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.gitignore
View file @ 65dbeda9
......@@ -76,3 +76,5 @@ etc/python/dist/*
data/RobotAPI/ArVizStorage/
.vscode/
.clang-format
.clang-tidy
.gitlab-ci.yml 0 → 100644
View file @ 65dbeda9
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: $CI_COMMIT_BRANCH == "master"
.gitlab/CODEOWNERS
View file @ 65dbeda9
# ARON
/source/RobotAPI/libraries/aron/ @peller @dreher
/source/RobotAPI/interface/aron/ @peller @dreher
/source/RobotAPI/interface/aron.ice @peller @dreher
# ArMem
/source/RobotAPI/components/armem/ @RainerKartmann @dreher
/source/RobotAPI/components/armem/ @peller @kartmann @dreher
/source/RobotAPI/libraries/armem/ @RainerKartmann @dreher
/source/RobotAPI/libraries/armem_robot_localization/ @FabianReister
/source/RobotAPI/libraries/armem_robot_mapping/ @FabianReister
/source/RobotAPI/libraries/armem/ @peller @kartmann @dreher
/source/RobotAPI/libraries/armem_robot_localization/ @reister
/source/RobotAPI/libraries/armem_robot_mapping/ @reister
/source/RobotAPI/interface/armem.ice @RainerKartmann @dreher
/source/RobotAPI/interface/armem/ @fratty @RainerKartmann @dreher
/source/RobotAPI/interface/armem.ice @fratty @RainerKartmann @dreher
.gitlab/ci/armarx-workspace.json 0 → 100644
View file @ 65dbeda9
{
"modules": {
"tools/ccache/default": {},
"armarx/RobotAPI": {}
},
"global": {
"prepare": {
"cmake": {
"definitions": {
"CMAKE_BUILD_TYPE": "RelWithDebInfo",
"CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
"CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
}
}
}
}
}
CMakeLists.txt
View file @ 65dbeda9
......@@ -17,8 +17,32 @@ set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
armarx_project("RobotAPI")
depends_on_armarx_package(ArmarXGui)
find_package(DMP QUIET)
find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET)
find_package(manif QUIET)
add_subdirectory(source)
install_project()
add_subdirectory(scenarios)
if (TRUE)
find_package(libmongocxx QUIET)
find_package(libbsoncxx QUIET)
if (NOT libbsoncxx_FOUND OR NOT libbsoncxx_FOUND)
string(ASCII 27 Esc)
set(BoldYellow "${Esc}[1;33m")
set(ColourReset "${Esc}[m")
message(WARNING "${BoldYellow}\
The packages libbsoncxx or libbsoncxx not found. \
They are required to build the memory system (armem and related libraries). \
Please use this installation script to install libmongocxx and libbsoncxx:
cd ${PROJECT_SOURCE_DIR}/etc/mongocxx/ && ./install_mongocxx.sh ~/repos \
or run 'cmake -DCMAKE_PREFIX_PATH=$mongocxx_install_dir' if you have mongocxx already installed \
${ColourReset}")
endif()
endif()
README.md
View file @ 65dbeda9
# RobotAPI
[Online Documentation](https://armarx.humanoids.kit.edu/RobotAPI-Overview.html)
README.txt deleted 100644 → 0
View file @ 28e04b64
Stub to make the package tool work.
data/RobotAPI/VariantInfo-RobotAPI.xml
View file @ 65dbeda9
......@@ -17,6 +17,13 @@
<Variant baseType="::armarx::TrajectoryBase" dataType="::armarx::Trajectory" humanName="Trajectory" include="RobotAPI/libraries/core/Trajectory.h"/>
</Lib>
<Lib name="RobotAPIInterfaces">
<Class typeName="NJointCartesianWaypointControllerConfig" include="RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h" />
<Class typeName="FramedPoseBase" include="RobotAPI/interface/core/FramedPoseBase.h" />
<Class typeName="Vector3Base" include="RobotAPI/interface/core/PoseBase.h" />
<Class typeName="QuaternionBase" include="RobotAPI/interface/core/PoseBase.h" />
<Class typeName="armarx::viz::data::Element" include="RobotAPI/interface/ArViz/Elements.h" />
<Class typeName="armarx::viz::data::LayerUpdate" include="RobotAPI/interface/ArViz/Component.h" />
<Proxy include="RobotAPI/interface/units/KinematicUnitInterface.h"
humanName="Kinematic Unit"
typeName="KinematicUnitInterfacePrx"
......@@ -43,10 +50,18 @@
<Proxy include="RobotAPI/interface/units/PlatformUnitInterface.h"
humanName="Platform Unit (obstacle avoiding)"
typeName="PlatformUnitInterfacePrx"
memberName="obstacleAvoidingPlatformUnit"
getterName="getObstacleAvoidingPlatformUnit"
propertyName="ObstacleAvoidingPlatformUnitName"
memberName="platformUnit1"
getterName="getPlatformUnit1"
propertyName="PlatformUnitName1"
propertyDefaultValue="ObstacleAvoidingPlatformUnit"
propertyIsOptional="true" />
<Proxy include="RobotAPI/interface/units/PlatformUnitInterface.h"
humanName="Platform Unit (obstacle aware)"
typeName="PlatformUnitInterfacePrx"
memberName="platformUnit2"
getterName="getPlatformUnit2"
propertyName="PlatformUnitName2"
propertyDefaultValue="ObstacleAwarePlatformUnit"
propertyIsOptional="true" />
<Proxy include="RobotAPI/interface/observers/PlatformUnitObserverInterface.h"
humanName="Platform Unit Observer"
......@@ -147,22 +162,6 @@
getterName="getRobotUnit"
propertyName="RobotUnitName"
propertyIsOptional="false" />
<Proxy include="ArmarXCore/interface/observers/ObserverInterface.h"
humanName="Robot Unit Observer"
typeName="ObserverInterfacePrx"
memberName="robotUnitObserver"
getterName="getRobotUnitObserver"
propertyName="RobotUnitObserverName"
propertyIsOptional="true"
propertyDefaultValue="RobotUnitObserver" />
<Proxy include="ArmarXCore/interface/observers/ObserverInterface.h"
humanName="Speech Observer"
typeName="ObserverInterfacePrx"
memberName="speechObserver"
getterName="getSpeechObserver"
propertyName="SpeechObserverName"
propertyIsOptional="true"
propertyDefaultValue="SpeechObserver" />
<Proxy include="RobotAPI/interface/units/CyberGloveObserverInterface.h"
humanName="CyberGlove Observer"
typeName="CyberGloveObserverInterfacePrx"
......@@ -187,6 +186,16 @@
propertyName="NJointTrajectoryControllerName"
propertyIsOptional="true"
propertyDefaultValue="NJointTrajectoryController" />
<Proxy include="RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h"
humanName="NJoint Cartesian Waypoint Controller"
typeName="NJointCartesianControllerInterfacePrx"
memberName="NJointCartesianWaypointController"
getterName="getNJointCartesianWaypointController"
propertyName="NJointCartesianWaypointControllerName"
propertyIsOptional="true"
propertyDefaultValue="NJointCartesianWaypointController" />
<Proxy include="RobotAPI/interface/core/RobotState.h"
humanName="Robot State Component"
typeName="RobotStateComponentInterfacePrx"
......@@ -256,6 +265,17 @@
propertyIsOptional="true"
propertyDefaultValue="ArVizTopic">
</Topic>
<Proxy include="RobotAPI/interface/ArViz/Component.h"
humanName="ArViz Storage"
typeName="armarx::viz::StorageInterfacePrx"
memberName="storageProxy"
getterName="getStorageProxy"
propertyName="StorageName"
propertyIsOptional="true"
propertyDefaultValue="ArViz">
</Proxy>
<Topic include="RobotAPI/interface/speech/SpeechInterface.h"
humanName="Text to Speech Topic"
typeName="TextListenerInterfacePrx"
......@@ -290,7 +310,7 @@
propertyDefaultValue="DynamicObstacleManager" />
<Proxy include="RobotAPI/interface/observers/GraspCandidateObserverInterface.h"
humanName="Grasp Candidate Observer"
typeName="grasping::GraspCandidateObserverInterfacePrx"
typeName="armarx::grasping::GraspCandidateObserverInterfacePrx"
memberName="graspCandidateObserver"
getterName="getGraspCandidateObserver"
propertyName="GraspCandidateObserverName"
......@@ -336,5 +356,13 @@
propertyName="MemoryNameSystemName"
propertyIsOptional="true"
propertyDefaultValue="MemoryNameSystem" />
<Proxy include="RobotAPI/interface/core/RobotLocalization.h"
humanName="GlobalRobotPoseProvider"
typeName="armarx::GlobalRobotPoseProviderPrx"
memberName="GlobalRobotPoseProvider"
getterName="getGlobalRobotPoseProvider"
propertyName="GlobalRobotPoseProviderName"
propertyIsOptional="true"
propertyDefaultValue="GlobalRobotPoseProvider" />
</Lib>
</VariantInfo>
data/RobotAPI/robotStateMemoryConfig.txt
View file @ 65dbeda9
// Configuration set for the Humanoid Robot ARMAR-6
// Left Hand unit
// Reft Hand
sens.Index L 1 Joint.acceleration => HandL
sens.Index L 1 Joint.gravityTorque => HandL
sens.Index L 1 Joint.inertiaTorque => HandL
......@@ -103,7 +105,9 @@ sens.Thumb L 2 Joint.position => HandL
sens.Thumb L 2 Joint.torque => HandL
sens.Thumb L 2 Joint.velocity => HandL
// Right Hand unit
// Right Hand
sens.Index R 1 Joint.acceleration => HandR
sens.Index R 1 Joint.gravityTorque => HandR
sens.Index R 1 Joint.inertiaTorque => HandR
......@@ -185,7 +189,165 @@ sens.Thumb R 2 Joint.position => HandR
sens.Thumb R 2 Joint.torque => HandR
sens.Thumb R 2 Joint.velocity => HandR
sens.Pinky R 1 Joint.acceleration => HandR
sens.Pinky R 1 Joint.gravityTorque => HandR
sens.Pinky R 1 Joint.inertiaTorque => HandR
sens.Pinky R 1 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 1 Joint.position => HandR
sens.Pinky R 1 Joint.torque => HandR
sens.Pinky R 1 Joint.velocity => HandR
sens.Pinky R 2 Joint.acceleration => HandR
sens.Pinky R 2 Joint.gravityTorque => HandR
sens.Pinky R 2 Joint.inertiaTorque => HandR
sens.Pinky R 2 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 2 Joint.position => HandR
sens.Pinky R 2 Joint.torque => HandR
sens.Pinky R 2 Joint.velocity => HandR
sens.Pinky R 3 Joint.acceleration => HandR
sens.Pinky R 3 Joint.gravityTorque => HandR
sens.Pinky R 3 Joint.inertiaTorque => HandR
sens.Pinky R 3 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 3 Joint.position => HandR
sens.Pinky R 3 Joint.torque => HandR
sens.Pinky R 3 Joint.velocity => HandR
// Arm L
sens.ArmL1_Cla1.acceleration => ArmL
sens.ArmL1_Cla1.gravityTorque => ArmL
sens.ArmL1_Cla1.inertiaTorque => ArmL
sens.ArmL1_Cla1.inverseDynamicsTorque => ArmL
sens.ArmL1_Cla1.position => ArmL
sens.ArmL1_Cla1.torque => ArmL
sens.ArmL1_Cla1.velocity => ArmL
sens.ArmL2_Sho1.acceleration => ArmL
sens.ArmL2_Sho1.gravityTorque => ArmL
sens.ArmL2_Sho1.inertiaTorque => ArmL
sens.ArmL2_Sho1.inverseDynamicsTorque => ArmL
sens.ArmL2_Sho1.position => ArmL
sens.ArmL2_Sho1.torque => ArmL
sens.ArmL2_Sho1.velocity => ArmL
sens.ArmL3_Sho2.acceleration => ArmL
sens.ArmL3_Sho2.gravityTorque => ArmL
sens.ArmL3_Sho2.inertiaTorque => ArmL
sens.ArmL3_Sho2.inverseDynamicsTorque => ArmL
sens.ArmL3_Sho2.position => ArmL
sens.ArmL3_Sho2.torque => ArmL
sens.ArmL3_Sho2.velocity => ArmL
sens.ArmL4_Sho3.acceleration => ArmL
sens.ArmL4_Sho3.gravityTorque => ArmL
sens.ArmL4_Sho3.inertiaTorque => ArmL
sens.ArmL4_Sho3.inverseDynamicsTorque => ArmL
sens.ArmL4_Sho3.position => ArmL
sens.ArmL4_Sho3.torque => ArmL
sens.ArmL4_Sho3.velocity => ArmL
sens.ArmL5_Elb1.acceleration => ArmL
sens.ArmL5_Elb1.gravityTorque => ArmL
sens.ArmL5_Elb1.inertiaTorque => ArmL
sens.ArmL5_Elb1.inverseDynamicsTorque => ArmL
sens.ArmL5_Elb1.position => ArmL
sens.ArmL5_Elb1.torque => ArmL
sens.ArmL5_Elb1.velocity => ArmL
sens.ArmL6_Elb2.acceleration => ArmL
sens.ArmL6_Elb2.gravityTorque => ArmL
sens.ArmL6_Elb2.inertiaTorque => ArmL
sens.ArmL6_Elb2.inverseDynamicsTorque => ArmL
sens.ArmL6_Elb2.position => ArmL
sens.ArmL6_Elb2.torque => ArmL
sens.ArmL6_Elb2.velocity => ArmL
sens.ArmL7_Wri1.acceleration => ArmL
sens.ArmL7_Wri1.gravityTorque => ArmL
sens.ArmL7_Wri1.inertiaTorque => ArmL
sens.ArmL7_Wri1.inverseDynamicsTorque => ArmL
sens.ArmL7_Wri1.position => ArmL
sens.ArmL7_Wri1.torque => ArmL
sens.ArmL7_Wri1.velocity => ArmL
sens.ArmL8_Wri2.acceleration => ArmL
sens.ArmL8_Wri2.gravityTorque => ArmL
sens.ArmL8_Wri2.inertiaTorque => ArmL
sens.ArmL8_Wri2.inverseDynamicsTorque => ArmL
sens.ArmL8_Wri2.position => ArmL
sens.ArmL8_Wri2.torque => ArmL
sens.ArmL8_Wri2.velocity => ArmL
// Arm R
sens.ArmR1_Cla1.acceleration => ArmR
sens.ArmR1_Cla1.gravityTorque => ArmR
sens.ArmR1_Cla1.inertiaTorque => ArmR
sens.ArmR1_Cla1.inverseDynamicsTorque => ArmR
sens.ArmR1_Cla1.position => ArmR
sens.ArmR1_Cla1.torque => ArmR
sens.ArmR1_Cla1.velocity => ArmR
sens.ArmR2_Sho1.acceleration => ArmR
sens.ArmR2_Sho1.gravityTorque => ArmR
sens.ArmR2_Sho1.inertiaTorque => ArmR
sens.ArmR2_Sho1.inverseDynamicsTorque => ArmR
sens.ArmR2_Sho1.position => ArmR
sens.ArmR2_Sho1.torque => ArmR
sens.ArmR2_Sho1.velocity => ArmR
sens.ArmR3_Sho2.acceleration => ArmR
sens.ArmR3_Sho2.gravityTorque => ArmR
sens.ArmR3_Sho2.inertiaTorque => ArmR
sens.ArmR3_Sho2.inverseDynamicsTorque => ArmR
sens.ArmR3_Sho2.position => ArmR
sens.ArmR3_Sho2.torque => ArmR
sens.ArmR3_Sho2.velocity => ArmR
sens.ArmR4_Sho3.acceleration => ArmR
sens.ArmR4_Sho3.gravityTorque => ArmR
sens.ArmR4_Sho3.inertiaTorque => ArmR
sens.ArmR4_Sho3.inverseDynamicsTorque => ArmR
sens.ArmR4_Sho3.position => ArmR
sens.ArmR4_Sho3.torque => ArmR
sens.ArmR4_Sho3.velocity => ArmR
sens.ArmR5_Elb1.acceleration => ArmR
sens.ArmR5_Elb1.gravityTorque => ArmR
sens.ArmR5_Elb1.inertiaTorque => ArmR
sens.ArmR5_Elb1.inverseDynamicsTorque => ArmR
sens.ArmR5_Elb1.position => ArmR
sens.ArmR5_Elb1.torque => ArmR
sens.ArmR5_Elb1.velocity => ArmR
sens.ArmR6_Elb2.acceleration => ArmR
sens.ArmR6_Elb2.gravityTorque => ArmR
sens.ArmR6_Elb2.inertiaTorque => ArmR
sens.ArmR6_Elb2.inverseDynamicsTorque => ArmR
sens.ArmR6_Elb2.position => ArmR
sens.ArmR6_Elb2.torque => ArmR
sens.ArmR6_Elb2.velocity => ArmR
sens.ArmR7_Wri1.acceleration => ArmR
sens.ArmR7_Wri1.gravityTorque => ArmR
sens.ArmR7_Wri1.inertiaTorque => ArmR
sens.ArmR7_Wri1.inverseDynamicsTorque => ArmR
sens.ArmR7_Wri1.position => ArmR
sens.ArmR7_Wri1.torque => ArmR
sens.ArmR7_Wri1.velocity => ArmR
sens.ArmR8_Wri2.acceleration => ArmR
sens.ArmR8_Wri2.gravityTorque => ArmR
sens.ArmR8_Wri2.inertiaTorque => ArmR
sens.ArmR8_Wri2.inverseDynamicsTorque => ArmR
sens.ArmR8_Wri2.position => ArmR
sens.ArmR8_Wri2.torque => ArmR
sens.ArmR8_Wri2.velocity => ArmR
// Neck
sens.Neck_1_Yaw.acceleration => Neck
sens.Neck_1_Yaw.gravityTorque => Neck
sens.Neck_1_Yaw.inertiaTorque => Neck
......@@ -193,10 +355,70 @@ sens.Neck_1_Yaw.inverseDynamicsTorque => Neck
sens.Neck_1_Yaw.position => Neck
sens.Neck_1_Yaw.torque => Neck
sens.Neck_1_Yaw.velocity => Neck
sens.Neck_2_Pitch.acceleration => Neck
sens.Neck_2_Pitch.gravityTorque => Neck
sens.Neck_2_Pitch.inertiaTorque => Neck
sens.Neck_2_Pitch.inverseDynamicsTorque
sens.Neck_2_Pitch.inverseDynamicsTorque => Neck
sens.Neck_2_Pitch.position => Neck
sens.Neck_2_Pitch.torque => Neck
sens.Neck_2_Pitch.velocity => Neck
// Torso
sens.TorsoJoint.acceleration => Torso
sens.TorsoJoint.gravityTorque => Torso
sens.TorsoJoint.inertiaTorque => Torso
sens.TorsoJoint.inverseDynamicsTorque => Torso
sens.TorsoJoint.position => Torso
sens.TorsoJoint.torque => Torso
sens.TorsoJoint.velocity => Torso
// Platform
sens.Platform.accelerationX => Platform
sens.Platform.accelerationY => Platform
sens.Platform.accelerationRotation => Platform
sens.Platform.absolutePositionX => Platform
sens.Platform.absolutePositionY => Platform
sens.Platform.absolutePositionRotation => Platform
sens.Platform.relativePositionX => Platform
sens.Platform.relativePositionY => Platform
sens.Platform.relativePositionRotation => Platform
sens.Platform.velocityX => Platform
sens.Platform.velocityY => Platform
sens.Platform.velocityRotation => Platform
// FT L
sens.FT L.fx => FT L
sens.FT L.fy => FT L
sens.FT L.fz => FT L
sens.FT L.gravCompFx => FT L
sens.FT L.gravCompFy => FT L
sens.FT L.gravCompFz => FT L
sens.FT L.gravCompTx => FT L
sens.FT L.gravCompTy => FT L
sens.FT L.gravCompTz => FT L
sens.FT L.tx => FT L
sens.FT L.ty => FT L
sens.FT L.tz => FT L
// FT R
sens.FT R.fx => FT R
sens.FT R.fy => FT R
sens.FT R.fz => FT R
sens.FT R.gravCompFx => FT R
sens.FT R.gravCompFy => FT R
sens.FT R.gravCompFz => FT R
sens.FT R.gravCompTx => FT R
sens.FT R.gravCompTy => FT R
sens.FT R.gravCompTz => FT R
sens.FT R.tx => FT R
sens.FT R.ty => FT R
sens.FT R.tz => FT R
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
View file @ 65dbeda9
......@@ -8,7 +8,7 @@
</Transform>
<Visualization>
<File type="Inventor">fullmodel/head_base.iv</File>
<File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization>
<Physics>
......@@ -17,7 +17,7 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/head_base.iv</File>
<File type="Inventor">convexModel/head_base.wrl</File>
</CollisionModel>
<Child name="Neck_1_Pitch"/>
......@@ -40,7 +40,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File>
<File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization>
<Physics>
......@@ -50,7 +50,7 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_pitch_link.iv</File>
<File type="Inventor">convexModel/neck_pitch_link.wrl</File>
</CollisionModel>
<Child name="Neck_2_Roll"/>
......@@ -71,7 +71,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File>
<File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization>
<Physics>
......@@ -82,7 +82,7 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_roll_link.iv</File>
<File type="Inventor">convexModel/neck_roll_link.wrl</File>
</CollisionModel>
<Child name="Neck_3_Yaw"/>
......@@ -103,7 +103,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File>
<File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization>
<Physics>
......@@ -112,8 +112,17 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.iv</File>
<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>
......@@ -140,11 +149,11 @@
</Physics>
<Visualization>
<File type="Inventor">fullmodel/head.iv</File>
<File type="Inventor">fullmodel/head.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/head.iv</File>
<File type="Inventor">convexModel/head.wrl</File>
</CollisionModel>
<Child name="Head Center1"/>
......@@ -179,7 +188,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.iv</File>
<File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization>
</RobotNode>
......@@ -306,7 +315,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File>
<File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization>
......@@ -335,7 +344,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File>
<File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization>
<CollisionModel>
......@@ -395,7 +404,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File>
<File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -404,7 +413,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File>
<File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization>
</RobotNode>
......@@ -439,7 +448,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File>
<File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -451,7 +460,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File>
<File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization>
</RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
View file @ 65dbeda9
......@@ -8,7 +8,7 @@
</Joint>
<Child name="Neck_1_Pitch"/>
<Visualization>
<File type="Inventor">fullmodel/head_base.iv</File>
<File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization>
</RobotNode>
......@@ -19,7 +19,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File>
<File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization>
<Child name="Neck_2_Roll"/>
</RobotNode>
......@@ -30,7 +30,7 @@
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File>
<File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization>
<Child name="Neck_3_Yaw"/>
</RobotNode>
......@@ -41,7 +41,7 @@
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File>
<File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization>
<Child name="Head_Tilt"/>
</RobotNode>
......@@ -56,10 +56,10 @@
<Mass value="6.79877000" units="kg" />
</Physics>
<Visualization>
<File type="Inventor">fullmodel/head.iv</File>
<File type="Inventor">fullmodel/head.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/head.iv</File>
<File type="Inventor">collisionModel/head.wrl</File>
</CollisionModel>
<Child name="Head Center"/>
</RobotNode>
......@@ -78,7 +78,7 @@
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.iv</File>
<File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization>
</RobotNode>
......@@ -122,7 +122,7 @@
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File>
<File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization>
<Child name="Lid Left Bottom"/>
<Child name="Lid Left Top"/>
......@@ -135,7 +135,7 @@
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File>
<File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization>
<Child name="Lid Right Bottom"/>
<Child name="Lid Right Top"/>
......@@ -158,7 +158,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File>
<File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -167,7 +167,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File>
<File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization>
</RobotNode>
......@@ -187,7 +187,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File>
<File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -196,7 +196,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File>
<File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization>
</RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
View file @ 65dbeda9
......@@ -28,11 +28,21 @@
<Mass value="3.65" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder_l.iv</File>
<File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder_l.iv</File>
<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>
......@@ -55,11 +65,20 @@
<Mass value="2.5" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
<File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_l_rot.iv</File>
<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>
......@@ -83,10 +102,10 @@
<IgnoreCollision name="Shoulder 1 L"/>
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_l.iv</File>
<File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/upperarm_l.iv</File>
<File type="Inventor">convexModel/upperarm_l.wrl</File>
</CollisionModel>
<Child name="Elbow L"/>
</RobotNode>
......@@ -106,10 +125,10 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File>
<File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/elbow_l.iv</File>
<File type="Inventor">convexModel/elbow_l.wrl</File>
</CollisionModel>
<Physics>
<CoM location="Joint"/>
......@@ -133,11 +152,21 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/underarm_l.iv</File>
<File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/underarm_l.iv</File>
<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" />
......@@ -164,10 +193,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File>
<File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/wrist1_l.iv</File>
<File type="Inventor">convexModel/wrist1_l.wrl</File>
</CollisionModel>
<Child name="Wrist 2 L"/>
</RobotNode>
......@@ -188,11 +217,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File>
<File type="Inventor">fullmodel/wrist2_l.wrl</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>
<File type="Inventor">convexModel/wrist2_l.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
View file @ 65dbeda9
......@@ -23,10 +23,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_l.iv</File>
<File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/shoulder_l.iv</File>
<File type="Inventor">collisionModel/shoulder_l.wrl</File>
</CollisionModel>
<Child name="Shoulder 2 L"/>
</RobotNode>
......@@ -42,7 +42,7 @@
</Physics-->
<Visualization enable="true">
<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>
<Child name="Upperarm L"/>
</RobotNode>
......@@ -58,10 +58,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_l.iv</File>
<File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/upperarm_l.iv</File>
<File type="Inventor">collisionModel/upperarm_l.wrl</File>
</CollisionModel>
<Child name="Elbow L"/>
</RobotNode>
......@@ -73,15 +73,15 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File>
<File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization>
<!--Physics>
<CoM location="Joint"/>
<Mass value="1.15744000" units="kg" />
</Physics-->
<!-- TODO elbow_l.iv does not exist (currently not needed)-->
<!-- TODO elbow_l.wrl does not exist (currently not needed)-->
<!--<CollisionModel>-->
<!--<File type="Inventor">collisionModel/elbow_l.iv</File>-->
<!--<File type="Inventor">collisionModel/elbow_l.wrl</File>-->
<!--</CollisionModel>-->
<Child name="Underarm L"/>
</RobotNode>
......@@ -98,10 +98,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_l.iv</File>
<File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/underarm_l.iv</File>
<File type="Inventor">collisionModel/underarm_l.wrl</File>
</CollisionModel>
<Child name="Wrist 1 L"/>
</RobotNode>
......@@ -117,10 +117,10 @@
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File>
<File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File>
<File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel-->
<Child name="Wrist 2 L"/>
</RobotNode>
......@@ -136,10 +136,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File>
<File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File>
<File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel-->
<ChildFromRobot>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
View file @ 65dbeda9
......@@ -45,11 +45,11 @@
</Transform>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File>
<File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm1_l.iv</File>
<File type="Inventor">convexModel/palm1_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -74,11 +74,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File>
<File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm2_l.iv</File>
<File type="Inventor">convexModel/palm2_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -109,11 +109,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File>
<File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_l1.iv</File>
<File type="Inventor">convexModel/thumb_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -137,11 +137,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File>
<File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_l2.iv</File>
<File type="Inventor">convexModel/thumb_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -168,11 +168,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File>
<File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_l1.iv</File>
<File type="Inventor">convexModel/pinky_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -196,11 +196,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l2.iv</File>
<File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_l2.iv</File>
<File type="Inventor">convexModel/pinky_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -227,11 +227,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File>
<File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_l1.iv</File>
<File type="Inventor">convexModel/ring_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -255,11 +255,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File>
<File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_l2.iv</File>
<File type="Inventor">convexModel/ring_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -286,11 +286,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File>
<File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_l1.iv</File>
<File type="Inventor">convexModel/middle_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -314,11 +314,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File>
<File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_l2.iv</File>
<File type="Inventor">convexModel/middle_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -345,11 +345,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File>
<File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_l1.iv</File>
<File type="Inventor">convexModel/index_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -373,11 +373,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File>
<File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_l2.iv</File>
<File type="Inventor">convexModel/index_l2.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
View file @ 65dbeda9
......@@ -39,11 +39,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File>
<File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/palm1_l.iv</File>
<File type="Inventor">collisionModel/palm1_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -67,11 +67,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File>
<File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/palm2_l.iv</File>
<File type="Inventor">collisionModel/palm2_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -109,11 +109,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File>
<File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_l1.iv</File>
<File type="Inventor">collisionModel/thumb_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -136,11 +136,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File>
<File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_l2.iv</File>
<File type="Inventor">collisionModel/thumb_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -173,11 +173,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File>
<File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_l1.iv</File>
<File type="Inventor">collisionModel/pinky_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -201,11 +201,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/pinky_l2.iv</File>
<File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_l2.iv</File>
<File type="Inventor">collisionModel/pinky_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -238,11 +238,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File>
<File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_l1.iv</File>
<File type="Inventor">collisionModel/ring_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -265,11 +265,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File>
<File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_l2.iv</File>
<File type="Inventor">collisionModel/ring_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -302,11 +302,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File>
<File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_l1.iv</File>
<File type="Inventor">collisionModel/middle_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -329,11 +329,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File>
<File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_l2.iv</File>
<File type="Inventor">collisionModel/middle_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -366,11 +366,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File>
<File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/index_l1.iv</File>
<File type="Inventor">collisionModel/index_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -393,11 +393,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File>
<File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/index_l2.iv</File>
<File type="Inventor">collisionModel/index_l2.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
View file @ 65dbeda9
......@@ -82,10 +82,10 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File>
<File type="Inventor">fullmodel/platform.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/platform.iv</File>
<File type="Inventor">collisionModel/platform.wrl</File>
</CollisionModel>
<Child name="Hip Pitch"/>
......@@ -105,7 +105,7 @@
</Joint>
<Visualization enable="true">
<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>
<Child name="Hip Roll"/>
</RobotNode>
......@@ -120,7 +120,7 @@
</Joint>
<Visualization enable="true">
<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>
<Child name="Hip Yaw"/>
</RobotNode>
......@@ -135,10 +135,10 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File>
<File type="Inventor">fullmodel/torso.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/torso.iv</File>
<File type="Inventor">collisionModel/torso.wrl</File>
</CollisionModel>
<Child name="Center of Arms"/>
</RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
View file @ 65dbeda9
......@@ -29,11 +29,21 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/shoulder_r.iv</File>
<File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder_r.iv</File>
<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>
......@@ -54,11 +64,20 @@
<Mass value="2.5" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
<File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_r_rot.iv</File>
<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>
......@@ -80,10 +99,10 @@
<IgnoreCollision name="Shoulder 1 R"/>
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_r.iv</File>
<File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/upperarm_r.iv</File>
<File type="Inventor">convexModel/upperarm_r.wrl</File>
</CollisionModel>
<Child name="Elbow R"/>
</RobotNode>
......@@ -102,10 +121,10 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/elbow_r.iv</File>
<File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/elbow_r.iv</File>
<File type="Inventor">convexModel/elbow_r.wrl</File>
</CollisionModel>
<Physics>
<CoM location="Joint"/>
......@@ -128,11 +147,21 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/underarm_r.iv</File>
<File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/underarm_r.iv</File>
<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" />
......@@ -158,10 +187,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist1_r.iv</File>
<File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/wrist1_r.iv</File>
<File type="Inventor">convexModel/wrist1_r.wrl</File>
</CollisionModel>
<Child name="Wrist 2 R"/>
</RobotNode>
......@@ -181,11 +210,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist2_r.iv</File>
<File type="Inventor">fullmodel/wrist2_r.wrl</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>
<File type="Inventor">convexModel/wrist2_r.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
View file @ 65dbeda9
......@@ -23,10 +23,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_r.iv</File>
<File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/shoulder_r.iv</File>
<File type="Inventor">collisionModel/shoulder_r.wrl</File>
</CollisionModel>
<Child name="Shoulder 2 R"/>
</RobotNode>
......@@ -38,7 +38,7 @@
</Joint>
<Visualization enable="true">
<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>
<Child name="Upperarm R"/>
</RobotNode>
......@@ -54,10 +54,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_r.iv</File>
<File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/upperarm_r.iv</File>
<File type="Inventor">collisionModel/upperarm_r.wrl</File>
</CollisionModel>
<Child name="Elbow R"/>
</RobotNode>
......@@ -69,7 +69,7 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_r.iv</File>
<File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization>
<!--Physics>
<CoM location="Joint"/>
......@@ -85,14 +85,14 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_r.iv</File>
<File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">collisionModel/underarm_r.iv</File>
<File type="Inventor">collisionModel/underarm_r.wrl</File>
</CollisionModel>
<Child name="Wrist 1 R"/>
</RobotNode>
......@@ -105,10 +105,10 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_r.iv</File>
<File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File>
<File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel-->
<Child name="Wrist 2 R"/>
</RobotNode>
......@@ -124,10 +124,10 @@
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_r.iv</File>
<File type="Inventor">fullmodel/wrist2_r.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File>
<File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel-->
<Physics>
<CoM location="VisualizationBBoxCenter"/>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
View file @ 65dbeda9
......@@ -49,11 +49,11 @@
</Transform>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_r.iv</File>
<File type="Inventor">fullmodel/palm1_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm1_r.iv</File>
<File type="Inventor">convexModel/palm1_r.wrl</File>
</CollisionModel>
<Physics>
......@@ -78,11 +78,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_r.iv</File>
<File type="Inventor">fullmodel/palm2_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm2_r.iv</File>
<File type="Inventor">convexModel/palm2_r.wrl</File>
</CollisionModel>
<Physics>
......@@ -113,11 +113,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r1.iv</File>
<File type="Inventor">fullmodel/thumb_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_r1.iv</File>
<File type="Inventor">convexModel/thumb_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -141,11 +141,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r2.iv</File>
<File type="Inventor">fullmodel/thumb_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_r2.iv</File>
<File type="Inventor">convexModel/thumb_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -182,11 +182,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r1.iv</File>
<File type="Inventor">fullmodel/pinky_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_r1.iv</File>
<File type="Inventor">convexModel/pinky_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -210,11 +210,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r2.iv</File>
<File type="Inventor">fullmodel/pinky_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_r2.iv</File>
<File type="Inventor">convexModel/pinky_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -242,11 +242,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r1.iv</File>
<File type="Inventor">fullmodel/ring_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_r1.iv</File>
<File type="Inventor">convexModel/ring_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -270,11 +270,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r2.iv</File>
<File type="Inventor">fullmodel/ring_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_r2.iv</File>
<File type="Inventor">convexModel/ring_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -301,11 +301,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r1.iv</File>
<File type="Inventor">fullmodel/middle_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_r1.iv</File>
<File type="Inventor">convexModel/middle_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -329,11 +329,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r2.iv</File>
<File type="Inventor">fullmodel/middle_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_r2.iv</File>
<File type="Inventor">convexModel/middle_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -370,11 +370,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r1.iv</File>
<File type="Inventor">fullmodel/index_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_r1.iv</File>
<File type="Inventor">convexModel/index_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -398,11 +398,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r2.iv</File>
<File type="Inventor">fullmodel/index_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_r2.iv</File>
<File type="Inventor">convexModel/index_r2.wrl</File>
</CollisionModel>
<Physics>
......