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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 @@ ...@@ -2,9 +2,13 @@
!/build/.gitkeep !/build/.gitkeep
!.gitkeep !.gitkeep
!.gitignore !.gitignore
.idea
source/*/Test.h source/*/Test.h
// ignore Aron files
*.aron.generated.h
*.bak *.bak
*# *#
.#* .#*
...@@ -13,13 +17,14 @@ source/*/Test.h ...@@ -13,13 +17,14 @@ source/*/Test.h
.*.kate-swp .*.kate-swp
.*.swo .*.swo
*.pyc *.pyc
*.orig
.DS_Store .DS_Store
CMakeFiles CMakeFiles
CMakeCache.txt CMakeCache.txt
CMakeLists.txt.user* CMakeLists.txt.user*
*.autosave *.autosave
*.orig *~
*.o *.o
*.os *.os
...@@ -38,26 +43,38 @@ moc_* ...@@ -38,26 +43,38 @@ moc_*
.cproject .cproject
.project .project
# clion stuff
/.idea
# MemoryX # MemoryX
.cache .cache
mongod.log* mongod.log*
data/db/ data/db/
data/dbdump/ data/dbdump/
# Test files
*.roundtriptest
# Generated Scenario Files # Generated Scenario Files
scenarios/*/startScenario.sh startScenario.sh
scenarios/*/stopScenario.sh stopScenario.sh
scenarios/*/ttyACM*.js ttyACM*.js
scenarios/*/ttyACM*.log ttyACM*.log
scenarios/*/config/datapath.cfg datapath*.cfg
scenarios/*/*/startScenario.sh
scenarios/*/*/stopScenario.sh
scenarios/*/*/ttyACM*.js
scenarios/*/*/ttyACM*.log
scenarios/*/*/config/datapath.cfg
*.icegrid.xml *.icegrid.xml
data/RobotAPI/logs 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 # RobotAPI
cmake_minimum_required(VERSION 2.8) cmake_minimum_required(VERSION 3.10.2)
#if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
# set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
#endif()
if(POLICY CMP0043) if(POLICY CMP0043)
cmake_policy(SET CMP0043 OLD) cmake_policy(SET CMP0043 OLD)
...@@ -20,31 +17,32 @@ set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE) ...@@ -20,31 +17,32 @@ set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
armarx_project("RobotAPI") armarx_project("RobotAPI")
depends_on_armarx_package(ArmarXGui) depends_on_armarx_package(ArmarXGui)
set(ArmarX_Simox_VERSION 2.3.71) find_package(DMP QUIET)
option(REQUIRE_SIMOX "If enabled the Simox dependency is a required dependency" TRUE) find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET)
if(REQUIRE_SIMOX) find_package(manif QUIET)
find_package(Simox ${ArmarX_Simox_VERSION} REQUIRED)
else()
find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
endif()
if (Simox_FOUND)
setupSimoxExternalLibraries()
if(ARMARX_USE_QT5)
if(Simox_USE_QT4)
message(FATAL_ERROR "ArmarX uses Qt5 and Simox uses Qt4")
endif()
else()
if(Simox_USE_QT5)
message(FATAL_ERROR "ArmarX uses Qt4 and Simox uses Qt5")
endif()
endif()
endif()
add_subdirectory(source) add_subdirectory(source)
list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox (= ${ArmarX_Simox_VERSION})")
install_project() install_project()
add_subdirectory(scenarios) add_subdirectory(scenarios)
if (TRUE)
find_package(libmongocxx QUIET)
find_package(libbsoncxx QUIET)
if (NOT libbsoncxx_FOUND OR NOT libbsoncxx_FOUND)
string(ASCII 27 Esc)
set(BoldYellow "${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)
README.txt deleted 100644 → 0
View file @ 43b6c799
Stub to make the package tool work.
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
View file @ 65dbeda9
...@@ -13,9 +13,17 @@ ...@@ -13,9 +13,17 @@
<Variant baseType="::armarx::LinkedDirectionBase" dataType="::armarx::LinkedDirection" humanName="LinkedDirection" include="RobotAPI/libraries/core/LinkedPose.h" /> <Variant baseType="::armarx::LinkedDirectionBase" dataType="::armarx::LinkedDirection" humanName="LinkedDirection" include="RobotAPI/libraries/core/LinkedPose.h" />
<Variant baseType="::armarx::OrientedPointBase" dataType="::armarx::OrientedPoint" humanName="OrientedPoint" include="RobotAPI/libraries/core/OrientedPoint.h" /> <Variant baseType="::armarx::OrientedPointBase" dataType="::armarx::OrientedPoint" humanName="OrientedPoint" include="RobotAPI/libraries/core/OrientedPoint.h" />
<Variant baseType="::armarx::FramedOrientedPointBase" dataType="::armarx::FramedOrientedPoint" humanName="FramedOrientedPoint" include="RobotAPI/libraries/core/FramedOrientedPoint.h" /> <Variant baseType="::armarx::FramedOrientedPointBase" dataType="::armarx::FramedOrientedPoint" humanName="FramedOrientedPoint" include="RobotAPI/libraries/core/FramedOrientedPoint.h" />
<Variant baseType="::armarx::CartesianPositionControllerConfigBase" dataType="::armarx::CartesianPositionControllerConfig" humanName="CartesianPositionControllerConfig" include="RobotAPI/libraries/core/CartesianPositionController.h" />
<Variant baseType="::armarx::TrajectoryBase" dataType="::armarx::Trajectory" humanName="Trajectory" include="RobotAPI/libraries/core/Trajectory.h"/> <Variant baseType="::armarx::TrajectoryBase" dataType="::armarx::Trajectory" humanName="Trajectory" include="RobotAPI/libraries/core/Trajectory.h"/>
</Lib> </Lib>
<Lib name="RobotAPIInterfaces"> <Lib name="RobotAPIInterfaces">
<Class typeName="NJointCartesianWaypointControllerConfig" include="RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h" />
<Class typeName="FramedPoseBase" include="RobotAPI/interface/core/FramedPoseBase.h" />
<Class typeName="Vector3Base" include="RobotAPI/interface/core/PoseBase.h" />
<Class typeName="QuaternionBase" include="RobotAPI/interface/core/PoseBase.h" />
<Class typeName="armarx::viz::data::Element" include="RobotAPI/interface/ArViz/Elements.h" />
<Class typeName="armarx::viz::data::LayerUpdate" include="RobotAPI/interface/ArViz/Component.h" />
<Proxy include="RobotAPI/interface/units/KinematicUnitInterface.h" <Proxy include="RobotAPI/interface/units/KinematicUnitInterface.h"
humanName="Kinematic Unit" humanName="Kinematic Unit"
typeName="KinematicUnitInterfacePrx" typeName="KinematicUnitInterfacePrx"
...@@ -39,6 +47,22 @@ ...@@ -39,6 +47,22 @@
getterName="getPlatformUnit" getterName="getPlatformUnit"
propertyName="PlatformUnitName" propertyName="PlatformUnitName"
propertyIsOptional="false" /> propertyIsOptional="false" />
<Proxy include="RobotAPI/interface/units/PlatformUnitInterface.h"
humanName="Platform Unit (obstacle avoiding)"
typeName="PlatformUnitInterfacePrx"
memberName="platformUnit1"
getterName="getPlatformUnit1"
propertyName="PlatformUnitName1"
propertyDefaultValue="ObstacleAvoidingPlatformUnit"
propertyIsOptional="true" />
<Proxy include="RobotAPI/interface/units/PlatformUnitInterface.h"
humanName="Platform Unit (obstacle aware)"
typeName="PlatformUnitInterfacePrx"
memberName="platformUnit2"
getterName="getPlatformUnit2"
propertyName="PlatformUnitName2"
propertyDefaultValue="ObstacleAwarePlatformUnit"
propertyIsOptional="true" />
<Proxy include="RobotAPI/interface/observers/PlatformUnitObserverInterface.h" <Proxy include="RobotAPI/interface/observers/PlatformUnitObserverInterface.h"
humanName="Platform Unit Observer" humanName="Platform Unit Observer"
typeName="PlatformUnitObserverInterfacePrx" typeName="PlatformUnitObserverInterfacePrx"
...@@ -92,7 +116,7 @@ ...@@ -92,7 +116,7 @@
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="TCPControlUnitObserver" /> propertyDefaultValue="TCPControlUnitObserver" />
<Proxy include="RobotAPI/interface/units/HapticUnit.h" <Proxy include="RobotAPI/interface/units/HapticUnit.h"
humanName="Haptic Unit Observer" humanName="Haptic Unit Observer"
typeName="HapticUnitObserverInterfacePrx" typeName="HapticUnitObserverInterfacePrx"
memberName="hapticObserver" memberName="hapticObserver"
getterName="getHapticObserver" getterName="getHapticObserver"
...@@ -100,7 +124,7 @@ ...@@ -100,7 +124,7 @@
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="HapticUnitObserver" /> propertyDefaultValue="HapticUnitObserver" />
<Proxy include="RobotAPI/interface/units/HandUnitInterface.h" <Proxy include="RobotAPI/interface/units/HandUnitInterface.h"
humanName="Hand Unit " humanName="Hand Unit"
typeName="HandUnitInterfacePrx" typeName="HandUnitInterfacePrx"
memberName="handUnit" memberName="handUnit"
getterName="getHandUnit" getterName="getHandUnit"
...@@ -108,7 +132,7 @@ ...@@ -108,7 +132,7 @@
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="HandUnit" /> propertyDefaultValue="HandUnit" />
<Proxy include="RobotAPI/interface/units/WeissHapticUnit.h" <Proxy include="RobotAPI/interface/units/WeissHapticUnit.h"
humanName="Weiss Haptic Unit" humanName="Weiss Haptic Unit"
typeName="WeissHapticUnitInterfacePrx" typeName="WeissHapticUnitInterfacePrx"
memberName="weissHapticUnit" memberName="weissHapticUnit"
getterName="getWeissHapticUnit" getterName="getWeissHapticUnit"
...@@ -116,13 +140,21 @@ ...@@ -116,13 +140,21 @@
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="WeissHapticUnit" /> propertyDefaultValue="WeissHapticUnit" />
<Proxy include="RobotAPI/interface/units/HeadIKUnit.h" <Proxy include="RobotAPI/interface/units/HeadIKUnit.h"
humanName="Head IK Unit" humanName="Head IK Unit"
typeName="HeadIKUnitInterfacePrx" typeName="HeadIKUnitInterfacePrx"
memberName="headIKUnit" memberName="headIKUnit"
getterName="getHeadIKUnit" getterName="getHeadIKUnit"
propertyName="HeadIKUnitName" propertyName="HeadIKUnitName"
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="HeadIKUnit" /> propertyDefaultValue="HeadIKUnit" />
<Proxy include="RobotAPI/interface/components/FrameTrackingInterface.h"
humanName="Frame Tracking Component"
typeName="FrameTrackingInterfacePrx"
memberName="frameTrackingComponent"
getterName="getFrameTrackingComponent"
propertyName="FrameTrackingComponentName"
propertyIsOptional="true"
propertyDefaultValue="FrameTracking" />
<Proxy include="RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h" <Proxy include="RobotAPI/interface/units/RobotUnit/RobotUnitInterface.h"
humanName="Robot Unit" humanName="Robot Unit"
typeName="RobotUnitInterfacePrx" typeName="RobotUnitInterfacePrx"
...@@ -130,22 +162,14 @@ ...@@ -130,22 +162,14 @@
getterName="getRobotUnit" getterName="getRobotUnit"
propertyName="RobotUnitName" propertyName="RobotUnitName"
propertyIsOptional="false" /> propertyIsOptional="false" />
<Proxy include="ArmarXCore/interface/observers/ObserverInterface.h" <Proxy include="RobotAPI/interface/units/CyberGloveObserverInterface.h"
humanName="Robot Unit Observer" humanName="CyberGlove Observer"
typeName="ObserverInterfacePrx" typeName="CyberGloveObserverInterfacePrx"
memberName="robotUnitObserver" memberName="cyberGloveObserver"
getterName="getRobotUnitObserver" getterName="getCyberGloveObserver"
propertyName="RobotUnitObserverName" propertyName="CyberGloveObserverName"
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="RobotUnitObserver" /> propertyDefaultValue="CyberGloveObserver" />
<Proxy include="ArmarXCore/interface/observers/ObserverInterface.h"
humanName="Speech Observer"
typeName="ObserverInterfacePrx"
memberName="speechObserver"
getterName="getSpeechObserver"
propertyName="SpeechObserverName"
propertyIsOptional="true"
propertyDefaultValue="SpeechObserver" />
<Proxy include="RobotAPI/interface/components/TrajectoryPlayerInterface.h" <Proxy include="RobotAPI/interface/components/TrajectoryPlayerInterface.h"
humanName="TrajectoryPlayer Component" humanName="TrajectoryPlayer Component"
typeName="TrajectoryPlayerInterfacePrx" typeName="TrajectoryPlayerInterfacePrx"
...@@ -162,6 +186,16 @@ ...@@ -162,6 +186,16 @@
propertyName="NJointTrajectoryControllerName" propertyName="NJointTrajectoryControllerName"
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="NJointTrajectoryController" /> propertyDefaultValue="NJointTrajectoryController" />
<Proxy include="RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.h"
humanName="NJoint Cartesian Waypoint Controller"
typeName="NJointCartesianControllerInterfacePrx"
memberName="NJointCartesianWaypointController"
getterName="getNJointCartesianWaypointController"
propertyName="NJointCartesianWaypointControllerName"
propertyIsOptional="true"
propertyDefaultValue="NJointCartesianWaypointController" />
<Proxy include="RobotAPI/interface/core/RobotState.h" <Proxy include="RobotAPI/interface/core/RobotState.h"
humanName="Robot State Component" humanName="Robot State Component"
typeName="RobotStateComponentInterfacePrx" typeName="RobotStateComponentInterfacePrx"
...@@ -181,7 +215,11 @@ ...@@ -181,7 +215,11 @@
<onConnect>remoteRobot.reset(new RemoteRobot(robotStateComponent-&gt;getSynchronizedRobot()));</onConnect> <onConnect>remoteRobot.reset(new RemoteRobot(robotStateComponent-&gt;getSynchronizedRobot()));</onConnect>
<stateMethod header="const VirtualRobot::RobotPtr getRobot() const">return %getContext%-&gt;getRobot();</stateMethod> <stateMethod header="const VirtualRobot::RobotPtr getRobot() const">return %getContext%-&gt;getRobot();</stateMethod>
<method header="const VirtualRobot::RobotPtr getLocalRobot() const">return robotPoolStructure->getRobot();</method> <method header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">VirtualRobot::RobotPtr robot = robotPoolStructure->getRobot();
if(performInitialRobotSync) {
::armarx::RemoteRobot::synchronizeLocalClone(robot, getRobotStateComponent());
}
return robot;</method>
<method header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return robotPoolCollision->getRobot();</method> <method header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return robotPoolCollision->getRobot();</method>
<method header="const RobotNameHelperPtr getRobotNameHelper() const">return robotNameHelper;</method> <method header="const RobotNameHelperPtr getRobotNameHelper() const">return robotNameHelper;</method>
<member>VirtualRobot::RobotPtr localRobot;</member> <member>VirtualRobot::RobotPtr localRobot;</member>
...@@ -195,7 +233,7 @@ ...@@ -195,7 +233,7 @@
<onConnect>localCollisionRobot = RemoteRobot::createLocalCloneFromFile(robotStateComponent, VirtualRobot::RobotIO::eCollisionModel);</onConnect> <onConnect>localCollisionRobot = RemoteRobot::createLocalCloneFromFile(robotStateComponent, VirtualRobot::RobotIO::eCollisionModel);</onConnect>
<onConnect>robotPoolCollision.reset(new RobotPool(localCollisionRobot,2));</onConnect> <onConnect>robotPoolCollision.reset(new RobotPool(localCollisionRobot,2));</onConnect>
<onConnect>robotNameHelper = RobotNameHelper::Create(robotStateComponent->getRobotInfo(), getSelectedStatechartProfile());</onConnect> <onConnect>robotNameHelper = RobotNameHelper::Create(robotStateComponent->getRobotInfo(), getSelectedStatechartProfile());</onConnect>
<stateMethod header="const VirtualRobot::RobotPtr getLocalRobot() const">return %getContext%-&gt;getLocalRobot();</stateMethod> <stateMethod header="const VirtualRobot::RobotPtr getLocalRobot(bool performInitialRobotSync = true) const">return %getContext%-&gt;getLocalRobot(performInitialRobotSync);</stateMethod>
<stateMethod header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return %getContext%-&gt;getLocalCollisionRobot();</stateMethod> <stateMethod header="const VirtualRobot::RobotPtr getLocalCollisionRobot() const">return %getContext%-&gt;getLocalCollisionRobot();</stateMethod>
<stateMethod header="const RobotNameHelperPtr getRobotNameHelper() const">return %getContext%-&gt;getRobotNameHelper();</stateMethod> <stateMethod header="const RobotNameHelperPtr getRobotNameHelper() const">return %getContext%-&gt;getRobotNameHelper();</stateMethod>
...@@ -218,14 +256,113 @@ ...@@ -218,14 +256,113 @@
propertyDefaultValue="DebugDrawerUpdates"> propertyDefaultValue="DebugDrawerUpdates">
<library>DebugDrawer</library> <library>DebugDrawer</library>
</Topic> </Topic>
<Topic include="RobotAPI/interface/ArViz/Component.h"
humanName="ArViz topic"
typeName="armarx::viz::TopicPrx"
memberName="arvizTopic"
getterName="getArvizTopic"
propertyName="ArVizTopicName"
propertyIsOptional="true"
propertyDefaultValue="ArVizTopic">
</Topic>
<Proxy include="RobotAPI/interface/ArViz/Component.h"
humanName="ArViz Storage"
typeName="armarx::viz::StorageInterfacePrx"
memberName="storageProxy"
getterName="getStorageProxy"
propertyName="StorageName"
propertyIsOptional="true"
propertyDefaultValue="ArViz">
</Proxy>
<Topic include="RobotAPI/interface/speech/SpeechInterface.h" <Topic include="RobotAPI/interface/speech/SpeechInterface.h"
humanName="Text to Speech" humanName="Text to Speech Topic"
typeName="TextListenerInterfacePrx" typeName="TextListenerInterfacePrx"
memberName="textToSpeech" memberName="textToSpeech"
getterName="getTextToSpeech" getterName="getTextToSpeech"
propertyName="TextToSpeechTopicName" propertyName="TextToSpeechTopicName"
propertyIsOptional="true" propertyIsOptional="true"
propertyDefaultValue="TextToSpeech" /> propertyDefaultValue="TextToSpeech" />
<Proxy include="RobotAPI/interface/components/ObstacleAvoidance/ObstacleAvoidanceInterface.h"
humanName="Platform obstacle avoidance interface"
typeName="ObstacleAvoidanceInterfacePrx"
memberName="obstacleAvoidance"
getterName="getObstacleAvoidance"
propertyName="ObstacleAvoidanceName"
propertyIsOptional="true"
propertyDefaultValue="PlatformObstacleAvoidance" />
<Proxy include="RobotAPI/interface/components/ObstacleAvoidance/ObstacleDetectionInterface.h"
humanName="Platform obstacle detection interface"
typeName="ObstacleDetectionInterfacePrx"
memberName="obstacleDetection"
getterName="getObstacleDetection"
propertyName="ObstacleDetectionName"
propertyIsOptional="true"
propertyDefaultValue="PlatformObstacleAvoidance" />
<Proxy include="RobotAPI/interface/components/ObstacleAvoidance/DynamicObstacleManagerInterface.h"
humanName="Dynamic obstacle manager interface"
typeName="DynamicObstacleManagerInterfacePrx"
memberName="dynamicObstacleManager"
getterName="getDynamicObstacleManager"
propertyName="DynamicObstacleManagerName"
propertyIsOptional="true"
propertyDefaultValue="DynamicObstacleManager" />
<Proxy include="RobotAPI/interface/observers/GraspCandidateObserverInterface.h"
humanName="Grasp Candidate Observer"
typeName="armarx::grasping::GraspCandidateObserverInterfacePrx"
memberName="graspCandidateObserver"
getterName="getGraspCandidateObserver"
propertyName="GraspCandidateObserverName"
propertyIsOptional="true"
propertyDefaultValue="GraspCandidateObserver" />
<Proxy include="RobotAPI/interface/components/FrameTrackingInterface.h"
humanName="FrameTracking"
typeName="FrameTrackingInterfacePrx"
memberName="frameTracking"
getterName="getFrameTracking"
propertyName="FrameTrackingName"
propertyIsOptional="true"
propertyDefaultValue="FrameTracking" />
<Proxy include="RobotAPI/interface/units/MultiHandUnitInterface.h"
humanName="MultiHandUnit"
typeName="MultiHandUnitInterfacePrx"
memberName="multiHandUnit"
getterName="getMultiHandUnit"
propertyName="MultiHandUnitName"
propertyIsOptional="true"
propertyDefaultValue="MultiHandUnit" />
<Topic include="RobotAPI/interface/core/BlackWhitelist.h"
humanName="DebugDrawerToArViz Layer-BlackWhitelist"
typeName="BlackWhitelistTopicPrx"
memberName="debugDrawerToArVizLayerBlackWhitelist"
getterName="getDebugDrawerToArVizLayerBlackWhitelist"
propertyName="DebugDrawerToArVizLayerBlackWhitelistTopicName"
propertyIsOptional="true"
propertyDefaultValue="DebugDrawerToArVizLayerBlackWhitelistUpdates" />
<Proxy include="RobotAPI/interface/objectpose/ObjectPoseStorageInterface.h"
humanName="ObjectPoseStorage"
typeName="objpose::ObjectPoseStorageInterfacePrx"
memberName="ObjectPoseStorage"
getterName="getObjectPoseStorage"
propertyName="ObjectPoseStorageName"
propertyIsOptional="true"
propertyDefaultValue="ObjectMemory" />
<Proxy include="RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h"
humanName="Memory Name System"
typeName="armem::mns::MemoryNameSystemInterfacePrx"
memberName="MemoryNameSystem"
getterName="getMemoryNameSystem"
propertyName="MemoryNameSystemName"
propertyIsOptional="true"
propertyDefaultValue="MemoryNameSystem" />
<Proxy include="RobotAPI/interface/core/RobotLocalization.h"
humanName="GlobalRobotPoseProvider"
typeName="armarx::GlobalRobotPoseProviderPrx"
memberName="GlobalRobotPoseProvider"
getterName="getGlobalRobotPoseProvider"
propertyName="GlobalRobotPoseProviderName"
propertyIsOptional="true"
propertyDefaultValue="GlobalRobotPoseProvider" />
</Lib> </Lib>
</VariantInfo> </VariantInfo>
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
View file @ 65dbeda9
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
</Transform> </Transform>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head_base.iv</File> <File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -17,7 +17,7 @@ ...@@ -17,7 +17,7 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/head_base.iv</File> <File type="Inventor">convexModel/head_base.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Neck_1_Pitch"/> <Child name="Neck_1_Pitch"/>
...@@ -40,7 +40,7 @@ ...@@ -40,7 +40,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File> <File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -50,7 +50,7 @@ ...@@ -50,7 +50,7 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/neck_pitch_link.iv</File> <File type="Inventor">convexModel/neck_pitch_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Neck_2_Roll"/> <Child name="Neck_2_Roll"/>
...@@ -71,7 +71,7 @@ ...@@ -71,7 +71,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File> <File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -82,7 +82,7 @@ ...@@ -82,7 +82,7 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/neck_roll_link.iv</File> <File type="Inventor">convexModel/neck_roll_link.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Neck_3_Yaw"/> <Child name="Neck_3_Yaw"/>
...@@ -103,7 +103,7 @@ ...@@ -103,7 +103,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File> <File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization> </Visualization>
<Physics> <Physics>
...@@ -112,8 +112,17 @@ ...@@ -112,8 +112,17 @@
</Physics> </Physics>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.iv</File> <File type="Inventor">convexModel/neck_yaw_link.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Sphere radius="140">
<Transform>
<Translation x="40" y="0" z="180" />
</Transform>
</Sphere>
</Primitives>
</PrimitiveModel>
<Child name="Head_Tilt"/> <Child name="Head_Tilt"/>
</RobotNode> </RobotNode>
...@@ -140,11 +149,11 @@ ...@@ -140,11 +149,11 @@
</Physics> </Physics>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head.iv</File> <File type="Inventor">fullmodel/head.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/head.iv</File> <File type="Inventor">convexModel/head.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Head Center1"/> <Child name="Head Center1"/>
...@@ -179,7 +188,7 @@ ...@@ -179,7 +188,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/jaw.iv</File> <File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -306,7 +315,7 @@ ...@@ -306,7 +315,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File> <File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization> </Visualization>
...@@ -335,7 +344,7 @@ ...@@ -335,7 +344,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File> <File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
...@@ -395,7 +404,7 @@ ...@@ -395,7 +404,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File> <File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -404,7 +413,7 @@ ...@@ -404,7 +413,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File> <File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -439,7 +448,7 @@ ...@@ -439,7 +448,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File> <File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -451,7 +460,7 @@ ...@@ -451,7 +460,7 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File> <File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
View file @ 65dbeda9
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
</Joint> </Joint>
<Child name="Neck_1_Pitch"/> <Child name="Neck_1_Pitch"/>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head_base.iv</File> <File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -19,7 +19,7 @@ ...@@ -19,7 +19,7 @@
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File> <File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization> </Visualization>
<Child name="Neck_2_Roll"/> <Child name="Neck_2_Roll"/>
</RobotNode> </RobotNode>
...@@ -30,7 +30,7 @@ ...@@ -30,7 +30,7 @@
<Limits unit="degree" lo="-45" hi="45"/> <Limits unit="degree" lo="-45" hi="45"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File> <File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization> </Visualization>
<Child name="Neck_3_Yaw"/> <Child name="Neck_3_Yaw"/>
</RobotNode> </RobotNode>
...@@ -41,7 +41,7 @@ ...@@ -41,7 +41,7 @@
<Limits unit="degree" lo="-45" hi="45"/> <Limits unit="degree" lo="-45" hi="45"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File> <File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization> </Visualization>
<Child name="Head_Tilt"/> <Child name="Head_Tilt"/>
</RobotNode> </RobotNode>
...@@ -56,10 +56,10 @@ ...@@ -56,10 +56,10 @@
<Mass value="6.79877000" units="kg" /> <Mass value="6.79877000" units="kg" />
</Physics> </Physics>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/head.iv</File> <File type="Inventor">fullmodel/head.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/head.iv</File> <File type="Inventor">collisionModel/head.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Head Center"/> <Child name="Head Center"/>
</RobotNode> </RobotNode>
...@@ -78,7 +78,7 @@ ...@@ -78,7 +78,7 @@
<Limits unit="degree" lo="-30" hi="30"/> <Limits unit="degree" lo="-30" hi="30"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/jaw.iv</File> <File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -122,7 +122,7 @@ ...@@ -122,7 +122,7 @@
<Limits unit="degree" lo="-30" hi="30"/> <Limits unit="degree" lo="-30" hi="30"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File> <File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization> </Visualization>
<Child name="Lid Left Bottom"/> <Child name="Lid Left Bottom"/>
<Child name="Lid Left Top"/> <Child name="Lid Left Top"/>
...@@ -135,7 +135,7 @@ ...@@ -135,7 +135,7 @@
<Limits unit="degree" lo="-30" hi="30"/> <Limits unit="degree" lo="-30" hi="30"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File> <File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization> </Visualization>
<Child name="Lid Right Bottom"/> <Child name="Lid Right Bottom"/>
<Child name="Lid Right Top"/> <Child name="Lid Right Top"/>
...@@ -158,7 +158,7 @@ ...@@ -158,7 +158,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File> <File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -167,7 +167,7 @@ ...@@ -167,7 +167,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File> <File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -187,7 +187,7 @@ ...@@ -187,7 +187,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File> <File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
...@@ -196,7 +196,7 @@ ...@@ -196,7 +196,7 @@
<Axis x="0" y="1" z="0"/> <Axis x="0" y="1" z="0"/>
</Joint> </Joint>
<Visualization> <Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File> <File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization> </Visualization>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
View file @ 65dbeda9
...@@ -28,11 +28,21 @@ ...@@ -28,11 +28,21 @@
<Mass value="3.65" units="kg" /> <Mass value="3.65" units="kg" />
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/shoulder_l.iv</File> <File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder_l.iv</File> <File type="Inventor">convexModel/shoulder_l.wrl</File>
</CollisionModel> </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"/> <Child name="Shoulder 2 L"/>
</RobotNode> </RobotNode>
...@@ -55,11 +65,20 @@ ...@@ -55,11 +65,20 @@
<Mass value="2.5" units="kg" /> <Mass value="2.5" units="kg" />
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder2_l_rot.iv</File> <File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm L"/> <Child name="Upperarm L"/>
</RobotNode> </RobotNode>
...@@ -83,10 +102,10 @@ ...@@ -83,10 +102,10 @@
<IgnoreCollision name="Shoulder 1 L"/> <IgnoreCollision name="Shoulder 1 L"/>
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_l.iv</File> <File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/upperarm_l.iv</File> <File type="Inventor">convexModel/upperarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow L"/> <Child name="Elbow L"/>
</RobotNode> </RobotNode>
...@@ -106,10 +125,10 @@ ...@@ -106,10 +125,10 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File> <File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/elbow_l.iv</File> <File type="Inventor">convexModel/elbow_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
...@@ -133,11 +152,21 @@ ...@@ -133,11 +152,21 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/underarm_l.iv</File> <File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/underarm_l.iv</File> <File type="Inventor">convexModel/underarm_l.wrl</File>
</CollisionModel> </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> <Physics>
<CoM location="VisualizationBBoxCenter"/> <CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" /> <Mass value="2.26566087" units="kg" />
...@@ -164,10 +193,10 @@ ...@@ -164,10 +193,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File> <File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/wrist1_l.iv</File> <File type="Inventor">convexModel/wrist1_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 2 L"/> <Child name="Wrist 2 L"/>
</RobotNode> </RobotNode>
...@@ -188,11 +217,11 @@ ...@@ -188,11 +217,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File> <File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization> </Visualization>
<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model--> <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">convexModel/wrist2_l.iv</File> <File type="Inventor">convexModel/wrist2_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
View file @ 65dbeda9
...@@ -23,10 +23,10 @@ ...@@ -23,10 +23,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_l.iv</File> <File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/shoulder_l.iv</File> <File type="Inventor">collisionModel/shoulder_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Shoulder 2 L"/> <Child name="Shoulder 2 L"/>
</RobotNode> </RobotNode>
...@@ -42,7 +42,7 @@ ...@@ -42,7 +42,7 @@
</Physics--> </Physics-->
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization> </Visualization>
<Child name="Upperarm L"/> <Child name="Upperarm L"/>
</RobotNode> </RobotNode>
...@@ -58,10 +58,10 @@ ...@@ -58,10 +58,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_l.iv</File> <File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/upperarm_l.iv</File> <File type="Inventor">collisionModel/upperarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow L"/> <Child name="Elbow L"/>
</RobotNode> </RobotNode>
...@@ -73,15 +73,15 @@ ...@@ -73,15 +73,15 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File> <File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization> </Visualization>
<!--Physics> <!--Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
<Mass value="1.15744000" units="kg" /> <Mass value="1.15744000" units="kg" />
</Physics--> </Physics-->
<!-- TODO elbow_l.iv does not exist (currently not needed)--> <!-- TODO elbow_l.wrl does not exist (currently not needed)-->
<!--<CollisionModel>--> <!--<CollisionModel>-->
<!--<File type="Inventor">collisionModel/elbow_l.iv</File>--> <!--<File type="Inventor">collisionModel/elbow_l.wrl</File>-->
<!--</CollisionModel>--> <!--</CollisionModel>-->
<Child name="Underarm L"/> <Child name="Underarm L"/>
</RobotNode> </RobotNode>
...@@ -98,10 +98,10 @@ ...@@ -98,10 +98,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_l.iv</File> <File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/underarm_l.iv</File> <File type="Inventor">collisionModel/underarm_l.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 1 L"/> <Child name="Wrist 1 L"/>
</RobotNode> </RobotNode>
...@@ -117,10 +117,10 @@ ...@@ -117,10 +117,10 @@
</Physics--> </Physics-->
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File> <File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization> </Visualization>
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File> <File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel--> </CollisionModel-->
<Child name="Wrist 2 L"/> <Child name="Wrist 2 L"/>
</RobotNode> </RobotNode>
...@@ -136,10 +136,10 @@ ...@@ -136,10 +136,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File> <File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization> </Visualization>
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File> <File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel--> </CollisionModel-->
<ChildFromRobot> <ChildFromRobot>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
View file @ 65dbeda9
...@@ -45,11 +45,11 @@ ...@@ -45,11 +45,11 @@
</Transform> </Transform>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File> <File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/palm1_l.iv</File> <File type="Inventor">convexModel/palm1_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -74,11 +74,11 @@ ...@@ -74,11 +74,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File> <File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/palm2_l.iv</File> <File type="Inventor">convexModel/palm2_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -109,11 +109,11 @@ ...@@ -109,11 +109,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File> <File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/thumb_l1.iv</File> <File type="Inventor">convexModel/thumb_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -137,11 +137,11 @@ ...@@ -137,11 +137,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File> <File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/thumb_l2.iv</File> <File type="Inventor">convexModel/thumb_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -168,11 +168,11 @@ ...@@ -168,11 +168,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File> <File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/pinky_l1.iv</File> <File type="Inventor">convexModel/pinky_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -196,11 +196,11 @@ ...@@ -196,11 +196,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l2.iv</File> <File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/pinky_l2.iv</File> <File type="Inventor">convexModel/pinky_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -227,11 +227,11 @@ ...@@ -227,11 +227,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File> <File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/ring_l1.iv</File> <File type="Inventor">convexModel/ring_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -255,11 +255,11 @@ ...@@ -255,11 +255,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File> <File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/ring_l2.iv</File> <File type="Inventor">convexModel/ring_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -286,11 +286,11 @@ ...@@ -286,11 +286,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File> <File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/middle_l1.iv</File> <File type="Inventor">convexModel/middle_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -314,11 +314,11 @@ ...@@ -314,11 +314,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File> <File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/middle_l2.iv</File> <File type="Inventor">convexModel/middle_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -345,11 +345,11 @@ ...@@ -345,11 +345,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File> <File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/index_l1.iv</File> <File type="Inventor">convexModel/index_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -373,11 +373,11 @@ ...@@ -373,11 +373,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File> <File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/index_l2.iv</File> <File type="Inventor">convexModel/index_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
View file @ 65dbeda9
...@@ -39,11 +39,11 @@ ...@@ -39,11 +39,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File> <File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/palm1_l.iv</File> <File type="Inventor">collisionModel/palm1_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -67,11 +67,11 @@ ...@@ -67,11 +67,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File> <File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/palm2_l.iv</File> <File type="Inventor">collisionModel/palm2_l.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -109,11 +109,11 @@ ...@@ -109,11 +109,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File> <File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/thumb_l1.iv</File> <File type="Inventor">collisionModel/thumb_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -136,11 +136,11 @@ ...@@ -136,11 +136,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File> <File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/thumb_l2.iv</File> <File type="Inventor">collisionModel/thumb_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -173,11 +173,11 @@ ...@@ -173,11 +173,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File> <File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/pinky_l1.iv</File> <File type="Inventor">collisionModel/pinky_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -201,11 +201,11 @@ ...@@ -201,11 +201,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/pinky_l2.iv</File> <File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/pinky_l2.iv</File> <File type="Inventor">collisionModel/pinky_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -238,11 +238,11 @@ ...@@ -238,11 +238,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File> <File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/ring_l1.iv</File> <File type="Inventor">collisionModel/ring_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -265,11 +265,11 @@ ...@@ -265,11 +265,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File> <File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/ring_l2.iv</File> <File type="Inventor">collisionModel/ring_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -302,11 +302,11 @@ ...@@ -302,11 +302,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File> <File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/middle_l1.iv</File> <File type="Inventor">collisionModel/middle_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -329,11 +329,11 @@ ...@@ -329,11 +329,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File> <File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/middle_l2.iv</File> <File type="Inventor">collisionModel/middle_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -366,11 +366,11 @@ ...@@ -366,11 +366,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File> <File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/index_l1.iv</File> <File type="Inventor">collisionModel/index_l1.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
...@@ -393,11 +393,11 @@ ...@@ -393,11 +393,11 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File> <File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/index_l2.iv</File> <File type="Inventor">collisionModel/index_l2.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-Platform.xml
View file @ 65dbeda9
...@@ -82,10 +82,10 @@ ...@@ -82,10 +82,10 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File> <File type="Inventor">fullmodel/platform.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/platform.iv</File> <File type="Inventor">collisionModel/platform.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Hip Pitch"/> <Child name="Hip Pitch"/>
...@@ -105,7 +105,7 @@ ...@@ -105,7 +105,7 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File> <File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization> </Visualization>
<Child name="Hip Roll"/> <Child name="Hip Roll"/>
</RobotNode> </RobotNode>
...@@ -120,7 +120,7 @@ ...@@ -120,7 +120,7 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File> <File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization> </Visualization>
<Child name="Hip Yaw"/> <Child name="Hip Yaw"/>
</RobotNode> </RobotNode>
...@@ -135,10 +135,10 @@ ...@@ -135,10 +135,10 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/> <CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File> <File type="Inventor">fullmodel/torso.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">collisionModel/torso.iv</File> <File type="Inventor">collisionModel/torso.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Center of Arms"/> <Child name="Center of Arms"/>
</RobotNode> </RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
View file @ 65dbeda9
...@@ -29,11 +29,21 @@ ...@@ -29,11 +29,21 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/> <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/shoulder_r.iv</File> <File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder_r.iv</File> <File type="Inventor">convexModel/shoulder_r.wrl</File>
</CollisionModel> </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"/> <Child name="Shoulder 2 R"/>
</RobotNode> </RobotNode>
...@@ -54,11 +64,20 @@ ...@@ -54,11 +64,20 @@
<Mass value="2.5" units="kg" /> <Mass value="2.5" units="kg" />
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File> <File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/shoulder2_r_rot.iv</File> <File type="Inventor">convexModel/shoulder2_r_rot.wrl</File>
</CollisionModel> </CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm R"/> <Child name="Upperarm R"/>
</RobotNode> </RobotNode>
...@@ -80,10 +99,10 @@ ...@@ -80,10 +99,10 @@
<IgnoreCollision name="Shoulder 1 R"/> <IgnoreCollision name="Shoulder 1 R"/>
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_r.iv</File> <File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/upperarm_r.iv</File> <File type="Inventor">convexModel/upperarm_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Elbow R"/> <Child name="Elbow R"/>
</RobotNode> </RobotNode>
...@@ -102,10 +121,10 @@ ...@@ -102,10 +121,10 @@
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="4"/> <CoordinateAxis type="Inventor" enable="false" scaling="4"/>
<File type="Inventor">fullmodel/elbow_r.iv</File> <File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/elbow_r.iv</File> <File type="Inventor">convexModel/elbow_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
<CoM location="Joint"/> <CoM location="Joint"/>
...@@ -128,11 +147,21 @@ ...@@ -128,11 +147,21 @@
<MaxTorque value="3000"/> <MaxTorque value="3000"/>
</Joint> </Joint>
<Visualization enable="true"> <Visualization enable="true">
<File type="Inventor">fullmodel/underarm_r.iv</File> <File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/underarm_r.iv</File> <File type="Inventor">convexModel/underarm_r.wrl</File>
</CollisionModel> </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> <Physics>
<CoM location="VisualizationBBoxCenter"/> <CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" /> <Mass value="2.26566087" units="kg" />
...@@ -158,10 +187,10 @@ ...@@ -158,10 +187,10 @@
</Physics> </Physics>
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/> <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist1_r.iv</File> <File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization> </Visualization>
<CollisionModel> <CollisionModel>
<File type="Inventor">convexModel/wrist1_r.iv</File> <File type="Inventor">convexModel/wrist1_r.wrl</File>
</CollisionModel> </CollisionModel>
<Child name="Wrist 2 R"/> <Child name="Wrist 2 R"/>
</RobotNode> </RobotNode>
...@@ -181,11 +210,11 @@ ...@@ -181,11 +210,11 @@
<Visualization enable="true"> <Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="2"/> <CoordinateAxis type="Inventor" enable="false" scaling="2"/>
<File type="Inventor">fullmodel/wrist2_r.iv</File> <File type="Inventor">fullmodel/wrist2_r.wrl</File>
</Visualization> </Visualization>
<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model--> <!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
<!--CollisionModel> <!--CollisionModel>
<File type="Inventor">convexModel/wrist2_r.iv</File> <File type="Inventor">convexModel/wrist2_r.wrl</File>
</CollisionModel> </CollisionModel>
<Physics> <Physics>
......