From 13fd9145936ababd1ce85bd17411487c0963d14d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Timo=20Weberru=C3=9F?= <timo.weberruss@student.kit.edu>
Date: Mon, 3 Jul 2023 17:26:32 +0200
Subject: [PATCH] Add primitive collision model for ArmarIII
---
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml | 9 ++++++
.../robots/Armar3/ArmarIII-LeftArm.xml | 29 +++++++++++++++++++
.../robots/Armar3/ArmarIII-RightArm.xml | 29 +++++++++++++++++++
data/RobotAPI/robots/Armar3/ArmarIII.xml | 20 +++++++++++++
4 files changed, 87 insertions(+)
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 12a22e5a6..1fa5e30d4 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -114,6 +114,15 @@
<CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.wrl</File>
</CollisionModel>
+ <PrimitiveModel>
+ <Primitives>
+ <Sphere radius="140">
+ <Transform>
+ <Translation x="40" y="0" z="180" />
+ </Transform>
+ </Sphere>
+ </Primitives>
+ </PrimitiveModel>
<Child name="Head_Tilt"/>
</RobotNode>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
index ecf454692..2b1f340f2 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
@@ -33,6 +33,16 @@
<CollisionModel>
<File type="Inventor">convexModel/shoulder_l.wrl</File>
</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"/>
</RobotNode>
@@ -60,6 +70,15 @@
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
</CollisionModel>
+ <PrimitiveModel>
+ <Primitives>
+ <Capsule height="310" radius="50">
+ <Transform>
+ <Translation x="0" y="150" z="0" />
+ </Transform>
+ </Capsule>
+ </Primitives>
+ </PrimitiveModel>
<Child name="Upperarm L"/>
</RobotNode>
@@ -138,6 +157,16 @@
<CollisionModel>
<File type="Inventor">convexModel/underarm_l.wrl</File>
</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>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index d311a2e63..8f4c40157 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -34,6 +34,16 @@
<CollisionModel>
<File type="Inventor">convexModel/shoulder_r.wrl</File>
</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"/>
</RobotNode>
@@ -59,6 +69,15 @@
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
</CollisionModel>
+ <PrimitiveModel>
+ <Primitives>
+ <Capsule height="310" radius="50">
+ <Transform>
+ <Translation x="0" y="150" z="0" />
+ </Transform>
+ </Capsule>
+ </Primitives>
+ </PrimitiveModel>
<Child name="Upperarm R"/>
</RobotNode>
@@ -133,6 +152,16 @@
<CollisionModel>
<File type="Inventor">convexModel/underarm_r.wrl</File>
</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>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII.xml b/data/RobotAPI/robots/Armar3/ArmarIII.xml
index 0d089db9f..366892808 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII.xml
@@ -70,6 +70,16 @@
<CollisionModel>
<File type="Inventor">convexModel/platform.wrl</File>
</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 Back Left"/>
<Child name="Laser Scanner Back Right"/>
@@ -175,6 +185,16 @@
<CollisionModel>
<File type="Inventor">convexModel/torso.wrl</File>
</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"/>
</RobotNode>
--
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