diff --git a/data/RobotAPI/tests/robotmodel/ArmarIII-Head.xml b/data/RobotAPI/tests/robotmodel/ArmarIII-Head.xml deleted file mode 100644 index bf0056f808b59d2a02aeafa36c8f5657ad450479..0000000000000000000000000000000000000000 --- a/data/RobotAPI/tests/robotmodel/ArmarIII-Head.xml +++ /dev/null @@ -1,472 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Robot Type="ArmarIII Head" RootNode="Head Base"> - - <RobotNode name="Head Base"> - <Transform> - <DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/> - </Transform> - - <Visualization> - <File type="Inventor">fullmodel/head_base.iv</File> - </Visualization> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="4" units="kg" /> - </Physics> - - <CollisionModel> - <File type="Inventor">convexModel/head_base.iv</File> - </CollisionModel> - - <Child name="Neck_1_Pitch"/> - </RobotNode> - - <RobotNode name="Neck_1_Pitch"> - <Transform> - <DH theta="0" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/> - <DH theta="90" d="0" a="0" alpha="0" unitsangle="degree" unitslength="mm"/> - </Transform> - - - <Joint type="revolute"> - <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/--> - <axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-45" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - - <Visualization> - <File type="Inventor">fullmodel/neck_pitch_link.iv</File> - </Visualization> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="4" units="kg" /> - <IgnoreCollision name="Hip Yaw"/> - </Physics> - - <CollisionModel> - <File type="Inventor">convexModel/neck_pitch_link.iv</File> - </CollisionModel> - - <Child name="Neck_2_Roll"/> - </RobotNode> - - <RobotNode name="Neck_2_Roll"> - <Transform> - <DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/> - <DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/> - </Transform> - <Joint type="revolute"> - <!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/--> - <axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-45" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - - <Visualization> - <File type="Inventor">fullmodel/neck_roll_link.iv</File> - </Visualization> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2" units="kg" /> - <IgnoreCollision name="Hip Yaw"/> - <IgnoreCollision name="Head Base"/> - </Physics> - - <CollisionModel> - <File type="Inventor">convexModel/neck_roll_link.iv</File> - </CollisionModel> - - <Child name="Neck_3_Yaw"/> - </RobotNode> - - <RobotNode name="Neck_3_Yaw"> - <Transform> - <DH a="0" d="0" theta="0" alpha="90" unitsangle="degree" unitslength="mm"/> - <DH a="0" d="0" theta="90" alpha="0" unitsangle="degree" unitslength="mm"/> - </Transform> - <Joint type="revolute"> - <!--DH theta="90" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/--> - <axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-45" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - - <Visualization> - <File type="Inventor">fullmodel/neck_yaw_link.iv</File> - </Visualization> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2" units="kg" /> - </Physics> - - <CollisionModel> - <File type="Inventor">convexModel/neck_yaw_link.iv</File> - </CollisionModel> - - <Child name="Head_Tilt"/> - </RobotNode> - - <RobotNode name="Head_Tilt"> - <Transform> - <DH theta="0" d="120" a="0" alpha="90" unitsangle="degree" unitslength="mm"/> - </Transform> - <Joint type="revolute"> - <!--DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/--> - <axis x="0" y="0" z="1"/> - <!--<Limits unit="degree" lo="-45" hi="45"/>/--> - <Limits unit="degree" lo="0" hi="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="6.79877000" units="kg" /> - <IgnoreCollision name="Neck_2_Roll"/> - <IgnoreCollision name="Hip Yaw"/> - </Physics> - - <Visualization> - <File type="Inventor">fullmodel/head.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/head.iv</File> - </CollisionModel> - - <Child name="Head Center1"/> - </RobotNode> - - <RobotNode name="Head Center1"> - <Transform> - <DH theta="0" d="0" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/> - </Transform> - <Child name="Head Center"/> - </RobotNode> - - - <RobotNode name="Head Center"> - <Transform> - <DH theta="0" d="54.5" a="0" alpha="-90" unitsangle="degree" unitslength="mm"/> - </Transform> - <Child name="Cameras"/> - <Child name="Jaw"/> - <Child name="Kinect"/> - <Child name="DepthCamera"/> - </RobotNode> - - <RobotNode name="Jaw"> - <Joint type="revolute"> - <axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-30" hi="30"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/jaw.iv</File> - </Visualization> - </RobotNode> - - <RobotNode name="Cameras"> - <Transform> - <Translation x="100" y="0" z="0" units='mm'/> - </Transform> - <Joint type="revolute"> - <Axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-30" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - - <CollisionModel> - <File type="Inventor">iv_primitives/cyl2.wrl</File> - </CollisionModel> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="0.2" units="kg" /> - <IgnoreCollision name="Neck_2_Roll"/> - <IgnoreCollision name="Hip Yaw"/> - <IgnoreCollision name="Head_Tilt"/> - </Physics> - - <Child name="Eye_Left_Dummy"/> - <Child name="Eye_Right_Dummy"/> - <Child name="VirtualCentralGaze"/> - </RobotNode> - - <RobotNode name="VirtualCentralGaze"> - <Joint type="prismatic"> - <TranslationDirection x="1" y="0" z="0"/> - <Limits unit="mm" lo="0" hi="10000"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="3"/> - </Visualization> - </RobotNode> - - <RobotNode name="Kinect"> - <Transform> - <Translation x="140" y="-100" z="0" units='mm'/> - </Transform> - <Joint type="prismatic"> - <TranslationDirection x="1" y="0" z="0"/> - <Limits unit="mm" lo="0" hi="10000"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="3"/> - </Visualization> - </RobotNode> - - <RobotNode name="DepthCamera"> - <Transform> - <Translation x="130" y="-80" z="0" units='mm'/> - <rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/> - <rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/> - <rollpitchyaw roll="30" pitch="0" yaw="0" unitsAngle="degree"/> - </Transform> - - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="3"/> - </Visualization> - </RobotNode> - - <RobotNode name="Eye_Left_Dummy"> - <Transform> - <DH a="0" d="46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/> - </Transform> - <Child name="Eye_Left"/> - </RobotNode> - - <RobotNode name="Eye_Right_Dummy"> - <Transform> - <DH a="0" d="-46.5" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/> - </Transform> - <Child name="Eye_Right"/> - </RobotNode> - - <RobotNode name="Eye_Left"> - <Joint type="revolute"> - <Axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-30" hi="30"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/eye_l.iv</File> - </Visualization> - - - <CollisionModel> - <File type="Inventor">iv_primitives/cyl1.wrl</File> - </CollisionModel> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="0.1" units="kg" /> - <IgnoreCollision name="Cameras"/> - <IgnoreCollision name="Head_Tilt"/> - </Physics> - - <Child name="Lid Left Bottom"/> - <Child name="Lid Left Top"/> - <Child name="EyeLeftCameraPreTransformation"/> - </RobotNode> - - <RobotNode name="Eye_Right"> - <Joint type="revolute"> - <Axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-30" hi="30"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/eye_r.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">iv_primitives/cyl1.wrl</File> - </CollisionModel> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="0.1" units="kg" /> - <IgnoreCollision name="Cameras"/> - <IgnoreCollision name="Head_Tilt"/> - </Physics> - - <Child name="Lid Right Bottom"/> - <Child name="Lid Right Top"/> - <Child name="EyeRightCameraPreTransformation"/> - </RobotNode> - - <RobotNode name="EyeLeftCameraPreTransformation"> - <Transform> - <translation x="20" y="0" z="0"/> - <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/> - </Transform> - <Child name="EyeLeftCamera"/> - <Child name="EyeLeftCameraSim"/> - </RobotNode> - - <RobotNode name="EyeLeftCamera"> - <Transform> - <RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="5"/> - </Visualization> - <Child name="HeadMotionMeasurementTCP"/> - <!--Sensor type="Camera" name="LeftEyeCam"> - </Sensor--> - </RobotNode> - - <RobotNode name="EyeLeftCameraSim"> - <Transform> - <RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/> - </Transform> - </RobotNode> - - <RobotNode name="HeadMotionMeasurementTCP"> - <Transform> - <translation x="0" y="0" z="1000"/> - </Transform> - </RobotNode> - - <RobotNode name="Lid Left Bottom"> - <Joint type="revolute"> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/lid_l_bottom.iv</File> - </Visualization> - </RobotNode> - - <RobotNode name="Lid Left Top"> - <Joint type="revolute"> - <Axis x="0" y="1" z="0"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/lid_l_top.iv</File> - </Visualization> - </RobotNode> - - <RobotNode name="EyeRightCameraPreTransformation"> - <Transform> - <translation x="20" y="0" z="0"/> - <RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/> - </Transform> - <Child name="EyeRightCamera"/> - <Child name="EyeRightCameraSim"/> - </RobotNode> - - <RobotNode name="EyeRightCamera"> - <Transform> - <RollPitchYaw roll="0" pitch="0" yaw ="90" units="degree"/> - </Transform> - <!--Sensor type="Camera" name="RightEyeCam"> - </Sensor--> - </RobotNode> - - <RobotNode name="EyeRightCameraSim"> - <Transform> - <RollPitchYaw roll="0" pitch="0" yaw ="180" units="degree"/> - </Transform> - </RobotNode> - - <RobotNode name="Lid Right Bottom"> - <Joint type="revolute"> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/lid_r_bottom.iv</File> - </Visualization> - </RobotNode> - - <RobotNode name="Lid Right Top"> - <Joint type="revolute"> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="5000"/> - </Joint> - <Visualization> - <File type="Inventor">fullmodel/lid_r_top.iv</File> - </Visualization> - </RobotNode> - - <RobotNodeSet name="Head" kinematicRoot="Neck_1_Pitch"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Head_Tilt"/> - <Node name="Cameras"/> - <Node name="Eye_Left"/> - <Node name="Eye_Right"/> - </RobotNodeSet> - - - <RobotNodeSet name="Neck" kinematicRoot="Neck_1_Pitch"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Head_Tilt"/> - </RobotNodeSet> - - - <RobotNodeSet name="IKVirtualGaze" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Cameras"/> - <Node name="VirtualCentralGaze"/> - </RobotNodeSet> - - - <RobotNodeSet name="IKVirtualGazeKinect" kinematicRoot="Neck_1_Pitch" tcp="Kinect"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Kinect"/> - </RobotNodeSet> - - - <RobotNodeSet name="IKVirtualGaze_WithHeadTilt" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Head_Tilt"/> - <Node name="Cameras"/> - <Node name="VirtualCentralGaze"/> - </RobotNodeSet> - -</Robot> diff --git a/data/RobotAPI/tests/robotmodel/ArmarIII-LeftArm.xml b/data/RobotAPI/tests/robotmodel/ArmarIII-LeftArm.xml deleted file mode 100644 index f4e74ae6cf4fa6b05f6dec3d2f02587d930ca626..0000000000000000000000000000000000000000 --- a/data/RobotAPI/tests/robotmodel/ArmarIII-LeftArm.xml +++ /dev/null @@ -1,274 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Robot Type="ArmarIII LeftArm" RootNode="Left Arm Base"> - - <RobotNode name="Left Arm Base"> - <!-- Trafo BTo0; COS 0; DOF q1 --> - <Transform> - <DH a="0" d="0" theta="-90" alpha="90" units="degree"/> - </Transform> - <Child name="Shoulder 1 L"/> - </RobotNode> - - <RobotNode name="Shoulder 1 L"> - <!-- Trafo BTo0; COS 0; DOF q1 --> - <Transform> - <DH a="0" d="0" theta="90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="90" alpha="90" units="degree"/--> - <axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-107" hi="42"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="3.65" units="kg" /> - </Physics> - <Visualization enable="true"> - <File type="Inventor">fullmodel/shoulder_l.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/shoulder_l.iv</File> - </CollisionModel> - <Child name="Shoulder 2 L"/> - </RobotNode> - - <RobotNode name="Shoulder 2 L"> - <!-- Trafo 0To1; COS 1; DOF q2 --> - <Transform> - <DH a="0" d="0" theta="0" alpha="90" units="degree"/> - <DH a="0" d="0" theta="75" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="75" alpha="90" units="degree"/--> - <axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-14" hi="95"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2.5" units="kg" /> - </Physics> - <Visualization enable="true"> - <File type="Inventor">fullmodel/shoulder2_l_rot.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/shoulder2_l_rot.iv</File> - </CollisionModel> - <Child name="Upperarm L"/> - </RobotNode> - - <RobotNode name="Upperarm L"> - <!-- Trafo 1To2; COS 2; DOF q3 --> - <Transform> - <DH a="0" d="0" theta="0" alpha="90" units="degree"/> - <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/--> - <axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-70" hi="109"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="1.55685000" units="kg" /> - <IgnoreCollision name="Shoulder 1 L"/> - </Physics> - <Visualization enable="true"> - <File type="Inventor">fullmodel/upperarm_l.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/upperarm_l.iv</File> - </CollisionModel> - <Child name="Elbow L"/> - </RobotNode> - - <RobotNode name="Elbow L"> - <Transform> - <DH a="20" d="-310" theta="0" alpha="90" units="degree"/> - <DH a="0" d="0" theta="90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/--> - <axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-120" hi="40"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/elbow_l.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/elbow_l.iv</File> - </CollisionModel> - <Physics> - <CoM location="Joint"/> - <Mass value="1.15744000" units="kg" /> - </Physics> - <Child name="Underarm L"/> - </RobotNode> - - <RobotNode name="Underarm L"> - <Transform> - <DH a="0" d="-7.5" theta="0" alpha="-90" units="degree"/> - <DH a="0" d="0" theta="90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/--> - <axis x="0" y="0" z="-1"/> - <!--Limits unit="degree" lo="-57.29" hi="174.48"/--> - <Limits unit="degree" lo="-90" hi="200"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Visualization enable="true"> - <File type="Inventor">fullmodel/underarm_l.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/underarm_l.iv</File> - </CollisionModel> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2.26566087" units="kg" /> - </Physics> - <Child name="Wrist 1 L"/> - </RobotNode> - - <RobotNode name="Wrist 1 L"> - <Transform> - <DH a="0" d="-240" theta="0" alpha="-90" units="degree"/> - <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/--> - <axis x="0" y="0" z="-1"/> - <Limits unit="degree" lo="-30" hi="30"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="1.29945309" units="kg" /> - </Physics> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/wrist1_l.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/wrist1_l.iv</File> - </CollisionModel> - <Child name="Wrist 2 L"/> - </RobotNode> - - <RobotNode name="Wrist 2 L"> - <Transform> - <DH a="0" d="0" theta="0" alpha="-90" units="degree"/> - <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/--> - <axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-38" hi="50"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/wrist2_l.iv</File> - </Visualization> - <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model--> - <!--CollisionModel> - <File type="Inventor">convexModel/wrist2_l.iv</File> - </CollisionModel> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2.59945309" units="kg" /> - <IgnoreCollision name="Underarm L"/> - </Physics--> - <Sensor type="forcetorque"> - <!--Transform> - <Translation x="0" y="-40" z="0"/> - </Transform--> - </Sensor> - <Child name="EndArmL"/> - </RobotNode> - - <!--RobotNode name="FTSensorL"> - <Transform> - <Translation x="0" y="-40" z="0"/> - </Transform> - <Sensor type="forcetorque"/> - <Child name="EndArmL"/> - </RobotNode--> - - <RobotNode name="EndArmL"> - <Transform> - <Translation x="0" y="-40" z="0"/> - <DH a="0" d="0" theta="0" alpha="90" units="degree"/> - </Transform> - <Visualization enable="false"> - <CoordinateAxis type="Inventor" enable="true" scaling="2"/> - </Visualization> - <ChildFromRobot> - <File importEEF="true">ArmarIII-LeftHand.xml</File> - </ChildFromRobot> - </RobotNode> - - - <RobotNodeSet name="LeftArm" kinematicRoot="Left Arm Base" tcp="TCP L"> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - <Node name="Elbow L"/> - <Node name="Underarm L"/> - <Node name="Wrist 1 L"/> - <Node name="Wrist 2 L"/> - </RobotNodeSet> - - <RobotNodeSet name="LeftArmElbow" kinematicRoot="Left Arm Base" tcp="Upperarm L"> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - </RobotNodeSet> - - <RobotNodeSet name="LeftArmColModel" kinematicRoot="Left Arm Base" tcp="TCP L"> - <Node name="Upperarm L"/> - <Node name="Underarm L"/> - <Node name="Wrist 2 L"/> - </RobotNodeSet> - - <RobotNodeSet name="LeftArmHandColModel" kinematicRoot="Left Arm Base" tcp="TCP L"> - <Node name="Upperarm L"/> - <Node name="Underarm L"/> - <Node name="Hand Palm 1 L"/> - <Node name="Hand Palm 2 L"/> - <Node name="Thumb L J0"/> - <Node name="Thumb L J1"/> - <Node name="Index L J0"/> - <Node name="Index L J1"/> - <Node name="Middle L J0"/> - <Node name="Middle L J1"/> - <Node name="Ring L J0"/> - <Node name="Ring L J1"/> - <Node name="Pinky L J0"/> - <Node name="Pinky L J1"/> - </RobotNodeSet> - - - -</Robot> diff --git a/data/RobotAPI/tests/robotmodel/ArmarIII-LeftHand.xml b/data/RobotAPI/tests/robotmodel/ArmarIII-LeftHand.xml deleted file mode 100644 index e7a1bc5aa1d9596c028c2784ee4aee7163174b2a..0000000000000000000000000000000000000000 --- a/data/RobotAPI/tests/robotmodel/ArmarIII-LeftHand.xml +++ /dev/null @@ -1,469 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Robot Type="ArmarIII LeftHand" RootNode="Hand L Base"> - - <RobotNode name="Hand L Base"> - <Child name="TCP L"/> - <Child name="GCP L"/> - <Child name="Marker L"/> - <Child name="left_hand_configuration_actual_float"/> - <Child name="Hand Palm 1 L"/> - </RobotNode> - - <RobotNode name="TCP L"> - <Transform> - <Translation x="0" y="0" z="130"/> - </Transform> - </RobotNode> - - <RobotNode name="GCP L"> - <Transform> - <Translation X="-40" Y="-20" Z="90"/> - <rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/> - </Transform> - </RobotNode> - - <RobotNode name="Marker L"> - <Transform> - <Translation x="-35" y="45" z="65"/> - </Transform> - <Visualization enable="false"> - <CoordinateAxis type="Inventor" enable="true" scaling="1"/> - </Visualization> - </RobotNode> - - <RobotNode name="left_hand_configuration_actual_float"> - <!--Joint type="revolute"> - <Axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-20" hi="20"/> - </Joint--> - </RobotNode> - - <RobotNode name="Hand Palm 1 L"> - <Transform> - <Translation x="0" y="0" z="36"/> - </Transform> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/palm1_l.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/palm1_l.iv</File> - </CollisionModel> - - <Physics> - <Mass value="800" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Hand Palm 2 L"/> - <Child name="Thumb L"/> - </RobotNode> - - <RobotNode name="Hand Palm 2 L"> - <Transform> - <Translation x="-8.7" y="13.5" z="29.25"/> - </Transform> - <Joint type="revolute"> - <Axis x="0" y="-1" z="0"/> - <Limits unit="degree" lo="-90" hi="90"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/palm2_l.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/palm2_l.iv</File> - </CollisionModel> - - <Physics> - <Mass value="800" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Pinky L"/> - <Child name="Ring L"/> - <Child name="Middle L"/> - <Child name="Index L"/> - </RobotNode> - - <RobotNode name="Thumb L"> - <Transform> - <Translation x="-48.9" y="0" z="29.25"/> - </Transform> - <Child name="Thumb L J0"/> - </RobotNode> - - <RobotNode name="Thumb L J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/thumb_l1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/thumb_l1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Thumb L J1"/> - </RobotNode> - - <RobotNode name="Thumb L J1"> - <Transform> - <Translation x="-40.2" y="0" z="0"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/thumb_l2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/thumb_l2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Pinky L"> - <Transform> - <Translation x="0" y="-73" z="40.4"/> - </Transform> - - <Child name="Pinky L J0"/> - </RobotNode> - - <RobotNode name="Pinky L J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/pinky_l1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/pinky_l1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Pinky L J1"/> - </RobotNode> - - <RobotNode name="Pinky L J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/pinky_l2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/pinky_l2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Ring L"> - <Transform> - <Translation x="0" y="-51" z="40.4"/> - </Transform> - - <Child name="Ring L J0"/> - </RobotNode> - - <RobotNode name="Ring L J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/ring_l1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/ring_l1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Ring L J1"/> - </RobotNode> - - <RobotNode name="Ring L J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/ring_l2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/ring_l2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Middle L"> - <Transform> - <Translation x="0" y="-27" z="40.4"/> - </Transform> - - <Child name="Middle L J0"/> - </RobotNode> - - <RobotNode name="Middle L J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/middle_l1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/middle_l1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Middle L J1"/> - </RobotNode> - - <RobotNode name="Middle L J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/middle_l2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/middle_l2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Index L"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - - <Child name="Index L J0"/> - </RobotNode> - - <RobotNode name="Index L J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/index_l1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/index_l1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Index L J1"/> - </RobotNode> - - <RobotNode name="Index L J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="180"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/index_l2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/index_l2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNodeSet name="LeftHandColModel" kinematicRoot="Hand L Base" tcp="TCP L"> - <Node name="Hand Palm 1 L"/> - <Node name="Hand Palm 2 L"/> - <Node name="Thumb L J0"/> - <Node name="Thumb L J1"/> - <Node name="Index L J0"/> - <Node name="Index L J1"/> - <Node name="Middle L J0"/> - <Node name="Middle L J1"/> - <Node name="Ring L J0"/> - <Node name="Ring L J1"/> - <Node name="Pinky L J0"/> - <Node name="Pinky L J1"/> - </RobotNodeSet> - - - <RobotNodeSet name="LeftHandJoints" kinematicRoot="Hand L Base" tcp="TCP L"> - <Node name="Thumb L J0"/> - <Node name="Thumb L J1"/> - <Node name="Index L J0"/> - <Node name="Index L J1"/> - <Node name="Middle L J0"/> - <Node name="Middle L J1"/> - <Node name="Ring L J0"/> - <Node name="Ring L J1"/> - <Node name="Pinky L J0"/> - <Node name="Pinky L J1"/> - </RobotNodeSet> - - <Endeffector name="TCP L" base="Hand L Base" tcp="TCP L" gcp="GCP L"> - <Preshape name="Open Preshape"> - <Node name="Thumb L J0" unit="radian" value="0"/> - <Node name="Thumb L J1" unit="radian" value="0"/> - <Node name="Index L J0" unit="radian" value="0"/> - <Node name="Index L J1" unit="radian" value="0"/> - <Node name="Middle L J0" unit="radian" value="0"/> - <Node name="Middle L J1" unit="radian" value="0"/> - <Node name="Ring L J0" unit="radian" value="0"/> - <Node name="Ring L J1" unit="radian" value="0"/> - <Node name="Pinky L J0" unit="radian" value="0"/> - <Node name="Pinky L J1" unit="radian" value="0"/> - </Preshape> - <Preshape name="Close Preshape"> - <Node name="Thumb L J0" unit="radian" value="1"/> - <Node name="Thumb L J1" unit="radian" value="1"/> - <Node name="Index L J0" unit="radian" value="1"/> - <Node name="Index L J1" unit="radian" value="1"/> - <Node name="Middle L J0" unit="radian" value="1"/> - <Node name="Middle L J1" unit="radian" value="1"/> - <Node name="Ring L J0" unit="radian" value="1"/> - <Node name="Ring L J1" unit="radian" value="1"/> - <Node name="Pinky L J0" unit="radian" value="1"/> - <Node name="Pinky L J1" unit="radian" value="1"/> - </Preshape> - <Static> - <Node name="Hand Palm 1 L"/> - <Node name="Hand Palm 2 L"/> - </Static> - <Actor name="Thumb Left"> - <Node name="Thumb L J0" considerCollisions="Actors"/> - <Node name="Thumb L J1" considerCollisions="All"/> - </Actor> - <Actor name="Index Left"> - <Node name="Index L J0" considerCollisions="Actors"/> - <Node name="Index L J1" considerCollisions="All"/> - </Actor> - <Actor name="Middle Left"> - <Node name="Middle L J0" considerCollisions="Actors"/> - <Node name="Middle L J1" considerCollisions="All"/> - </Actor> - <Actor name="Ring Left"> - <Node name="Ring L J0" considerCollisions="Actors"/> - <Node name="Ring L J1" considerCollisions="All"/> - </Actor> - <Actor name="Pinky Left"> - <Node name="Pinky L J0" considerCollisions="Actors"/> - <Node name="Pinky L J1" considerCollisions="All"/> - </Actor> - </Endeffector> - -</Robot> diff --git a/data/RobotAPI/tests/robotmodel/ArmarIII-RightArm.xml b/data/RobotAPI/tests/robotmodel/ArmarIII-RightArm.xml deleted file mode 100644 index cf073e6d5a1b997cb4887aa97f743faeedb9018a..0000000000000000000000000000000000000000 --- a/data/RobotAPI/tests/robotmodel/ArmarIII-RightArm.xml +++ /dev/null @@ -1,255 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base"> - - <RobotNode name="Right Arm Base"> - <Transform> - <DH a="0" d="0" theta="-90" alpha="90" units="degree"/> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - <Child name="Shoulder 1 R"/> - </RobotNode> - - <RobotNode name="Shoulder 1 R"> - <Transform> - <DH a="0" d="0" theta="90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="90" alpha="90" units="degree"/--> - <Limits unit="degree" lo="-107" hi="42"/> - <MaxVelocity unit="radian" value="0.5"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="3.65" units="kg" /> - </Physics> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="4"/> - <File type="Inventor">fullmodel/shoulder_r.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/shoulder_r.iv</File> - </CollisionModel> - <Child name="Shoulder 2 R"/> - </RobotNode> - - <RobotNode name="Shoulder 2 R"> - <Transform> - <DH a="0" d="0" theta="0" alpha="90" units="degree"/> - <DH a="0" d="0" theta="105" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="105" alpha="90" units="degree"/--> - <Limits unit="degree" lo="-14" hi="95"/> - <MaxVelocity unit="radian" value="0.5"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2.5" units="kg" /> - </Physics> - <Visualization enable="true"> - <File type="Inventor">fullmodel/shoulder2_r_rot.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/shoulder2_r_rot.iv</File> - </CollisionModel> - <Child name="Upperarm R"/> - </RobotNode> - - <RobotNode name="Upperarm R"> - <Transform> - <DH a="0" d="0" theta="0" alpha="90" units="degree"/> - <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/--> - <Limits unit="degree" lo="-109" hi="70"/> - <MaxVelocity unit="radian" value="0.5"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="1.55685000" units="kg" /> - <IgnoreCollision name="Shoulder 1 R"/> - </Physics> - <Visualization enable="true"> - <File type="Inventor">fullmodel/upperarm_r.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/upperarm_r.iv</File> - </CollisionModel> - <Child name="Elbow R"/> - </RobotNode> - - <RobotNode name="Elbow R"> - <Transform> - <DH a="20" d="-310" theta="0" alpha="90" units="degree"/> - <DH a="0" d="0" theta="90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/--> - <Limits unit="degree" lo="-120" hi="40"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="4"/> - <File type="Inventor">fullmodel/elbow_r.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/elbow_r.iv</File> - </CollisionModel> - <Physics> - <CoM location="Joint"/> - <Mass value="1.15744000" units="kg" /> - </Physics> - <Child name="Underarm R"/> - </RobotNode> - - <RobotNode name="Underarm R"> - <Transform> - <DH a="0" d="7.5" theta="0" alpha="-90" units="degree"/> - <DH a="0" d="0" theta="90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/--> - - <Limits unit="degree" lo="-90" hi="200"/> - <MaxVelocity unit="radian" value="0.5"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Visualization enable="true"> - <File type="Inventor">fullmodel/underarm_r.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/underarm_r.iv</File> - </CollisionModel> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2.26566087" units="kg" /> - </Physics> - <Child name="Wrist 1 R"/> - </RobotNode> - - <RobotNode name="Wrist 1 R"> - <Transform> - <DH a="0" d="-240" theta="0" alpha="-90" units="degree"/> - <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/--> - <Limits unit="degree" lo="-22.3" hi="22.8"/> - <MaxVelocity unit="radian" value="0.5"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="1.29945309" units="kg" /><!--1.13047000--> - </Physics> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="2"/> - <File type="Inventor">fullmodel/wrist1_r.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/wrist1_r.iv</File> - </CollisionModel> - <Child name="Wrist 2 R"/> - </RobotNode> - - <RobotNode name="Wrist 2 R"> - <Transform> - <DH a="0" d="0" theta="0" alpha="-90" units="degree"/> - <DH a="0" d="0" theta="-90" alpha="0" units="degree"/> - </Transform> - <Joint type="revolute"> - <!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/--> - <Limits unit="degree" lo="-38" hi="50"/> - <MaxVelocity unit="radian" value="0.5"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="2"/> - <File type="Inventor">fullmodel/wrist2_r.iv</File> - </Visualization> - <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model--> - <!--CollisionModel> - <File type="Inventor">convexModel/wrist2_r.iv</File> - </CollisionModel> - - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="2.59945309" units="kg" /> - <IgnoreCollision name="Underarm R"/> - </Physics--> - <Sensor type="forcetorque"> - <!--Transform> - <Translation x="0" y="-40" z="0"/> - </Transform--> - </Sensor> - <Child name="EndArmR"/> - </RobotNode> - - <!--RobotNode name="FTSensorR"> - <Transform> - <Translation x="0" y="-40" z="0"/> - </Transform> - <Sensor type="forcetorque"/> - <Child name="EndArmR"/> - </RobotNode--> - - <RobotNode name="EndArmR"> - <Transform> - <Translation x="0" y="-40" z="0"/> - <DH a="0" d="0" theta="0" alpha="90" units="degree"/> - </Transform> - <ChildFromRobot> - <File importEEF="true">ArmarIII-RightHand.xml</File> - </ChildFromRobot> - </RobotNode> - - <RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R"> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - <RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R"> - <Node name="Upperarm R"/> - <Node name="Underarm R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - <RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R"> - <Node name="Upperarm R"/> - <Node name="Underarm R"/> - <Node name="Hand Palm 1 R"/> - <Node name="Hand Palm 2 R"/> - <Node name="Thumb R J0"/> - <Node name="Thumb R J1"/> - <Node name="Index R J0"/> - <Node name="Index R J1"/> - <Node name="Middle R J0"/> - <Node name="Middle R J1"/> - <Node name="Ring R J0"/> - <Node name="Ring R J1"/> - <Node name="Pinky R J0"/> - <Node name="Pinky R J1"/> - </RobotNodeSet> - -</Robot> diff --git a/data/RobotAPI/tests/robotmodel/ArmarIII-RightHand.xml b/data/RobotAPI/tests/robotmodel/ArmarIII-RightHand.xml deleted file mode 100644 index 9bd73d4a3544b4ac1329c0eb919aee7828212bba..0000000000000000000000000000000000000000 --- a/data/RobotAPI/tests/robotmodel/ArmarIII-RightHand.xml +++ /dev/null @@ -1,499 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Robot Type="ArmarIII RightHand" RootNode="Hand R Base"> - - <RobotNode name="Hand R Base"> - <Child name="TCP R"/> - <Child name="GCP R"/> - <Child name="Marker R"/> - <Child name="right_hand_configuration_actual_float"/> - <Child name="Hand Palm 1 R"/> - </RobotNode> - - <RobotNode name="TCP R"> - <Transform> - <Translation x="0" y="0" z="130"/> - </Transform> - <Visualization enable="false"> - <CoordinateAxis type="Inventor" enable="true" scaling="1"/> - </Visualization> - </RobotNode> - - <RobotNode name="GCP R"> - <Transform> - <Translation X="-40" Y="20" Z="90"/> - <rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/> - </Transform> - </RobotNode> - - <RobotNode name="Marker R"> - <Transform> - <Translation x="-35" y="-45" z="65"/> - </Transform> - <Visualization enable="false"> - <CoordinateAxis type="Inventor" enable="true" scaling="1"/> - </Visualization> - </RobotNode> - - <RobotNode name="right_hand_configuration_actual_float"> - <!--Joint type="revolute"> - <Axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-20" hi="20"/> - </Joint--> - </RobotNode> - - <RobotNode name="Hand Palm 1 R"> - - <Transform> - <Translation x="0" y="0" z="36"/> - </Transform> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/palm1_r.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/palm1_r.iv</File> - </CollisionModel> - - <Physics> - <Mass value="800" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Hand Palm 2 R"/> - <Child name="Thumb R"/> - </RobotNode> - - <RobotNode name="Hand Palm 2 R"> - <Transform> - <Translation x="-8.7" y="-13.5" z="29.25"/> - </Transform> - <Joint type="revolute"> - <Axis x="0" y="-1" z="0"/> - <Limits unit="degree" lo="-90" hi="90"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/palm2_r.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/palm2_r.iv</File> - </CollisionModel> - - <Physics> - <Mass value="800" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Pinky R"/> - <Child name="Ring R"/> - <Child name="Middle R"/> - <Child name="Index R"/> - </RobotNode> - - <RobotNode name="Thumb R"> - <Transform> - <Translation x="-48.9" y="0" z="29.25"/> - </Transform> - <Child name="Thumb R J0"/> - </RobotNode> - - <RobotNode name="Thumb R J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/thumb_r1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/thumb_r1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Thumb R J1"/> - </RobotNode> - - <RobotNode name="Thumb R J1"> - <Transform> - <Translation x="-40.2" y="0" z="0"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/thumb_r2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/thumb_r2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Pinky R"> - <Transform> - <Translation x="0" y="73" z="40.4"/> - </Transform> - - <Child name="Pinky R J0"/> - </RobotNode> - - <RobotNode name="Pinky R J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/pinky_r1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/pinky_r1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Pinky R J1"/> - </RobotNode> - - <RobotNode name="Pinky R J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/pinky_r2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/pinky_r2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Ring R"> - - <Transform> - <Translation x="0" y="51" z="40.4"/> - </Transform> - - <Child name="Ring R J0"/> - </RobotNode> - - <RobotNode name="Ring R J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/ring_r1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/ring_r1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Ring R J1"/> - </RobotNode> - - <RobotNode name="Ring R J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/ring_r2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/ring_r2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Middle R"> - <Transform> - <Translation x="0" y="27" z="40.4"/> - </Transform> - - <Child name="Middle R J0"/> - </RobotNode> - - <RobotNode name="Middle R J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/middle_r1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/middle_r1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Middle R J1"/> - </RobotNode> - - <RobotNode name="Middle R J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/middle_r2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/middle_r2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - </RobotNode> - - <RobotNode name="Index R"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - - <Child name="Index R J0"/> - </RobotNode> - - <RobotNode name="Index R J0"> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/index_r1.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/index_r1.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Index R J1"/> - </RobotNode> - - <RobotNode name="Index R J1"> - <Transform> - <Translation x="0" y="0" z="40.2"/> - </Transform> - <Joint type="revolute"> - <Limits unit="degree" lo="0" hi="90"/> - <Axis x="0" y="-1" z="0"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <File type="Inventor">fullmodel/index_r2.iv</File> - </Visualization> - - <CollisionModel> - <File type="Inventor">convexModel/index_r2.iv</File> - </CollisionModel> - - <Physics> - <Mass value="500" unit="g"/> - <CoM location="VisualizationBBoxCenter"/> - </Physics> - - <Child name="Index R Fingertip"/> - </RobotNode> - - <RobotNode name="Index R Fingertip"> - <Transform> - <Translation x="-5" y="0" z="40.2"/> - </Transform> - <Visualization enable="false"> - <CoordinateAxis type="Inventor" enable="true" scaling="1"/> - </Visualization> - </RobotNode> - - <RobotNodeSet name="RightHandColModel" kinematicRoot="Hand R Base" tcp="TCP R"> - <Node name="Hand Palm 1 R"/> - <Node name="Hand Palm 2 R"/> - <Node name="Thumb R J0"/> - <Node name="Thumb R J1"/> - <Node name="Index R J0"/> - <Node name="Index R J1"/> - <Node name="Middle R J0"/> - <Node name="Middle R J1"/> - <Node name="Ring R J0"/> - <Node name="Ring R J1"/> - <Node name="Pinky R J0"/> - <Node name="Pinky R J1"/> - </RobotNodeSet> - - - <RobotNodeSet name="RightHandJoints" kinematicRoot="Hand R Base" tcp="TCP R"> - <Node name="Thumb R J0"/> - <Node name="Thumb R J1"/> - <Node name="Index R J0"/> - <Node name="Index R J1"/> - <Node name="Middle R J0"/> - <Node name="Middle R J1"/> - <Node name="Ring R J0"/> - <Node name="Ring R J1"/> - <Node name="Pinky R J0"/> - <Node name="Pinky R J1"/> - </RobotNodeSet> - - <Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R"> - <Preshape name="Open Preshape"> - <Node name="Thumb R J0" unit="radian" value="0"/> - <Node name="Thumb R J1" unit="radian" value="0"/> - <Node name="Index R J0" unit="radian" value="0"/> - <Node name="Index R J1" unit="radian" value="0"/> - <Node name="Middle R J0" unit="radian" value="0"/> - <Node name="Middle R J1" unit="radian" value="0"/> - <Node name="Ring R J0" unit="radian" value="0"/> - <Node name="Ring R J1" unit="radian" value="0"/> - <Node name="Pinky R J0" unit="radian" value="0"/> - <Node name="Pinky R J1" unit="radian" value="0"/> - </Preshape> - <Preshape name="Close Preshape"> - <Node name="Thumb R J0" unit="radian" value="1"/> - <Node name="Thumb R J1" unit="radian" value="1"/> - <Node name="Index R J0" unit="radian" value="1"/> - <Node name="Index R J1" unit="radian" value="1"/> - <Node name="Middle R J0" unit="radian" value="1"/> - <Node name="Middle R J1" unit="radian" value="1"/> - <Node name="Ring R J0" unit="radian" value="1"/> - <Node name="Ring R J1" unit="radian" value="1"/> - <Node name="Pinky R J0" unit="radian" value="1"/> - <Node name="Pinky R J1" unit="radian" value="1"/> - </Preshape> - <Preshape name="Julia Preshape"> - <Node name="Thumb R J0" unit="radian" value="0"/> - <Node name="Thumb R J1" unit="radian" value="0"/> - <Node name="Index R J0" unit="radian" value="0"/> - <Node name="Index R J1" unit="radian" value="0"/> - <Node name="Middle R J0" unit="radian" value="1.5"/> - <Node name="Middle R J1" unit="radian" value="1.5"/> - <Node name="Ring R J0" unit="radian" value="1.5"/> - <Node name="Ring R J1" unit="radian" value="1.5"/> - <Node name="Pinky R J0" unit="radian" value="0"/> - <Node name="Pinky R J1" unit="radian" value="0"/> - </Preshape> - - - <Static> - <Node name="Hand Palm 1 R"/> - <Node name="Hand Palm 2 R"/> - </Static> - <Actor name="Thumb Right"> - <Node name="Thumb R J0" considerCollisions="Actors"/> - <Node name="Thumb R J1" considerCollisions="All"/> - </Actor> - <Actor name="Index Right"> - <Node name="Index R J0" considerCollisions="Actors"/> - <Node name="Index R J1" considerCollisions="All"/> - </Actor> - <Actor name="Middle Right"> - <Node name="Middle R J0" considerCollisions="Actors"/> - <Node name="Middle R J1" considerCollisions="All"/> - </Actor> - <Actor name="Ring Right"> - <Node name="Ring R J0" considerCollisions="Actors"/> - <Node name="Ring R J1" considerCollisions="All"/> - </Actor> - <Actor name="Pinky Right"> - <Node name="Pinky R J0" considerCollisions="Actors"/> - <Node name="Pinky R J1" considerCollisions="All"/> - </Actor> - </Endeffector> - -</Robot> diff --git a/data/RobotAPI/tests/robotmodel/ArmarIII.xml b/data/RobotAPI/tests/robotmodel/ArmarIII.xml deleted file mode 100644 index ff794e8e0b979ce95e9fcd1b4bfc773e25d66257..0000000000000000000000000000000000000000 --- a/data/RobotAPI/tests/robotmodel/ArmarIII.xml +++ /dev/null @@ -1,395 +0,0 @@ -<?xml version="1.0" encoding="UTF-8" ?> - -<Robot Type="Armar3" RootNode="Armar3_Base"> - - <RobotNode name="Armar3_Base"> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="20"/> - </Visualization> - <Child name="Dummy_Platform"/> - <!--Child name="Platform"/--> - </RobotNode> - - <RobotNode name="Dummy_Platform"> - <Transform> - <DH a="0" d="0" theta="0" alpha="-90" unitsangle="degree" unitslength="mm"/> - </Transform> - <Child name="X_Platform"/> - </RobotNode> - - <RobotNode name="X_Platform"> - <Transform> - <DH a="0" d="0" theta="90" alpha="-90" unitsangle="degree" unitslength="mm"/> - <!--Limits unit="mm" lo="-10000" hi="10000"/--> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - <Child name="Y_Platform"/> - </RobotNode> - - <RobotNode name="Y_Platform"> - <Transform> - <DH a="0" d="0" theta="-90" alpha="90" unitsangle="degree" unitslength="mm"/> - <!--Limits unit="mm" lo="-10000" hi="10000"/--> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - <Child name="Yaw_Platform"/> - </RobotNode> - - <RobotNode name="Yaw_Platform"> - <Transform> - <DH a="0" d="0" theta="-90" alpha="0" unitsangle="degree" unitslength="mm"/> - <!--Limits unit="mm" lo="-10000" hi="10000"/--> - </Transform> - <Joint type="revolute"> - <axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-360" hi="360"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - <Child name="Platform"/> - </RobotNode> - - <RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain--> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/platform.iv</File> - </Visualization> - <Physics> - <CoM location="Joint" x="0" y="0" z="200"/> - <Mass value="100" units="kg" /> - </Physics> - <CollisionModel> - <File type="Inventor">convexModel/platform.iv</File> - </CollisionModel> - <Child name="Hip Pitch"/> - </RobotNode> - - <RobotNode name="Hip Pitch"> - <Transform> - <Translation x="0" y="158" z="890" units='mm'/> - </Transform> - <Joint type="revolute"> - <Axis x="1" y="0" z="0"/> - <Limits unit="degree" lo="-45" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/platform_pitch_link.iv</File> - </Visualization> - <Physics> - <Mass value="10" units="kg" /> - </Physics> - <CollisionModel> - <File type="Inventor">convexModel/platform_pitch_link.iv</File> - </CollisionModel> - <Child name="Hip Roll"/> - </RobotNode> - - <RobotNode name="Hip Roll"> - <Joint type="revolute"> - <Axis x="0" y="1" z="0"/> - <Limits unit="degree" lo="-45" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/platform_roll_link.iv</File> - </Visualization> - <Physics> - <Mass value="10" units="kg" /> - <IgnoreCollision name="Platform"/> - </Physics> - <CollisionModel> - <File type="Inventor">convexModel/platform_roll_link.iv</File> - </CollisionModel> - <Child name="Hip Yaw"/> - </RobotNode> - - <RobotNode name="Hip Yaw"> - <Joint type="revolute"> - <Axis x="0" y="0" z="1"/> - <Limits unit="degree" lo="-45" hi="45"/> - <MaxVelocity unit="radian" value="1"/> - <MaxAcceleration value="10"/> - <MaxTorque value="20000"/> - </Joint> - <Physics> - <CoM location="VisualizationBBoxCenter"/> - <Mass value="15.415" units="kg" /> - <IgnoreCollision name="Hip Pitch"/> - <IgnoreCollision name="Platform"/> - </Physics> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - <File type="Inventor">fullmodel/torso.iv</File> - </Visualization> - <CollisionModel> - <File type="Inventor">convexModel/torso.iv</File> - </CollisionModel> - <Child name="Center of Arms"/> - </RobotNode> - - <RobotNode name="Center of Arms"> - <Transform> - <Translation x="0" y="-35" z="485" units='mm'/> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - - <Child name="TrafoToHead"/> - <Child name="TrafoToLeftArm"/> - <Child name="TrafoToRightArm"/> - </RobotNode> - - <RobotNode name="TrafoToHead"> - <Transform> - <Translation x="0" y="0" z="118" units='mm'/> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - - <ChildFromRobot> - <File importEEF="true">ArmarIII-Head.xml</File> - </ChildFromRobot> - </RobotNode> - - <RobotNode name="TrafoToLeftArm"> - <Transform> - <Translation x="-232" y="0" z="0" units='mm'/> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - - <ChildFromRobot> - <File importEEF="true">ArmarIII-LeftArm.xml</File> - </ChildFromRobot> - </RobotNode> - - <RobotNode name="TrafoToRightArm"> - <Transform> - <Translation x="232" y="0" z="0" units='mm'/> - </Transform> - <Visualization enable="true"> - <CoordinateAxis type="Inventor" enable="false" scaling="8"/> - </Visualization> - - <ChildFromRobot> - <File importEEF="true">ArmarIII-RightArm.xml</File> - </ChildFromRobot> - </RobotNode> - - <RobotNodeSet name="Torso" kinematicRoot="Platform"> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - </RobotNodeSet> - - <RobotNodeSet name="TorsoHeadColModel"> - <Node name="Hip Yaw"/> - <Node name="Head_Tilt"/> - </RobotNodeSet> - - <RobotNodeSet name="PlatformTorsoColModel"> - <Node name="Platform"/> - <Node name="Hip Yaw"/> - </RobotNodeSet> - - <RobotNodeSet name="PlatformTorsoHeadColModel"> - <Node name="Platform"/> - <Node name="Hip Yaw"/> - <Node name="Head_Tilt"/> - </RobotNodeSet> - - <RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L"> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - <Node name="Elbow L"/> - <Node name="Underarm L"/> - <Node name="Wrist 1 L"/> - <Node name="Wrist 2 L"/> - </RobotNodeSet> - - <RobotNodeSet name="HipYawLeftArm" kinematicRoot="Platform" tcp="TCP L"> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - <Node name="Elbow L"/> - <Node name="Underarm L"/> - <Node name="Wrist 1 L"/> - <Node name="Wrist 2 L"/> - </RobotNodeSet> - - <RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R"> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - <RobotNodeSet name="TorsoRightArmIndexFingertip" kinematicRoot="Platform" tcp="Index R Fingertip"> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - <RobotNodeSet name="HipYawRightArm" kinematicRoot="Platform" tcp="TCP R"> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - - <RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform"> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - <Node name="Elbow L"/> - <Node name="Underarm L"/> - <Node name="Wrist 1 L"/> - <Node name="Wrist 2 L"/> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - <RobotNodeSet name="Robot" kinematicRoot="Platform"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Head_Tilt"/> - <Node name="Cameras"/> - <Node name="Eye_Left"/> - <Node name="Eye_Right"/> - <Node name="VirtualCentralGaze"/> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - <Node name="Elbow L"/> - <Node name="Underarm L"/> - <Node name="Wrist 1 L"/> - <Node name="Wrist 2 L"/> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - <Node name="Hand Palm 1 L"/> - <Node name="Hand Palm 2 L"/> - <Node name="Thumb L J0"/> - <Node name="Thumb L J1"/> - <Node name="Index L J0"/> - <Node name="Index L J1"/> - <Node name="Middle L J0"/> - <Node name="Middle L J1"/> - <Node name="Ring L J0"/> - <Node name="Ring L J1"/> - <Node name="Pinky L J0"/> - <Node name="Pinky L J1"/> - <Node name="Hand Palm 1 R"/> - <Node name="Hand Palm 2 R"/> - <Node name="Thumb R J0"/> - <Node name="Thumb R J1"/> - <Node name="Index R J0"/> - <Node name="Index R J1"/> - <Node name="Middle R J0"/> - <Node name="Middle R J1"/> - <Node name="Ring R J0"/> - <Node name="Ring R J1"/> - <Node name="Pinky R J0"/> - <Node name="Pinky R J1"/> - </RobotNodeSet> - - <RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L"> - <Node name="Yaw_Platform"/> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 L"/> - <Node name="Shoulder 2 L"/> - <Node name="Upperarm L"/> - <Node name="Elbow L"/> - <Node name="Underarm L"/> - <Node name="Wrist 1 L"/> - <Node name="Wrist 2 L"/> - </RobotNodeSet> - - <RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R"> - <Node name="Yaw_Platform"/> - <Node name="Hip Pitch"/> - <Node name="Hip Roll"/> - <Node name="Hip Yaw"/> - <Node name="Shoulder 1 R"/> - <Node name="Shoulder 2 R"/> - <Node name="Upperarm R"/> - <Node name="Elbow R"/> - <Node name="Underarm R"/> - <Node name="Wrist 1 R"/> - <Node name="Wrist 2 R"/> - </RobotNodeSet> - - - <RobotNodeSet name="HeadMotionMeasurementChain" kinematicRoot="Neck_1_Pitch" tcp="HeadMotionMeasurementTCP"> - <Node name="Neck_1_Pitch"/> - <Node name="Neck_2_Roll"/> - <Node name="Neck_3_Yaw"/> - <Node name="Head_Tilt"/> - <Node name="Cameras"/> - <Node name="Eye_Left"/> - <Node name="HeadMotionMeasurementTCP"/> - </RobotNodeSet> - - -</Robot>