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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.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="Hand Palm 1 L"/>
</RobotNode>
<RobotNode name="TCP L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="130"/>
</Transform>
</PreJointTransform>
</Joint>
</RobotNode>
<RobotNode name="GCP L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation X="-40" Y="-20" Z="90"/>
<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
</Transform>
</PreJointTransform>
</Joint>
</RobotNode>
<RobotNode name="Hand Palm 1 L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="36"/>
</Transform>
</PreJointTransform>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="revolute">
<PreJointTransform>
<Transform>
<Translation x="-8.7" y="13.5" z="29.25"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
<Limits unit="degree" lo="-90" hi="90"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="-48.9" y="0" z="29.25"/>
</Transform>
</PreJointTransform>
</Joint>
<Child name="Thumb L J0"/>
</RobotNode>
<RobotNode name="Thumb L J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="-40.2" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_l2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
</RobotNode>
<RobotNode name="Pinky L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="0" y="-73" z="40.4"/>
</Transform>
</PreJointTransform>
</Joint>
<Child name="Pinky L J0"/>
</RobotNode>
<RobotNode name="Pinky L J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_l2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
</RobotNode>
<RobotNode name="Ring L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="0" y="-51" z="40.4"/>
</Transform>
</PreJointTransform>
</Joint>
<Child name="Ring L J0"/>
</RobotNode>
<RobotNode name="Ring L J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_l2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
</RobotNode>
<RobotNode name="Middle L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="0" y="-27" z="40.4"/>
</Transform>
</PreJointTransform>
</Joint>
<Child name="Middle L J0"/>
</RobotNode>
<RobotNode name="Middle L J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_l2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
</RobotNode>
<RobotNode name="Index L">
<Joint type="fixed">
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
</PreJointTransform>
</Joint>
<Child name="Index L J0"/>
</RobotNode>
<RobotNode name="Index L J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="180"/>
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
</PreJointTransform>
<Axis x="0" y="-1" z="0"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/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>
<Endeffector name="TCP L" base="Hand L Base" tcp="TCP L" gcp="GCP L">
<Preshape name="Grasp 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>
<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>
data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml 0 → 100644
View file @ 65dbeda9
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="Armar3" StandardName="Armar3" RootNode="Armar3_Base">
<RobotNode name="Armar3_Base">
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="20"/>
</Visualization>
<Child name="Dummy_Platform"/>
</RobotNode>
<RobotNode name="Dummy_Platform">
<Transform>
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
</Transform>
<!--Joint type="fixed">
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
</Joint-->
<Child name="X_Platform"/>
</RobotNode>
<RobotNode name="X_Platform">
<Transform>
<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
</Transform>
<Joint type="prismatic">
<!--DH a="0" d="0" theta="90" alpha="-90" units="degree"/-->
<TranslationDirection x="0" y="0" z="1"/>
<Limits unit="mm" lo="-10000" hi="10000"/>
<!--
<PreJointTransform>
<Transform>
<Translation x="0" y="0" z="100"/>
</Transform>
</PreJointTransform>
-->
<!--
<Axis x="1" y="0" z="0"/>--> <!-- definition of movement axis if DH not defined ?-->
<!--
<PostJointTransform>
<Transform>
<Translation x="0" y="0" z="0"/>
</Transform>
</PostJointTransform>
-->
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Y_Platform"/>
</RobotNode>
<RobotNode name="Y_Platform">
<Transform>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
</Transform>
<Joint type="prismatic">
<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
<TranslationDirection x="0" y="0" z="1"/>
<Limits unit="mm" lo="-10000" hi="10000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Yaw_Platform"/>
</RobotNode>
<RobotNode name="Yaw_Platform">
<Transform>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
</Transform>
<Joint type="revolute">
<axis x="0" y="0" z="1"/>
<!--DH a="0" d="0" theta="-90" alpha="0" units="degree"/-->
<Limits unit="degree" lo="-360" hi="360"/>
<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/platform.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/platform.wrl</File>
</CollisionModel>
<Child name="Hip Pitch"/>
</RobotNode>
<RobotNode name="Hip Pitch">
<Transform>
<Translation x="0" y="158" z="890"/> <!-- x,y,z of THIS COS, NOT any other COS-->
</Transform>
<Joint type="revolute">
<Axis x="1" y="0" z="0"/>
<Limits unit="degree" lo="-45" hi="45"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization>
<Child name="Hip Roll"/>
</RobotNode>
<RobotNode name="Hip Roll">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
<Limits unit="degree" lo="-45" hi="45"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization>
<Child name="Hip Yaw"/>
</RobotNode>
<RobotNode name="Hip Yaw">
<Joint type="revolute">
<Axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-45" hi="45"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/torso.wrl</File>
</CollisionModel>
<Child name="Center of Arms"/>
</RobotNode>
<RobotNode name="Center of Arms">
<Transform>
<Translation x="0" y="-35" z="485"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="TrafoToHead"/>
<Child name="TrafoToLeftArm"/>
<Child name="TrafoToRightArm"/>
</RobotNode>
<RobotNode name="TrafoToHead">
<Transform>
<Translation x="0" y="0" z="118"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<ChildFromRobot>
<File importEEF="true">ArmarIII-Head.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNode name="TrafoToLeftArm">
<Transform>
<Translation x="-232" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<ChildFromRobot>
<File importEEF="true">ArmarIII-LeftArm.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNode name="TrafoToRightArm">
<Transform>
<Translation x="232" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<ChildFromRobot>
<File importEEF="true">ArmarIII-RightArm.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNodeSet name="Platform">
<Node name="X_Platform"/>
<Node name="Y_Platform"/>
<Node name="Yaw_Platform"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformColModel">
<Node name="Yaw_Platform"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoColModel">
<Node name="Hip Yaw"/>
</RobotNodeSet>
<RobotNodeSet name="Hip">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformTorsoColModel">
<Node name="Yaw_Platform"/>
<Node name="Hip Yaw"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformTorsoHeadColModel">
<Node name="Yaw_Platform"/>
<Node name="Hip Yaw"/>
<Node name="Head_Tilt"/>
</RobotNodeSet>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml 0 → 100644
View file @ 65dbeda9
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base">
<RobotNode name="Right Arm Base">
<Transform>
<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Shoulder 1 R"/>
</RobotNode>
<RobotNode name="Shoulder 1 R">
<Transform>
<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="0" d="0" theta="90" alpha="90" units="degree"/-->
<Limits unit="degree" lo="-107" hi="42"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="3.65" units="kg" />
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder_r.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="80" radius="120">
<Transform>
<Translation x="0" y="0" z="90" />
<rpy roll="90" pitch="0" yaw="00" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Shoulder 2 R"/>
</RobotNode>
<RobotNode name="Shoulder 2 R">
<Transform>
<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
<DH a="0" d="0" theta="105" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="0" d="0" theta="105" alpha="90" units="degree"/-->
<Limits unit="degree" lo="-14" hi="95"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.5" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm R"/>
</RobotNode>
<RobotNode name="Upperarm R">
<Transform>
<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="20" d="-310" theta="-90" alpha="90" units="degree"/-->
<Limits unit="degree" lo="-109" hi="70"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1.55685000" units="kg" />
<IgnoreCollision name="Shoulder 1 R"/>
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/upperarm_r.wrl</File>
</CollisionModel>
<Child name="Elbow R"/>
</RobotNode>
<RobotNode name="Elbow R">
<Transform>
<DH a="20" d="-310" theta="0" alpha="90" units="degree"/>
<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/-->
<Limits unit="degree" lo="-90" hi="30"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/elbow_r.wrl</File>
</CollisionModel>
<Physics>
<CoM location="Joint"/>
<Mass value="1.15744000" units="kg" />
</Physics>
<Child name="Underarm R"/>
</RobotNode>
<RobotNode name="Underarm R">
<Transform>
<DH a="0" d="7.5" theta="0" alpha="-90" units="degree"/>
<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="0" d="-240" theta="90" alpha="-90" units="degree"/-->
<Limits unit="degree" lo="-90" hi="200"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/underarm_r.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="240" radius="50">
<Transform>
<Translation x="0" y="0" z="-110" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
</Physics>
<Child name="Wrist 1 R"/>
</RobotNode>
<RobotNode name="Wrist 1 R">
<Transform>
<DH a="0" d="-240" theta="0" alpha="-90" units="degree"/>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="0" d="0" theta="-90" alpha="-90" units="degree"/-->
<Limits unit="degree" lo="-22.3" hi="22.8"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1.29945309" units="kg" /><!--1.13047000-->
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/wrist1_r.wrl</File>
</CollisionModel>
<Child name="Wrist 2 R"/>
</RobotNode>
<RobotNode name="Wrist 2 R">
<Transform>
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
</Transform>
<Joint type="revolute">
<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
<Limits unit="degree" lo="-31" hi="37"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<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.wrl</File>
</CollisionModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.59945309" units="kg" />
<IgnoreCollision name="Underarm R"/>
</Physics-->
<Sensor type="forcetorque" name="FT R">
<!--Transform>
<Translation x="0" y="-40" z="0"/>
</Transform-->
</Sensor>
<Child name="EndArmR"/>
</RobotNode>
<!--RobotNode name="FTSensorR">
<Transform>
<Translation x="0" y="-40" z="0"/>
</Transform>
<Sensor type="forcetorque"/>
<Child name="EndArmR"/>
</RobotNode-->
<RobotNode name="EndArmR">
<Transform>
<Translation x="0" y="-40" z="0"/>
<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
</Transform>
<ChildFromRobot>
<File importEEF="true">ArmarIII-RightHand.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R">
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
<Node name="Upperarm R"/>
<Node name="Underarm R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
<Node name="Upperarm R"/>
<Node name="Underarm R"/>
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml 0 → 100644
View file @ 65dbeda9
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="ArmarIII RightArm" RootNode="Right Arm Base">
<RobotNode name="Right Arm Base">
<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 R"/>
</RobotNode>
<RobotNode name="Shoulder 1 R">
<Joint type="revolute">
<DH a="0" d="0" theta="90" alpha="90" units="degree"/>
<Limits unit="degree" lo="-106.94" hi="41.67"/>
</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_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/shoulder_r.wrl</File>
</CollisionModel>
<Child name="Shoulder 2 R"/>
</RobotNode>
<RobotNode name="Shoulder 2 R">
<Joint type="revolute">
<DH a="0" d="0" theta="105" alpha="90" units="degree"/>
<Limits unit="degree" lo="-13.85" hi="94.62"/> <!-- ?! -->
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization>
<Child name="Upperarm R"/>
</RobotNode>
<RobotNode name="Upperarm R">
<Joint type="revolute">
<DH a="20" d="-310" theta="-90" alpha="90" units="degree"/>
<Limits unit="degree" lo="-108.11" hi="73.94"/>
</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_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/upperarm_r.wrl</File>
</CollisionModel>
<Child name="Elbow R"/>
</RobotNode>
<RobotNode name="Elbow R">
<Joint type="revolute">
<DH a="0" d="7.5" theta="90" alpha="-90" units="degree"/>
<Limits unit="degree" lo="-114.58" hi="39.7"/> <!-- ?! -->
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization>
<!--Physics>
<CoM location="Joint"/>
<Mass value="1.15744000" units="kg" />
</Physics-->
<Child name="Underarm R"/>
</RobotNode>
<RobotNode name="Underarm R">
<Joint type="revolute">
<DH a="0" d="-240" theta="90" alpha="-90" units="degree"/>
<Limits unit="degree" lo="-69.65" hi="108.25"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<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.wrl</File>
</CollisionModel>
<Child name="Wrist 1 R"/>
</RobotNode>
<RobotNode name="Wrist 1 R">
<Joint type="revolute">
<DH a="0" d="0" theta="-90" alpha="-90" units="degree"/>
<Limits unit="degree" lo="-29.18" hi="29.88"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel-->
<Child name="Wrist 2 R"/>
</RobotNode>
<RobotNode name="Wrist 2 R">
<Joint type="revolute">
<DH a="0" d="0" theta="-90" alpha="90" units="degree"/>
<Limits unit="degree" lo="-30.9" hi="50.87"/>
</Joint>
<!--Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="1.13047000" units="kg" />
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_r.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel-->
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.59945309" units="kg" />
</Physics>
<ChildFromRobot>
<File importEEF="true">ArmarIII-RightHand_minColModel.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNodeSet name="RightArm" kinematicRoot="Right Arm Base" tcp="TCP R">
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="RightArmColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
<Node name="Upperarm R"/>
<Node name="Underarm R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="RightArmHandColModel" kinematicRoot="Right Arm Base" tcp="TCP R">
<Node name="Upperarm R"/>
<Node name="Underarm R"/>
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml 0 → 100644
View file @ 65dbeda9
<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="ArmarIII RightHand" RootNode="Hand R Base">
<RobotNode name="Hand R Base">
<Child name="TCP R"/>
<Child name="GCP R"/>
<Child name="Marker R"/>
<Child name="right_hand_configuration_actual_float"/>
<Child name="Hand Palm 1 R"/>
</RobotNode>
<RobotNode name="TCP R">
<Transform>
<Translation x="0" y="0" z="130"/>
</Transform>
<Visualization enable="false">
<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
</Visualization>
</RobotNode>
<RobotNode name="GCP R">
<Transform>
<Translation X="-40" Y="20" Z="90"/>
<rollpitchyaw roll="0" pitch="-45" yaw="0" units="degree"/>
</Transform>
</RobotNode>
<RobotNode name="Marker R">
<Transform>
<Translation x="-35" y="-45" z="65"/>
</Transform>
<Visualization enable="false">
<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
</Visualization>
</RobotNode>
<RobotNode name="right_hand_configuration_actual_float">
<!--Joint type="revolute">
<Axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-20" hi="20"/>
</Joint-->
</RobotNode>
<RobotNode name="Hand Palm 1 R">
<Transform>
<Translation x="0" y="0" z="36"/>
</Transform>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm1_r.wrl</File>
</CollisionModel>
<Physics>
<Mass value="800" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Hand Palm 2 R"/>
<Child name="Thumb R"/>
</RobotNode>
<RobotNode name="Hand Palm 2 R">
<Transform>
<Translation x="-8.7" y="-13.5" z="29.25"/>
</Transform>
<Joint type="revolute">
<Axis x="0" y="-1" z="0"/>
<Limits unit="degree" lo="-90" hi="90"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm2_r.wrl</File>
</CollisionModel>
<Physics>
<Mass value="800" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Pinky R"/>
<Child name="Ring R"/>
<Child name="Middle R"/>
<Child name="Index R"/>
</RobotNode>
<RobotNode name="Thumb R">
<Transform>
<Translation x="-48.9" y="0" z="29.25"/>
</Transform>
<Child name="Thumb R J0"/>
</RobotNode>
<RobotNode name="Thumb R J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_r1.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Thumb R J1"/>
</RobotNode>
<RobotNode name="Thumb R J1">
<Transform>
<Translation x="-40.2" y="0" z="0"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_r2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Thumb R Fingertip"/>
</RobotNode>
<RobotNode name="Thumb R Fingertip">
<Transform>
<Translation x="-50" y="0" z="0"/>
</Transform>
<Visualization enable="false">
<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
</Visualization>
</RobotNode>
<RobotNode name="Pinky R">
<Transform>
<Translation x="0" y="73" z="40.4"/>
</Transform>
<Child name="Pinky R J0"/>
</RobotNode>
<RobotNode name="Pinky R J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_r1.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Pinky R J1"/>
</RobotNode>
<RobotNode name="Pinky R J1">
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_r2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
</RobotNode>
<RobotNode name="Ring R">
<Transform>
<Translation x="0" y="51" z="40.4"/>
</Transform>
<Child name="Ring R J0"/>
</RobotNode>
<RobotNode name="Ring R J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_r1.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Ring R J1"/>
</RobotNode>
<RobotNode name="Ring R J1">
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_r2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
</RobotNode>
<RobotNode name="Middle R">
<Transform>
<Translation x="0" y="27" z="40.4"/>
</Transform>
<Child name="Middle R J0"/>
</RobotNode>
<RobotNode name="Middle R J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_r1.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Middle R J1"/>
</RobotNode>
<RobotNode name="Middle R J1">
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_r2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Middle R Fingertip"/>
</RobotNode>
<RobotNode name="Middle R Fingertip">
<Transform>
<Translation x="-5" y="0" z="40.2"/>
</Transform>
<Visualization enable="false">
<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
</Visualization>
</RobotNode>
<RobotNode name="Index R">
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
<Child name="Index R J0"/>
</RobotNode>
<RobotNode name="Index R J0">
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_r1.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Index R J1"/>
</RobotNode>
<RobotNode name="Index R J1">
<Transform>
<Translation x="0" y="0" z="40.2"/>
</Transform>
<Joint type="revolute">
<Limits unit="degree" lo="0" hi="90"/>
<Axis x="0" y="-1" z="0"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="10"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_r2.wrl</File>
</CollisionModel>
<Physics>
<Mass value="500" unit="g"/>
<CoM location="VisualizationBBoxCenter"/>
</Physics>
<Child name="Index R Fingertip"/>
</RobotNode>
<RobotNode name="Index R Fingertip">
<Transform>
<Translation x="-5" y="0" z="40.2"/>
</Transform>
<Visualization enable="false">
<CoordinateAxis type="Inventor" enable="true" scaling="1"/>
</Visualization>
</RobotNode>
<RobotNodeSet name="RightHandColModel" kinematicRoot="Hand R Base" tcp="TCP R">
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
<RobotNodeSet name="RightHandJoints" kinematicRoot="Hand R Base" tcp="TCP R">
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
<Endeffector name="TCP R" base="Hand R Base" tcp="TCP R" gcp="GCP R">
<Preshape name="Open Preshape">
<Node name="Thumb R J0" unit="radian" value="0"/>
<Node name="Thumb R J1" unit="radian" value="0"/>
<Node name="Index R J0" unit="radian" value="0"/>
<Node name="Index R J1" unit="radian" value="0"/>
<Node name="Middle R J0" unit="radian" value="0"/>
<Node name="Middle R J1" unit="radian" value="0"/>
<Node name="Ring R J0" unit="radian" value="0"/>
<Node name="Ring R J1" unit="radian" value="0"/>
<Node name="Pinky R J0" unit="radian" value="0"/>
<Node name="Pinky R J1" unit="radian" value="0"/>
<Node name="Hand Palm 2 R" unit="radian" value="0"/>
</Preshape>
<Preshape name="Close Preshape">
<Node name="Thumb R J0" unit="radian" value="1"/>
<Node name="Thumb R J1" unit="radian" value="1"/>
<Node name="Index R J0" unit="radian" value="1"/>
<Node name="Index R J1" unit="radian" value="1"/>
<Node name="Middle R J0" unit="radian" value="1"/>
<Node name="Middle R J1" unit="radian" value="1"/>
<Node name="Ring R J0" unit="radian" value="1"/>
<Node name="Ring R J1" unit="radian" value="1"/>
<Node name="Pinky R J0" unit="radian" value="1"/>
<Node name="Pinky R J1" unit="radian" value="1"/>
<Node name="Hand Palm 2 R" unit="radian" value="0"/>
</Preshape>
<Static>
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
</Static>
<Actor name="Thumb Right">
<Node name="Thumb R J0" considerCollisions="Actors"/>
<Node name="Thumb R J1" considerCollisions="All"/>
</Actor>
<Actor name="Index Right">
<Node name="Index R J0" considerCollisions="Actors"/>
<Node name="Index R J1" considerCollisions="All"/>
</Actor>
<Actor name="Middle Right">
<Node name="Middle R J0" considerCollisions="Actors"/>
<Node name="Middle R J1" considerCollisions="All"/>
</Actor>
<Actor name="Ring Right">
<Node name="Ring R J0" considerCollisions="Actors"/>
<Node name="Ring R J1" considerCollisions="All"/>
</Actor>
<Actor name="Pinky Right">
<Node name="Pinky R J0" considerCollisions="Actors"/>
<Node name="Pinky R J1" considerCollisions="All"/>
</Actor>
</Endeffector>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml 0 → 100644
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<?xml version="1.0" encoding="UTF-8" ?>
<Robot Type="Armar3" RootNode="Armar3_Base">
<RobotNode name="Armar3_Base">
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="20"/>
</Visualization>
<Child name="Dummy_Platform"/>
<!--Child name="Platform"/-->
</RobotNode>
<RobotNode name="Dummy_Platform">
<Transform>
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
</Transform>
<!--<Joint type="fixed">
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
</Joint>-->
<Child name="X_Platform"/>
</RobotNode>
<RobotNode name="X_Platform">
<Transform>
<DH a="0" d="0" theta="90" alpha="0" units="degree"/>
</Transform>
<Joint type="prismatic">
<TranslationDirection x="0" y="0" z="1"/>
<Limits unit="mm" lo="-10000" hi="10000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Y_Platform"/>
</RobotNode>
<RobotNode name="Y_Platform">
<Transform>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
<DH a="0" d="0" theta="0" alpha="-90" units="degree"/>
</Transform>
<Joint type="prismatic">
<TranslationDirection x="0" y="0" z="1"/>
<Limits unit="mm" lo="-10000" hi="10000"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Yaw_Platform"/>
</RobotNode>
<RobotNode name="Yaw_Platform">
<Transform>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
<DH a="0" d="0" theta="0" alpha="90" units="degree"/>
</Transform>
<Joint type="revolute">
<axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-360" hi="360"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="Platform"/>
</RobotNode>
<RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain-->
<Joint type="fixed"/>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.wrl</File>
</Visualization>
<Physics>
<CoM location="Joint" x="0" y="0" z="200"/>
<Mass value="100" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform.wrl</File>
</CollisionModel>
<Child name="Hip Pitch"/>
</RobotNode>
<RobotNode name="Hip Pitch">
<Transform>
<Translation x="0" y="158" z="890"/>
</Transform>
<Joint type="revolute">
<Axis x="1" y="0" z="0"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization>
<Physics>
<Mass value="10" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform_pitch_link.wrl</File>
</CollisionModel>
<Child name="Hip Roll"/>
</RobotNode>
<RobotNode name="Hip Roll">
<Joint type="revolute">
<Axis x="0" y="1" z="0"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization>
<Physics>
<Mass value="10" units="kg" />
<IgnoreCollision name="Platform"/>
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform_roll_link.wrl</File>
</CollisionModel>
<Child name="Hip Yaw"/>
</RobotNode>
<RobotNode name="Hip Yaw">
<Joint type="revolute">
<Axis x="0" y="0" z="1"/>
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="15.415" units="kg" />
<IgnoreCollision name="Hip Pitch"/>
<IgnoreCollision name="Platform"/>
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/torso.wrl</File>
</CollisionModel>
<Child name="Center of Arms"/>
</RobotNode>
<RobotNode name="Center of Arms">
<Transform>
<Translation x="0" y="-35" z="485"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<Child name="TrafoToHead"/>
<Child name="TrafoToLeftArm"/>
<Child name="TrafoToRightArm"/>
</RobotNode>
<RobotNode name="TrafoToHead">
<Transform>
<Translation x="0" y="0" z="118"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<ChildFromRobot>
<File importEEF="true">ArmarIII-Head.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNode name="TrafoToLeftArm">
<Transform>
<Translation x="-232" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<ChildFromRobot>
<File importEEF="true">ArmarIII-LeftArm.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNode name="TrafoToRightArm">
<Transform>
<Translation x="232" y="0" z="0"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
<ChildFromRobot>
<File importEEF="true">ArmarIII-RightArm.xml</File>
</ChildFromRobot>
</RobotNode>
<RobotNodeSet name="Torso" kinematicRoot="Platform">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoHeadColModel">
<Node name="Hip Yaw"/>
<Node name="Head_Tilt"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformTorsoColModel">
<Node name="Platform"/>
<Node name="Hip Yaw"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformTorsoHeadColModel">
<Node name="Platform"/>
<Node name="Hip Yaw"/>
<Node name="Head_Tilt"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoLeftArm" kinematicRoot="Platform" tcp="TCP L">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoRightArm" kinematicRoot="Platform" tcp="TCP R">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="Robot" kinematicRoot="Platform">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Head_Tilt"/>
<Node name="Cameras"/>
<Node name="Eye_Left"/>
<Node name="Eye_Right"/>
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
<Node name="Hand Palm 1 L"/>
<Node name="Hand Palm 2 L"/>
<Node name="Thumb L J0"/>
<Node name="Thumb L J1"/>
<Node name="Index L J0"/>
<Node name="Index L J1"/>
<Node name="Middle L J0"/>
<Node name="Middle L J1"/>
<Node name="Ring L J0"/>
<Node name="Ring L J1"/>
<Node name="Pinky L J0"/>
<Node name="Pinky L J1"/>
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformYawTorsoLeftArm" kinematicRoot="Armar3_Base" tcp="TCP L">
<Node name="Yaw_Platform"/>
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
</RobotNodeSet>
<RobotNodeSet name="PlatformYawTorsoRightArm" kinematicRoot="Armar3_Base" tcp="TCP R">
<Node name="Yaw_Platform"/>
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="Platform">
<Node name="X_Platform"/>
<Node name="Y_Platform"/>
<Node name="Yaw_Platform"/>
</RobotNodeSet>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII.xml 0 → 100644
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data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/head.iv 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/head.obj 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/head.wrl 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_l1.iv 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_l1.obj 0 → 100644
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####
#
# OBJ File Generated by Meshlab
#
####
# Object index_l1.obj
#
# Vertices: 8
# Faces: 12
#
####
vn -1.569545 -1.573297 -1.569544
v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
vn 1.569545 1.570795 -1.572047
v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
vn 1.569545 1.573297 1.569544
v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
vn 1.572046 -1.568294 1.572045
v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
vn -1.572046 1.568294 -1.572045
v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
vn -1.572046 1.570795 1.569546
v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
vn -1.569545 -1.570795 1.572047
v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
# 8 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 5//5 1//1 3//3
f 4//4 5//5 3//3
f 1//1 6//6 2//2
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 6//6 1//1
f 7//7 6//6 8//8
f 8//8 1//1 5//5
f 7//7 8//8 5//5
f 4//4 7//7 5//5
# 12 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/index_l1.wrl 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_l2.iv 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_l2.obj 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_l2.wrl 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_r1.iv 0 → 100644
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data/RobotAPI/robots/Armar3/collisionModel/index_r1.obj 0 → 100644
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