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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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.gitignore
View file @ 65dbeda9
......@@ -2,9 +2,13 @@
!/build/.gitkeep
!.gitkeep
!.gitignore
.idea
source/*/Test.h
// ignore Aron files
*.aron.generated.h
*.bak
*#
.#*
......@@ -13,11 +17,14 @@ source/*/Test.h
.*.kate-swp
.*.swo
*.pyc
*.orig
.DS_Store
CMakeFiles
CMakeCache.txt
CMakeLists.txt.user
CMakeLists.txt.user*
*.autosave
*~
*.o
*.os
......@@ -42,4 +49,32 @@ mongod.log*
data/db/
data/dbdump/
# Test files
*.roundtriptest
# Generated Scenario Files
startScenario.sh
stopScenario.sh
ttyACM*.js
ttyACM*.log
datapath*.cfg
*.icegrid.xml
data/RobotAPI/logs
worktree/
etc/python/armarx.egg-info/
etc/python/build/*
etc/python/dist/*
.cmake/api/v1/query/cache-v2
.cmake/api/v1/query/codemodel-v2
.cmake/api/v1/query/cmakeFiles-v1
# ArViz Recordings
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: $CI_COMMIT_BRANCH == "master"
.gitlab/CODEOWNERS 0 → 100644
View file @ 65dbeda9
# ARON
/source/RobotAPI/libraries/aron/ @peller @dreher
/source/RobotAPI/interface/aron/ @peller @dreher
/source/RobotAPI/interface/aron.ice @peller @dreher
# ArMem
/source/RobotAPI/components/armem/ @peller @kartmann @dreher
/source/RobotAPI/libraries/armem/ @peller @kartmann @dreher
/source/RobotAPI/libraries/armem_robot_localization/ @reister
/source/RobotAPI/libraries/armem_robot_mapping/ @reister
/source/RobotAPI/interface/armem/ @fratty @RainerKartmann @dreher
/source/RobotAPI/interface/armem.ice @fratty @RainerKartmann @dreher
.gitlab/ci/armarx-workspace.json 0 → 100644
View file @ 65dbeda9
{
"modules": {
"tools/ccache/default": {},
"armarx/RobotAPI": {}
},
"global": {
"prepare": {
"cmake": {
"definitions": {
"CMAKE_BUILD_TYPE": "RelWithDebInfo",
"CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
"CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
}
}
}
}
}
CMakeLists.txt
View file @ 65dbeda9
# RobotAPI
cmake_minimum_required(VERSION 3.10.2)
cmake_minimum_required(VERSION 2.8)
if(POLICY CMP0043)
cmake_policy(SET CMP0043 OLD)
endif()
find_package("ArmarXCore" REQUIRED
PATHS "$ENV{HOME}/armarx/Core/build"
......@@ -8,10 +11,38 @@ find_package("ArmarXCore" REQUIRED
include(${ArmarXCore_USE_FILE})
set(ARMARX_ENABLE_DEPENDENCY_VERSION_CHECK_DEFAULT TRUE)
set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
armarx_project("RobotAPI")
depends_on_armarx_package(ArmarXGui)
find_package(DMP QUIET)
find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET)
find_package(manif QUIET)
add_subdirectory(source)
add_subdirectory(interface)
install_project()
add_subdirectory(scenarios)
if (TRUE)
find_package(libmongocxx QUIET)
find_package(libbsoncxx QUIET)
if (NOT libbsoncxx_FOUND OR NOT libbsoncxx_FOUND)
string(ASCII 27 Esc)
set(BoldYellow "${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 0 → 100644
View file @ 65dbeda9
# RobotAPI
[Online Documentation](https://armarx.humanoids.kit.edu/RobotAPI-Overview.html)
build/.gitkeep
View file @ 65dbeda9
Git can only track files and not directory.
Therefore this file is added to all empty directories
which need to be available after a Git clone.
data/.gitkeep 0 → 100644
View file @ 65dbeda9
Git can only track files and not directory.
Therefore this file is added to all empty directories
which need to be available after a Git clone.
data/RobotAPI/ArMemStorage/README 0 → 100644
View file @ 65dbeda9
This is the default folder where ArMem stores episodes
data/RobotAPI/ArVizStorage/README 0 → 100644
View file @ 65dbeda9
This is the default folder where ArViz stores recordings
data/RobotAPI/VariantInfo-RobotAPI.xml 0 → 100644
View file @ 65dbeda9
This diff is collapsed.
data/RobotAPI/ViewSelection/graph40k.gra 0 → 100644
View file @ 65dbeda9
This diff is collapsed.
data/RobotAPI/motions/MMM/WalkingForward02.xml 0 → 100644
View file @ 65dbeda9
This diff is collapsed.
data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json 0 → 100644
View file @ 65dbeda9
[{
"name": "guard_frame_right",
"posX": 3100,
"posY": 2330,
"yaw": 0.0,
"axisLengthX": 170,
"axisLengthY": 600,
"refPosX": 3170,
"refPosY": 2320,
"safetyMarginX": 300,
"safetyMarginY": 300
},{
"name": "guard_corner_fix",
"posX": 3670,
"posY": 2780,
"yaw": 0.0,
"axisLengthX": 100,
"axisLengthY": 150,
"refPosX": 3170,
"refPosY": 2320,
"safetyMarginX": 300,
"safetyMarginY": 300
},{
"name": "ctrl_table",
"posX": 4400,
"posY": 2000,
"yaw": 0.0,
"axisLengthX": 1500,
"axisLengthY": 150,
"refPosX": 3170,
"refPosY": 2000,
"safetyMarginX": 200,
"safetyMarginY": 400
},{
"name": "guard_frame_left",
"posX": 700,
"posY": 2380,
"yaw": 0.0,
"axisLengthX": 200,
"axisLengthY": 650,
"refPosX": 500,
"refPosY": 2380,
"safetyMarginX": 400,
"safetyMarginY": 400
},{
"name": "guard_stander",
"posX": 305,
"posY": 6680,
"yaw": -0.23,
"axisLengthX": 700,
"axisLengthY": 200,
"refPosX": 305,
"refPosY": 6680,
"safetyMarginX": 400,
"safetyMarginY": 400
},{
"name": "table_left",
"posX": 3700,
"posY": 4700,
"yaw": 0.75,
"axisLengthX": 550,
"axisLengthY": 300,
"refPosX": 4200,
"refPosY": 4900,
"safetyMarginX": 300,
"safetyMarginY": 300
},{
"name": "table_right",
"posX": 4600,
"posY": 4700,
"yaw": -0.75,
"axisLengthX": 550,
"axisLengthY": 300,
"refPosX": 4200,
"refPosY": 4900,
"safetyMarginX": 400,
"safetyMarginY": 400
},{
"name": "table_corner",
"posX": 3400,
"posY": 4750,
"yaw": 0,
"axisLengthX": 800,
"axisLengthY": 650,
"refPosX": 3400,
"refPosY": 5216,
"safetyMarginX": 300,
"safetyMarginY": 300
}
]
data/RobotAPI/robotStateMemoryConfig.txt 0 → 100644
View file @ 65dbeda9
// Configuration set for the Humanoid Robot ARMAR-6
// Reft Hand
sens.Index L 1 Joint.acceleration => HandL
sens.Index L 1 Joint.gravityTorque => HandL
sens.Index L 1 Joint.inertiaTorque => HandL
sens.Index L 1 Joint.inverseDynamicsTorque => HandL
sens.Index L 1 Joint.position => HandL
sens.Index L 1 Joint.torque => HandL
sens.Index L 1 Joint.velocity => HandL
sens.Index L 2 Joint.acceleration => HandL
sens.Index L 2 Joint.gravityTorque => HandL
sens.Index L 2 Joint.inertiaTorque => HandL
sens.Index L 2 Joint.inverseDynamicsTorque => HandL
sens.Index L 2 Joint.position => HandL
sens.Index L 2 Joint.torque => HandL
sens.Index L 2 Joint.velocity => HandL
sens.Index L 3 Joint.acceleration => HandL
sens.Index L 3 Joint.gravityTorque => HandL
sens.Index L 3 Joint.inertiaTorque => HandL
sens.Index L 3 Joint.inverseDynamicsTorque => HandL
sens.Index L 3 Joint.position => HandL
sens.Index L 3 Joint.torque => HandL
sens.Index L 3 Joint.velocity => HandL
sens.Middle L 1 Joint.acceleration => HandL
sens.Middle L 1 Joint.gravityTorque => HandL
sens.Middle L 1 Joint.inertiaTorque => HandL
sens.Middle L 1 Joint.inverseDynamicsTorque => HandL
sens.Middle L 1 Joint.position => HandL
sens.Middle L 1 Joint.torque => HandL
sens.Middle L 1 Joint.velocity => HandL
sens.Middle L 2 Joint.acceleration => HandL
sens.Middle L 2 Joint.gravityTorque => HandL
sens.Middle L 2 Joint.inertiaTorque => HandL
sens.Middle L 2 Joint.inverseDynamicsTorque => HandL
sens.Middle L 2 Joint.position => HandL
sens.Middle L 2 Joint.torque => HandL
sens.Middle L 2 Joint.velocity => HandL
sens.Middle L 3 Joint.acceleration => HandL
sens.Middle L 3 Joint.gravityTorque => HandL
sens.Middle L 3 Joint.inertiaTorque => HandL
sens.Middle L 3 Joint.inverseDynamicsTorque => HandL
sens.Middle L 3 Joint.position => HandL
sens.Middle L 3 Joint.torque => HandL
sens.Middle L 3 Joint.velocity => HandL
sens.Pinky L 1 Joint.acceleration => HandL
sens.Pinky L 1 Joint.gravityTorque => HandL
sens.Pinky L 1 Joint.inertiaTorque => HandL
sens.Pinky L 1 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 1 Joint.position => HandL
sens.Pinky L 1 Joint.torque => HandL
sens.Pinky L 1 Joint.velocity => HandL
sens.Pinky L 2 Joint.acceleration => HandL
sens.Pinky L 2 Joint.gravityTorque => HandL
sens.Pinky L 2 Joint.inertiaTorque => HandL
sens.Pinky L 2 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 2 Joint.position => HandL
sens.Pinky L 2 Joint.torque => HandL
sens.Pinky L 2 Joint.velocity => HandL
sens.Pinky L 3 Joint.acceleration => HandL
sens.Pinky L 3 Joint.gravityTorque => HandL
sens.Pinky L 3 Joint.inertiaTorque => HandL
sens.Pinky L 3 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 3 Joint.position => HandL
sens.Pinky L 3 Joint.torque => HandL
sens.Pinky L 3 Joint.velocity => HandL
sens.Ring L 1 Joint.acceleration => HandL
sens.Ring L 1 Joint.gravityTorque => HandL
sens.Ring L 1 Joint.inertiaTorque => HandL
sens.Ring L 1 Joint.inverseDynamicsTorque => HandL
sens.Ring L 1 Joint.position => HandL
sens.Ring L 1 Joint.torque => HandL
sens.Ring L 1 Joint.velocity => HandL
sens.Ring L 2 Joint.acceleration => HandL
sens.Ring L 2 Joint.gravityTorque => HandL
sens.Ring L 2 Joint.inertiaTorque => HandL
sens.Ring L 2 Joint.inverseDynamicsTorque => HandL
sens.Ring L 2 Joint.position => HandL
sens.Ring L 2 Joint.torque => HandL
sens.Ring L 2 Joint.velocity => HandL
sens.Ring L 3 Joint.acceleration => HandL
sens.Ring L 3 Joint.gravityTorque => HandL
sens.Ring L 3 Joint.inertiaTorque => HandL
sens.Ring L 3 Joint.inverseDynamicsTorque => HandL
sens.Ring L 3 Joint.position => HandL
sens.Ring L 3 Joint.torque => HandL
sens.Ring L 3 Joint.velocity => HandL
sens.Thumb L 1 Joint.acceleration => HandL
sens.Thumb L 1 Joint.gravityTorque => HandL
sens.Thumb L 1 Joint.inertiaTorque => HandL
sens.Thumb L 1 Joint.inverseDynamicsTorque => HandL
sens.Thumb L 1 Joint.position => HandL
sens.Thumb L 1 Joint.torque => HandL
sens.Thumb L 1 Joint.velocity => HandL
sens.Thumb L 2 Joint.acceleration => HandL
sens.Thumb L 2 Joint.gravityTorque => HandL
sens.Thumb L 2 Joint.inertiaTorque => HandL
sens.Thumb L 2 Joint.inverseDynamicsTorque => HandL
sens.Thumb L 2 Joint.position => HandL
sens.Thumb L 2 Joint.torque => HandL
sens.Thumb L 2 Joint.velocity => HandL
// Right Hand
sens.Index R 1 Joint.acceleration => HandR
sens.Index R 1 Joint.gravityTorque => HandR
sens.Index R 1 Joint.inertiaTorque => HandR
sens.Index R 1 Joint.inverseDynamicsTorque => HandR
sens.Index R 1 Joint.position => HandR
sens.Index R 1 Joint.torque => HandR
sens.Index R 1 Joint.velocity => HandR
sens.Index R 2 Joint.acceleration => HandR
sens.Index R 2 Joint.gravityTorque => HandR
sens.Index R 2 Joint.inertiaTorque => HandR
sens.Index R 2 Joint.inverseDynamicsTorque => HandR
sens.Index R 2 Joint.position => HandR
sens.Index R 2 Joint.torque => HandR
sens.Index R 2 Joint.velocity => HandR
sens.Index R 3 Joint.acceleration => HandR
sens.Index R 3 Joint.gravityTorque => HandR
sens.Index R 3 Joint.inertiaTorque => HandR
sens.Index R 3 Joint.inverseDynamicsTorque => HandR
sens.Index R 3 Joint.position => HandR
sens.Index R 3 Joint.torque => HandR
sens.Index R 3 Joint.velocity => HandR
sens.Middle R 1 Joint.acceleration => HandR
sens.Middle R 1 Joint.gravityTorque => HandR
sens.Middle R 1 Joint.inertiaTorque => HandR
sens.Middle R 1 Joint.inverseDynamicsTorque => HandR
sens.Middle R 1 Joint.position => HandR
sens.Middle R 1 Joint.torque => HandR
sens.Middle R 1 Joint.velocity => HandR
sens.Middle R 2 Joint.acceleration => HandR
sens.Middle R 2 Joint.gravityTorque => HandR
sens.Middle R 2 Joint.inertiaTorque => HandR
sens.Middle R 2 Joint.inverseDynamicsTorque => HandR
sens.Middle R 2 Joint.position => HandR
sens.Middle R 2 Joint.torque => HandR
sens.Middle R 2 Joint.velocity => HandR
sens.Middle R 3 Joint.acceleration => HandR
sens.Middle R 3 Joint.gravityTorque => HandR
sens.Middle R 3 Joint.inertiaTorque => HandR
sens.Middle R 3 Joint.inverseDynamicsTorque => HandR
sens.Middle R 3 Joint.position => HandR
sens.Middle R 3 Joint.torque => HandR
sens.Middle R 3 Joint.velocity => HandR
sens.Ring R 1 Joint.acceleration => HandR
sens.Ring R 1 Joint.gravityTorque => HandR
sens.Ring R 1 Joint.inertiaTorque => HandR
sens.Ring R 1 Joint.inverseDynamicsTorque => HandR
sens.Ring R 1 Joint.position => HandR
sens.Ring R 1 Joint.torque => HandR
sens.Ring R 1 Joint.velocity => HandR
sens.Ring R 2 Joint.acceleration => HandR
sens.Ring R 2 Joint.gravityTorque => HandR
sens.Ring R 2 Joint.inertiaTorque => HandR
sens.Ring R 2 Joint.inverseDynamicsTorque => HandR
sens.Ring R 2 Joint.position => HandR
sens.Ring R 2 Joint.torque => HandR
sens.Ring R 2 Joint.velocity => HandR
sens.Ring R 3 Joint.acceleration => HandR
sens.Ring R 3 Joint.gravityTorque => HandR
sens.Ring R 3 Joint.inertiaTorque => HandR
sens.Ring R 3 Joint.inverseDynamicsTorque => HandR
sens.Ring R 3 Joint.position => HandR
sens.Ring R 3 Joint.torque => HandR
sens.Ring R 3 Joint.velocity => HandR
sens.Thumb R 1 Joint.acceleration => HandR
sens.Thumb R 1 Joint.gravityTorque => HandR
sens.Thumb R 1 Joint.inertiaTorque => HandR
sens.Thumb R 1 Joint.inverseDynamicsTorque => HandR
sens.Thumb R 1 Joint.position => HandR
sens.Thumb R 1 Joint.torque => HandR
sens.Thumb R 1 Joint.velocity => HandR
sens.Thumb R 2 Joint.acceleration => HandR
sens.Thumb R 2 Joint.gravityTorque => HandR
sens.Thumb R 2 Joint.inertiaTorque => HandR
sens.Thumb R 2 Joint.inverseDynamicsTorque => HandR
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
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 => 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 0 → 100644
View file @ 65dbeda9
<?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.wrl</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="4" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/head_base.wrl</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="37"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="4" units="kg" />
<IgnoreCollision name="Hip Yaw"/>
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_pitch_link.wrl</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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.wrl</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.wrl</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="-120" hi="120"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Sphere radius="140">
<Transform>
<Translation x="40" y="0" z="180" />
</Transform>
</Sphere>
</Primitives>
</PrimitiveModel>
<Child name="Head_Tilt"/>
</RobotNode>
<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="3000"/>
</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.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/head.wrl</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"/>
<Child name="DepthCameraSim"/>
<Child name="HeadIMU"/>
</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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.wrl</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="-20" hi="5"/> <!-- Motor encoder gives values until -24, but eyes only move until -20 or -21 -->
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</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="3000"/>
</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="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="DepthCamera">
<Transform>
<Translation x="105" y="90" z="0" units='mm'/>
<rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
<rollpitchyaw roll="21.0" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="DepthCameraSim">
<Transform>
<Translation x="105" y="70" z="0" units='mm'/>
<rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
<rollpitchyaw roll="20.7" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="270" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="3"/>
</Visualization>
</RobotNode>
<RobotNode name="HeadIMU">
<Transform>
<Translation x="0" y="-80" z="0" units='mm'/>
<rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" 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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.wrl</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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.wrl</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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.wrl</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.wrl</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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.wrl</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="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.wrl</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="IKVirtualGazeNoEyes" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="VirtualCentralGaze"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<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>
data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml 0 → 100644
View file @ 65dbeda9
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="ArmarIII Head" RootNode="Head Base">
<RobotNode name="Head Base">
<Joint type="fixed">
<DH theta="90" d="0" a="0" alpha="90" units="degree"/>
</Joint>
<Child name="Neck_1_Pitch"/>
<Visualization>
<File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization>
</RobotNode>
<RobotNode name="Neck_1_Pitch">
<Joint type="revolute">
<DH theta="90" d="0" a="0" alpha="90" units="degree"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization>
<Child name="Neck_2_Roll"/>
</RobotNode>
<RobotNode name="Neck_2_Roll">
<Joint type="revolute">
<DH theta="90" d="0" a="0" alpha="90" units="degree"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization>
<Child name="Neck_3_Yaw"/>
</RobotNode>
<RobotNode name="Neck_3_Yaw">
<Joint type="revolute">
<DH theta="90" d="120" a="0" alpha="90" units="degree"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization>
<Child name="Head_Tilt"/>
</RobotNode>
<RobotNode name="Head_Tilt">
<Joint type="revolute">
<DH theta="0" d="0" a="0" alpha="-90" units="degree"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="6.79877000" units="kg" />
</Physics>
<Visualization>
<File type="Inventor">fullmodel/head.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/head.wrl</File>
</CollisionModel>
<Child name="Head Center"/>
</RobotNode>
<RobotNode name="Head Center">
<Joint type="fixed">
<DH theta="0" d="54.5" a="0" alpha="-90" units="degree"/>
</Joint>
<Child name="Cameras"/>
<Child name="Jaw"/>
</RobotNode>
<RobotNode name="Jaw">
<Joint type="revolute">
<DH theta="0" d="0" a="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization>
</RobotNode>
<RobotNode name="Cameras">
<!-- TODO: this was an AlphaJoint: but rotations around alpha axis are not supported by DH!! -->
<Joint type="revolute">
<PreJointTransform>
<Transform>
<Translation x="100" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="0" z="1"/>
<PostJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PostJointTransform>
<Limits unit="degree" lo="-30" hi="45"/>
</Joint>
<Child name="Eye_Left_Dummy"/>
<Child name="Eye_Right_Dummy"/>
</RobotNode>
<RobotNode name="Eye_Left_Dummy">
<Joint type="fixed">
<DH a="0" d="46.5" theta="0" alpha="-90" units="degree"/>
</Joint>
<Child name="Eye_Left"/>
</RobotNode>
<RobotNode name="Eye_Right_Dummy">
<Joint type="fixed">
<DH a="0" d="-46.5" theta="0" alpha="-90" units="degree"/>
</Joint>
<Child name="Eye_Right"/>
</RobotNode>
<RobotNode name="Eye_Left">
<Joint type="revolute">
<DH theta="0" d="0" a="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization>
<Child name="Lid Left Bottom"/>
<Child name="Lid Left Top"/>
<Child name="EyeLeftCamera"/>
</RobotNode>
<RobotNode name="Eye_Right">
<Joint type="revolute">
<DH theta="0" d="0" a="0" alpha="0" units="degree"/>
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization>
<Child name="Lid Right Bottom"/>
<Child name="Lid Right Top"/>
<Child name="EyeRightCamera"/>
</RobotNode>
<RobotNode name="EyeLeftCamera">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<translation x="20" y="0" z="0"/>
<RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
</Transform>
</PreJointTransform>
</Joint>
</RobotNode>
<RobotNode name="Lid Left Bottom">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.wrl</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.wrl</File>
</Visualization>
</RobotNode>
<RobotNode name="EyeRightCamera">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<translation x="20" y="0" z="0"/>
<RollPitchYaw roll="0" pitch="90" yaw ="0" units="degree"/>
</Transform>
</PreJointTransform>
</Joint>
</RobotNode>
<RobotNode name="Lid Right Bottom">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization>
</RobotNode>
<RobotNode name="Lid Right Top">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.wrl</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>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml 0 → 100644
View file @ 65dbeda9
<?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="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="3.65" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder_l.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="80" radius="120">
<Transform>
<Translation x="0" y="0" z="-90" />
<rpy roll="90" pitch="0" yaw="00" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Shoulder 2 L"/>
</RobotNode>
<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="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.5" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm L"/>
</RobotNode>
<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="70"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</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.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/upperarm_l.wrl</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="-90" hi="19"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/elbow_l.wrl</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="158"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/underarm_l.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="240" radius="50">
<Transform>
<Translation x="0" y="0" z="-110" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
</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="-29" hi="30"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</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.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/wrist1_l.wrl</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="44"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<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.wrl</File>
</CollisionModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.59945309" units="kg" />
<IgnoreCollision name="Underarm L"/>
</Physics-->
<Sensor type="forcetorque" name="FT L">
<!--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>
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml 0 → 100644
View file @ 65dbeda9
<?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 -->
<Joint type="fixed">
<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Shoulder 1 L"/>
</RobotNode>
<RobotNode name="Shoulder 1 L"> <!-- Trafo BTo0; COS 0; DOF q1 -->
<Joint type="revolute">
<DH a="0" d="0" theta="90" alpha="90" units="degree"/>
<Limits unit="degree" lo="-106.91" hi="42.8"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="3.65" units="kg" />
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/shoulder_l.wrl</File>
</CollisionModel>
<Child name="Shoulder 2 L"/>
</RobotNode>
<RobotNode name="Shoulder 2 L"> <!-- Trafo 0To1; COS 1; DOF q2 -->
<Joint type="revolute">
<DH a="0" d="0" theta="75" alpha="90" units="degree"/>
<Limits unit="degree" lo="-94.62" hi="13.85"/> <!-- ?! -->
</Joint>
<!--Physics>
<CoM location="Joint"/>
<Mass value="2.54491000" units="kg" />
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization>
<Child name="Upperarm L"/>
</RobotNode>
<RobotNode name="Upperarm L"> <!-- Trafo 1To2; COS 2; DOF q3 -->
<Joint type="revolute">
<DH a="20" d="-310" theta="-90" alpha="90" units="degree"/>
<Limits unit="degree" lo="-69.65" hi="108.25"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1.55685000" units="kg" />
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/upperarm_l.wrl</File>
</CollisionModel>
<Child name="Elbow L"/>
</RobotNode>
<RobotNode name="Elbow L">
<Joint type="revolute">
<DH a="0" d="-7.5" theta="90" alpha="-90" units="degree"/>
<Limits unit="degree" lo="-122.96" hi="19.14"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization>
<!--Physics>
<CoM location="Joint"/>
<Mass value="1.15744000" units="kg" />
</Physics-->
<!-- TODO elbow_l.wrl does not exist (currently not needed)-->
<!--<CollisionModel>-->
<!--<File type="Inventor">collisionModel/elbow_l.wrl</File>-->
<!--</CollisionModel>-->
<Child name="Underarm L"/>
</RobotNode>
<RobotNode name="Underarm L">
<Joint type="revolute">
<DH a="0" d="-240" theta="90" alpha="-90" units="degree"/>
<!--Limits unit="degree" lo="-57.29" hi="174.48"/-->
<Limits unit="degree" lo="-108.25" hi="69.65"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/underarm_l.wrl</File>
</CollisionModel>
<Child name="Wrist 1 L"/>
</RobotNode>
<RobotNode name="Wrist 1 L">
<Joint type="revolute">
<DH a="0" d="0" theta="-90" alpha="-90" units="degree"/>
<Limits unit="degree" lo="-29.36" hi="24.11"/>
</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.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel-->
<Child name="Wrist 2 L"/>
</RobotNode>
<RobotNode name="Wrist 2 L">
<Joint type="revolute">
<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
<Limits unit="degree" lo="-38.4" hi="44.32"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.59945309" units="kg" />
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel-->
<ChildFromRobot>
<File importEEF="true">ArmarIII-LeftHand_minColModel.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="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>
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml 0 → 100644
View file @ 65dbeda9
<?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.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm1_l.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm2_l.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_l1.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_l2.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_l1.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_l2.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_l1.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_l2.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_l1.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_l2.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_l1.wrl</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="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_l2.wrl</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>