -56,10 +56,10 @@
<Mass value="6.79877000" units="kg" /> <Mass value="6.79877000" units="kg" />
</Physics> </Physics>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head.iv</File> <File type="Inventor">fullmodel/head.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/head.iv</File> <File type="Inventor">collisionModel/head.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Head Center"/> <Child name="Head Center"/>
</RobotNode> </RobotNode>
...@@ -78,7 +78,7 @@ ...@@ -78,7 +78,7 @@
<Limits unit="degree" lo="-30" hi="30"/> <Limits unit="degree" lo="-30" hi="30"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/jaw.iv</File> <File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -122,7 +122,7 @@ ...@@ -122,7 +122,7 @@
<Limits unit="degree" lo="-30" hi="30"/> <Limits unit="degree" lo="-30" hi="30"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File> <File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization> </Visualization>
<Child name="Lid Left Bottom"/> <Child name="Lid Left Bottom"/>
<Child name="Lid Left Top"/> <Child name="Lid Left Top"/>
...@@ -135,7 +135,7 @@ ...@@ -135,7 +135,7 @@
<Limits unit="degree" lo="-30" hi="30"/> <Limits unit="degree" lo="-30" hi="30"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File> <File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization> </Visualization>
<Child name="Lid Right Bottom"/> <Child name="Lid Right Bottom"/>
<Child name="Lid Right Top"/> <Child name="Lid Right Top"/>
...@@ -158,7 +158,7 @@ ...@@ -158,7 +158,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File> <File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -167,7 +167,7 @@ ...@@ -167,7 +167,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File> <File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -187,7 +187,7 @@ ...@@ -187,7 +187,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File> <File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -196,7 +196,7 @@ ...@@ -196,7 +196,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File> <File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
View file @ 849853e9
...@@ -28,11 +28,21 @@ ...@@ -28,11 +28,21 @@
<Mass value="3.65" units="kg" /> <Mass value="3.65" units="kg" />
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/shoulder_l.iv</File> <File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder_l.iv</File> <File type="Inventor">convexModel/shoulder_l.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="80" radius="120">
<Transform>
<Translation x="0" y="0" z="-90" />
<rpy roll="90" pitch="0" yaw="00" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Shoulder 2 L"/> <Child name="Shoulder 2 L"/>
</RobotNode> </RobotNode>
...@@ -55,11 +65,20 @@ ...@@ -55,11 +65,20 @@
<Mass value="2.5" units="kg" /> <Mass value="2.5" units="kg" />
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder2_l_rot.iv</File> <File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm L"/> <Child name="Upperarm L"/>
</RobotNode> </RobotNode>
...@@ -83,10 +102,10 @@ ...@@ -83,10 +102,10 @@
<IgnoreCollision name="Shoulder 1 L"/> <IgnoreCollision name="Shoulder 1 L"/>
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_l.iv</File> <File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/upperarm_l.iv</File> <File type="Inventor">convexModel/upperarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow L"/> <Child name="Elbow L"/>
</RobotNode> </RobotNode>
...@@ -106,10 +125,10 @@ ...@@ -106,10 +125,10 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File> <File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/elbow_l.iv</File> <File type="Inventor">convexModel/elbow_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
...@@ -133,11 +152,21 @@ ...@@ -133,11 +152,21 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/underarm_l.iv</File> <File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/underarm_l.iv</File> <File type="Inventor">convexModel/underarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="240" radius="50">
<Transform>
<Translation x="0" y="0" z="-110" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Physics> <Physics>
<CoM location="VisualizationBBoxCenter"/> <CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" /> <Mass value="2.26566087" units="kg" />
...@@ -164,10 +193,10 @@ ...@@ -164,10 +193,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File> <File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/wrist1_l.iv</File> <File type="Inventor">convexModel/wrist1_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 2 L"/> <Child name="Wrist 2 L"/>
</RobotNode> </RobotNode>
...@@ -188,11 +217,11 @@ ...@@ -188,11 +217,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File> <File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization> </Visualization>
<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model--> <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">convexModel/wrist2_l.iv</File> <File type="Inventor">convexModel/wrist2_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
View file @ 849853e9
...@@ -23,10 +23,10 @@ ...@@ -23,10 +23,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_l.iv</File> <File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/shoulder_l.iv</File> <File type="Inventor">collisionModel/shoulder_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Shoulder 2 L"/> <Child name="Shoulder 2 L"/>
</RobotNode> </RobotNode>
...@@ -42,7 +42,7 @@ ...@@ -42,7 +42,7 @@
</Physics--> </Physics-->
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization> </Visualization>
<Child name="Upperarm L"/> <Child name="Upperarm L"/>
</RobotNode> </RobotNode>
...@@ -58,10 +58,10 @@ ...@@ -58,10 +58,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_l.iv</File> <File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/upperarm_l.iv</File> <File type="Inventor">collisionModel/upperarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow L"/> <Child name="Elbow L"/>
</RobotNode> </RobotNode>
...@@ -73,15 +73,15 @@ ...@@ -73,15 +73,15 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File> <File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization> </Visualization>
<!--Physics> <!--Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
<Mass value="1.15744000" units="kg" /> <Mass value="1.15744000" units="kg" />
</Physics--> </Physics-->
<!-- TODO elbow_l.iv does not exist (currently not needed)--> <!-- TODO elbow_l.wrl does not exist (currently not needed)-->
<!--<CollisionModel>--> <!--<CollisionModel>-->
<!--<File type="Inventor">collisionModel/elbow_l.iv</File>--> <!--<File type="Inventor">collisionModel/elbow_l.wrl</File>-->
<!--</CollisionModel>--> <!--</CollisionModel>-->
<Child name="Underarm L"/> <Child name="Underarm L"/>
</RobotNode> </RobotNode>
...@@ -98,10 +98,10 @@ ...@@ -98,10 +98,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_l.iv</File> <File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/underarm_l.iv</File> <File type="Inventor">collisionModel/underarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 1 L"/> <Child name="Wrist 1 L"/>
</RobotNode> </RobotNode>
...@@ -117,10 +117,10 @@ ...@@ -117,10 +117,10 @@
</Physics--> </Physics-->
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File> <File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization> </Visualization>
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File> <File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel--> </CollisionModel-->
<Child name="Wrist 2 L"/> <Child name="Wrist 2 L"/>
</RobotNode> </RobotNode>
...@@ -136,10 +136,10 @@ ...@@ -136,10 +136,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File> <File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization> </Visualization>
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File> <File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel--> </CollisionModel-->
<ChildFromRobot> <ChildFromRobot>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
View file @ 849853e9
...@@ -45,11 +45,11 @@ ...@@ -45,11 +45,11 @@
</Transform> </Transform>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File> <File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/palm1_l.iv</File> <File type="Inventor">convexModel/palm1_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -74,11 +74,11 @@ ...@@ -74,11 +74,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File> <File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/palm2_l.iv</File> <File type="Inventor">convexModel/palm2_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -109,11 +109,11 @@ ...@@ -109,11 +109,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File> <File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/thumb_l1.iv</File> <File type="Inventor">convexModel/thumb_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -137,11 +137,11 @@ ...@@ -137,11 +137,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File> <File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/thumb_l2.iv</File> <File type="Inventor">convexModel/thumb_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -168,11 +168,11 @@ ...@@ -168,11 +168,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File> <File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/pinky_l1.iv</File> <File type="Inventor">convexModel/pinky_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -196,11 +196,11 @@ ...@@ -196,11 +196,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l2.iv</File> <File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/pinky_l2.iv</File> <File type="Inventor">convexModel/pinky_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -227,11 +227,11 @@ ...@@ -227,11 +227,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File> <File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/ring_l1.iv</File> <File type="Inventor">convexModel/ring_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -255,11 +255,11 @@ ...@@ -255,11 +255,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File> <File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/ring_l2.iv</File> <File type="Inventor">convexModel/ring_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -286,11 +286,11 @@ ...@@ -286,11 +286,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File> <File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/middle_l1.iv</File> <File type="Inventor">convexModel/middle_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -314,11 +314,11 @@ ...@@ -314,11 +314,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File> <File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/middle_l2.iv</File> <File type="Inventor">convexModel/middle_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -345,11 +345,11 @@ ...@@ -345,11 +345,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File> <File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/index_l1.iv</File> <File type="Inventor">convexModel/index_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -373,11 +373,11 @@ ...@@ -373,11 +373,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File> <File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/index_l2.iv</File> <File type="Inventor">convexModel/index_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
View file @ 849853e9
...@@ -39,11 +39,11 @@ ...@@ -39,11 +39,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File> <File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/palm1_l.iv</File> <File type="Inventor">collisionModel/palm1_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -67,11 +67,11 @@ ...@@ -67,11 +67,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File> <File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/palm2_l.iv</File> <File type="Inventor">collisionModel/palm2_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -109,11 +109,11 @@ ...@@ -109,11 +109,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File> <File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/thumb_l1.iv</File> <File type="Inventor">collisionModel/thumb_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -136,11 +136,11 @@ ...@@ -136,11 +136,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File> <File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/thumb_l2.iv</File> <File type="Inventor">collisionModel/thumb_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -173,11 +173,11 @@ ...@@ -173,11 +173,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File> <File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/pinky_l1.iv</File> <File type="Inventor">collisionModel/pinky_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -201,11 +201,11 @@ ...@@ -201,11 +201,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/pinky_l2.iv</File> <File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/pinky_l2.iv</File> <File type="Inventor">collisionModel/pinky_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -238,11 +238,11 @@ ...@@ -238,11 +238,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File> <File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/ring_l1.iv</File> <File type="Inventor">collisionModel/ring_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -265,11 +265,11 @@ ...@@ -265,11 +265,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File> <File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/ring_l2.iv</File> <File type="Inventor">collisionModel/ring_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -302,11 +302,11 @@ ...@@ -302,11 +302,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File> <File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/middle_l1.iv</File> <File type="Inventor">collisionModel/middle_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -329,11 +329,11 @@ ...@@ -329,11 +329,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File> <File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/middle_l2.iv</File> <File type="Inventor">collisionModel/middle_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -366,11 +366,11 @@ ...@@ -366,11 +366,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File> <File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/index_l1.iv</File> <File type="Inventor">collisionModel/index_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -393,11 +393,11 @@ ...@@ -393,11 +393,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File> <File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/index_l2.iv</File> <File type="Inventor">collisionModel/index_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
View file @ 849853e9
...@@ -82,10 +82,10 @@ ...@@ -82,10 +82,10 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File> <File type="Inventor">fullmodel/platform.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/platform.iv</File> <File type="Inventor">collisionModel/platform.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Pitch"/> <Child name="Hip Pitch"/>
...@@ -105,7 +105,7 @@ ...@@ -105,7 +105,7 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File> <File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization> </Visualization>
<Child name="Hip Roll"/> <Child name="Hip Roll"/>
</RobotNode> </RobotNode>
...@@ -120,7 +120,7 @@ ...@@ -120,7 +120,7 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File> <File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization> </Visualization>
<Child name="Hip Yaw"/> <Child name="Hip Yaw"/>
</RobotNode> </RobotNode>
...@@ -135,10 +135,10 @@ ...@@ -135,10 +135,10 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File> <File type="Inventor">fullmodel/torso.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/torso.iv</File> <File type="Inventor">collisionModel/torso.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Center of Arms"/> <Child name="Center of Arms"/>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
View file @ 849853e9
...@@ -29,11 +29,21 @@ ...@@ -29,11 +29,21 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/> <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/shoulder_r.iv</File> <File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder_r.iv</File> <File type="Inventor">convexModel/shoulder_r.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="80" radius="120">
<Transform>
<Translation x="0" y="0" z="90" />
<rpy roll="90" pitch="0" yaw="00" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Shoulder 2 R"/> <Child name="Shoulder 2 R"/>
</RobotNode> </RobotNode>
...@@ -54,11 +64,20 @@ ...@@ -54,11 +64,20 @@
<Mass value="2.5" units="kg" /> <Mass value="2.5" units="kg" />
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder2_r_rot.iv</File> <File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm R"/> <Child name="Upperarm R"/>
</RobotNode> </RobotNode>
...@@ -80,10 +99,10 @@ ...@@ -80,10 +99,10 @@
<IgnoreCollision name="Shoulder 1 R"/> <IgnoreCollision name="Shoulder 1 R"/>
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_r.iv</File> <File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/upperarm_r.iv</File> <File type="Inventor">convexModel/upperarm_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow R"/> <Child name="Elbow R"/>
</RobotNode> </RobotNode>
...@@ -102,10 +121,10 @@ ...@@ -102,10 +121,10 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/> <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/elbow_r.iv</File> <File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/elbow_r.iv</File> <File type="Inventor">convexModel/elbow_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
...@@ -128,11 +147,21 @@ ...@@ -128,11 +147,21 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/underarm_r.iv</File> <File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/underarm_r.iv</File> <File type="Inventor">convexModel/underarm_r.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="240" radius="50">
<Transform>
<Translation x="0" y="0" z="-110" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Physics> <Physics>
<CoM location="VisualizationBBoxCenter"/> <CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" /> <Mass value="2.26566087" units="kg" />
...@@ -158,10 +187,10 @@ ...@@ -158,10 +187,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/> <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist1_r.iv</File> <File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/wrist1_r.iv</File> <File type="Inventor">convexModel/wrist1_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 2 R"/> <Child name="Wrist 2 R"/>
</RobotNode> </RobotNode>
...@@ -181,11 +210,11 @@ ...@@ -181,11 +210,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/> <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist2_r.iv</File> <File type="Inventor">fullmodel/wrist2_r.wrl</File>
</Visualization> </Visualization>
<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model--> <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">convexModel/wrist2_r.iv</File> <File type="Inventor">convexModel/wrist2_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
View file @ 849853e9
...@@ -23,10 +23,10 @@ ...@@ -23,10 +23,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_r.iv</File> <File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/shoulder_r.iv</File> <File type="Inventor">collisionModel/shoulder_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Shoulder 2 R"/> <Child name="Shoulder 2 R"/>
</RobotNode> </RobotNode>
...@@ -38,7 +38,7 @@ ...@@ -38,7 +38,7 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization> </Visualization>
<Child name="Upperarm R"/> <Child name="Upperarm R"/>
</RobotNode> </RobotNode>
...@@ -54,10 +54,10 @@ ...@@ -54,10 +54,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_r.iv</File> <File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/upperarm_r.iv</File> <File type="Inventor">collisionModel/upperarm_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow R"/> <Child name="Elbow R"/>
</RobotNode> </RobotNode>
...@@ -69,7 +69,7 @@ ...@@ -69,7 +69,7 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_r.iv</File> <File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization> </Visualization>
<!--Physics> <!--Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
...@@ -85,14 +85,14 @@ ...@@ -85,14 +85,14 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_r.iv</File> <File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<CoM location="VisualizationBBoxCenter"/> <CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" /> <Mass value="2.26566087" units="kg" />
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/underarm_r.iv</File> <File type="Inventor">collisionModel/underarm_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 1 R"/> <Child name="Wrist 1 R"/>
</RobotNode> </RobotNode>
...@@ -105,10 +105,10 @@ ...@@ -105,10 +105,10 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_r.iv</File> <File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization> </Visualization>
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File> <File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel--> </CollisionModel-->
<Child name="Wrist 2 R"/> <Child name="Wrist 2 R"/>
</RobotNode> </RobotNode>
...@@ -124,10 +124,10 @@ ...@@ -124,10 +124,10 @@
</Physics--> </Physics-->
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_r.iv</File> <File type="Inventor">fullmodel/wrist2_r.wrl</File>
</Visualization> </Visualization>
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File> <File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel--> </CollisionModel-->
<Physics> <Physics>
<CoM location="VisualizationBBoxCenter"/> <CoM location="VisualizationBBoxCenter"/>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
View file @ 849853e9
...@@ -49,11 +49,11 @@ ...@@ -49,11 +49,11 @@
</Transform> </Transform>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm1_r.iv</File> <File type="Inventor">fullmodel/palm1_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/palm1_r.iv</File> <File type="Inventor">convexModel/palm1_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -78,11 +78,11 @@ ...@@ -78,11 +78,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm2_r.iv</File> <File type="Inventor">fullmodel/palm2_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/palm2_r.iv</File> <File type="Inventor">convexModel/palm2_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -113,11 +113,11 @@ ...@@ -113,11 +113,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r1.iv</File> <File type="Inventor">fullmodel/thumb_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/thumb_r1.iv</File> <File type="Inventor">convexModel/thumb_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -141,11 +141,11 @@ ...@@ -141,11 +141,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r2.iv</File> <File type="Inventor">fullmodel/thumb_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/thumb_r2.iv</File> <File type="Inventor">convexModel/thumb_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -182,11 +182,11 @@ ...@@ -182,11 +182,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r1.iv</File> <File type="Inventor">fullmodel/pinky_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/pinky_r1.iv</File> <File type="Inventor">convexModel/pinky_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -210,11 +210,11 @@ ...@@ -210,11 +210,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r2.iv</File> <File type="Inventor">fullmodel/pinky_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/pinky_r2.iv</File> <File type="Inventor">convexModel/pinky_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -242,11 +242,11 @@ ...@@ -242,11 +242,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_r1.iv</File> <File type="Inventor">fullmodel/ring_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/ring_r1.iv</File> <File type="Inventor">convexModel/ring_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -270,11 +270,11 @@ ...@@ -270,11 +270,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_r2.iv</File> <File type="Inventor">fullmodel/ring_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/ring_r2.iv</File> <File type="Inventor">convexModel/ring_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -301,11 +301,11 @@ ...@@ -301,11 +301,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_r1.iv</File> <File type="Inventor">fullmodel/middle_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/middle_r1.iv</File> <File type="Inventor">convexModel/middle_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -329,11 +329,11 @@ ...@@ -329,11 +329,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_r2.iv</File> <File type="Inventor">fullmodel/middle_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/middle_r2.iv</File> <File type="Inventor">convexModel/middle_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -370,11 +370,11 @@ ...@@ -370,11 +370,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_r1.iv</File> <File type="Inventor">fullmodel/index_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/index_r1.iv</File> <File type="Inventor">convexModel/index_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -398,11 +398,11 @@ ...@@ -398,11 +398,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_r2.iv</File> <File type="Inventor">fullmodel/index_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/index_r2.iv</File> <File type="Inventor">convexModel/index_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
View file @ 849853e9
...@@ -40,11 +40,11 @@ ...@@ -40,11 +40,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm1_r.iv</File> <File type="Inventor">fullmodel/palm1_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/palm1_r.iv</File> <File type="Inventor">collisionModel/palm1_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
<Mass value="800" unit="g"/> <Mass value="800" unit="g"/>
...@@ -66,11 +66,11 @@ ...@@ -66,11 +66,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm2_r.iv</File> <File type="Inventor">fullmodel/palm2_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/palm2_r.iv</File> <File type="Inventor">collisionModel/palm2_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
<Mass value="800" unit="g"/> <Mass value="800" unit="g"/>
...@@ -101,11 +101,11 @@ ...@@ -101,11 +101,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/thumb_r1.iv</File> <File type="Inventor">fullmodel/thumb_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/thumb_r1.iv</File> <File type="Inventor">collisionModel/thumb_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -128,11 +128,11 @@ ...@@ -128,11 +128,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r2.iv</File> <File type="Inventor">fullmodel/thumb_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/thumb_r2.iv</File> <File type="Inventor">collisionModel/thumb_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -160,11 +160,11 @@ ...@@ -160,11 +160,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r1.iv</File> <File type="Inventor">fullmodel/pinky_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/pinky_r1.iv</File> <File type="Inventor">collisionModel/pinky_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -187,11 +187,11 @@ ...@@ -187,11 +187,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r2.iv</File> <File type="Inventor">fullmodel/pinky_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/pinky_r2.iv</File> <File type="Inventor">collisionModel/pinky_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -219,11 +219,11 @@ ...@@ -219,11 +219,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_r1.iv</File> <File type="Inventor">fullmodel/ring_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/ring_r1.iv</File> <File type="Inventor">collisionModel/ring_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -246,11 +246,11 @@ ...@@ -246,11 +246,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_r2.iv</File> <File type="Inventor">fullmodel/ring_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/ring_r2.iv</File> <File type="Inventor">collisionModel/ring_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -278,11 +278,11 @@ ...@@ -278,11 +278,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_r1.iv</File> <File type="Inventor">fullmodel/middle_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/middle_r1.iv</File> <File type="Inventor">collisionModel/middle_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -305,11 +305,11 @@ ...@@ -305,11 +305,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_r2.iv</File> <File type="Inventor">fullmodel/middle_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/middle_r2.iv</File> <File type="Inventor">collisionModel/middle_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -337,11 +337,11 @@ ...@@ -337,11 +337,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_r1.iv</File> <File type="Inventor">fullmodel/index_r1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/index_r1.iv</File> <File type="Inventor">collisionModel/index_r1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -365,11 +365,11 @@ ...@@ -365,11 +365,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/index_r2.iv</File> <File type="Inventor">fullmodel/index_r2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/index_r2.iv</File> <File type="Inventor">collisionModel/index_r2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
View file @ 849853e9
...@@ -68,14 +68,14 @@ ...@@ -68,14 +68,14 @@
<Joint type="fixed"/> <Joint type="fixed"/>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File> <File type="Inventor">fullmodel/platform.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<CoM location="Joint" x="0" y="0" z="200"/> <CoM location="Joint" x="0" y="0" z="200"/>
<Mass value="100" units="kg" /> <Mass value="100" units="kg" />
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/platform.iv</File> <File type="Inventor">convexModel/platform.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Pitch"/> <Child name="Hip Pitch"/>
</RobotNode> </RobotNode>
...@@ -91,13 +91,13 @@ ...@@ -91,13 +91,13 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File> <File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<Mass value="10" units="kg" /> <Mass value="10" units="kg" />
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/platform_pitch_link.iv</File> <File type="Inventor">convexModel/platform_pitch_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Roll"/> <Child name="Hip Roll"/>
</RobotNode> </RobotNode>
...@@ -110,14 +110,14 @@ ...@@ -110,14 +110,14 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File> <File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<Mass value="10" units="kg" /> <Mass value="10" units="kg" />
<IgnoreCollision name="Platform"/> <IgnoreCollision name="Platform"/>
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/platform_roll_link.iv</File> <File type="Inventor">convexModel/platform_roll_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Yaw"/> <Child name="Hip Yaw"/>
</RobotNode> </RobotNode>
...@@ -135,10 +135,10 @@ ...@@ -135,10 +135,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File> <File type="Inventor">fullmodel/torso.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/torso.iv</File> <File type="Inventor">convexModel/torso.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Center of Arms"/> <Child name="Center of Arms"/>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII.xml
View file @ 849853e9
...@@ -60,7 +60,7 @@ ...@@ -60,7 +60,7 @@
<RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain--> <RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain-->
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File> <File type="Inventor">fullmodel/platform.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<CoM location="Joint" x="0" y="0" z="200"/> <CoM location="Joint" x="0" y="0" z="200"/>
...@@ -68,8 +68,18 @@ ...@@ -68,8 +68,18 @@
<Friction value="0.1" /> <Friction value="0.1" />
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/platform.iv</File> <File type="Inventor">convexModel/platform.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="400" radius="390">
<Transform>
<Translation x="0" y="0" z="380" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Laser Scanner Front"/> <Child name="Laser Scanner Front"/>
<Child name="Laser Scanner Back Left"/> <Child name="Laser Scanner Back Left"/>
<Child name="Laser Scanner Back Right"/> <Child name="Laser Scanner Back Right"/>
...@@ -120,13 +130,13 @@ ...@@ -120,13 +130,13 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File> <File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<Mass value="10" units="kg" /> <Mass value="10" units="kg" />
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/platform_pitch_link.iv</File> <File type="Inventor">convexModel/platform_pitch_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Roll"/> <Child name="Hip Roll"/>
</RobotNode> </RobotNode>
...@@ -142,14 +152,14 @@ ...@@ -142,14 +152,14 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File> <File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
<Mass value="10" units="kg" /> <Mass value="10" units="kg" />
<IgnoreCollision name="Platform"/> <IgnoreCollision name="Platform"/>
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/platform_roll_link.iv</File> <File type="Inventor">convexModel/platform_roll_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Yaw"/> <Child name="Hip Yaw"/>
</RobotNode> </RobotNode>
...@@ -170,11 +180,21 @@ ...@@ -170,11 +180,21 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File> <File type="Inventor">fullmodel/torso.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/torso.iv</File> <File type="Inventor">convexModel/torso.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="400" radius="210">
<Transform>
<Translation x="0" y="-40" z="225" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Center of Arms"/> <Child name="Center of Arms"/>
</RobotNode> </RobotNode>
......