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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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.gitignore
View file @ 65dbeda9
......@@ -2,9 +2,13 @@
!/build/.gitkeep
!.gitkeep
!.gitignore
.idea
source/*/Test.h
// ignore Aron files
*.aron.generated.h
*.bak
*#
.#*
......@@ -13,11 +17,14 @@ source/*/Test.h
.*.kate-swp
.*.swo
*.pyc
*.orig
.DS_Store
CMakeFiles
CMakeCache.txt
CMakeLists.txt.user*
*.autosave
*~
*.o
*.os
......@@ -42,16 +49,32 @@ mongod.log*
data/db/
data/dbdump/
# Test files
*.roundtriptest
# Generated Scenario Files
scenarios/*/startScenario.sh
scenarios/*/stopScenario.sh
scenarios/*/ttyACM*.js
scenarios/*/ttyACM*.log
scenarios/*/config/datapath.cfg
scenarios/*/*/startScenario.sh
scenarios/*/*/stopScenario.sh
scenarios/*/*/ttyACM*.js
scenarios/*/*/ttyACM*.log
scenarios/*/*/config/datapath.cfg
startScenario.sh
stopScenario.sh
ttyACM*.js
ttyACM*.log
datapath*.cfg
*.icegrid.xml
data/RobotAPI/logs
worktree/
etc/python/armarx.egg-info/
etc/python/build/*
etc/python/dist/*
.cmake/api/v1/query/cache-v2
.cmake/api/v1/query/codemodel-v2
.cmake/api/v1/query/cmakeFiles-v1
# ArViz Recordings
data/RobotAPI/ArVizStorage/
.vscode/
.clang-format
.clang-tidy
.gitlab-ci.yml 0 → 100644
View file @ 65dbeda9
stages:
- build-and-test
- deploy
- post-deploy-test
.build-and-test:
cache:
# https://docs.gitlab.com/ee/ci/caching/#share-caches-across-jobs-in-different-branches
key: one-key-to-rule-them-all
paths:
- .apt
- .ccache
before_script:
# Apt cache configuration.
- rm -rf /var/cache/apt/archives || true
- rm -f /etc/apt/apt.conf.d/docker-clean # Remove docker-clean script to avoid cache deletion.
- mkdir .apt || true
- ln -s "$CI_PROJECT_DIR/.apt" /var/cache/apt/archives
# Update apt info.
- apt-get update
# Ccache configuration and introspection.
- apt-get install ccache --yes
- ccache --set-config=cache_dir="$CI_PROJECT_DIR/.ccache"
- ccache --max-size=20G
- ccache --show-stats
# Activate Axii.
- source /axii/scripts/install_axii.sh
- _axii_auto_env_refresh
script:
- echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
# Use workspace configuration from project.
- cp "$CI_PROJECT_DIR/.gitlab/ci/armarx-workspace.json" "$ARMARX_WORKSPACE/armarx-workspace.json"
- cat "$ARMARX_WORKSPACE/armarx-workspace.json"
- axii workspace env
- _axii_auto_env_refresh
- echo "Workspace information:"
- axii workspace list-modules
- axii workspace list-modules --deps
- axii workspace info
- export PROJECT_MODULE="armarx/RobotAPI"
- export PROJECT_PATH_IN_WORKSPACE="$armarx__RobotAPI__PATH"
# Symlink project directory into Axii workspace.
- mkdir -p "$(dirname $PROJECT_PATH_IN_WORKSPACE)"
- ln -s "$CI_PROJECT_DIR" "$PROJECT_PATH_IN_WORKSPACE"
# Fix "CMake Error in CMakeLists.txt: Imported target "VirtualRobot" includes non-existent path "/usr/lib/include"
# (caused by at least dmp)
- mkdir -p /usr/lib/include
# Upgrade.
- axii workspace system --accept-apt-install
- axii workspace update --prefer-https
- axii workspace upgrade -m "$PROJECT_MODULE"
- ccache --show-stats
# Test.
# ToDo: Add and use `axii ws test -m "$PROJECT_MODULE"`
- cd "$PROJECT_PATH_IN_WORKSPACE/build"
- ctest --output-on-failure --output-junit "$CI_PROJECT_DIR/report.xml" .
artifacts:
reports:
junit: report.xml
build-and-test-bionic:
stage: build-and-test
extends: .build-and-test
image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-bionic
build-and-test-jammy:
stage: build-and-test
extends: .build-and-test
image: git.h2t.iar.kit.edu:5050/sw/armarx/armarx-gui:latest-jammy
docker-bionic:
stage: deploy
needs: ["build-and-test-bionic"]
image:
name: gcr.io/kaniko-project/executor:v1.9.0-debug
entrypoint: [""]
script:
- /kaniko/executor
--context "${CI_PROJECT_DIR}"
--dockerfile "${CI_PROJECT_DIR}/docker/bionic"
--destination "${CI_REGISTRY_IMAGE}:latest-bionic"
rules:
- if: $CI_COMMIT_BRANCH == "master"
docker-jammy:
stage: deploy
needs: ["build-and-test-jammy"]
image:
name: gcr.io/kaniko-project/executor:v1.9.0-debug
entrypoint: [""]
script:
- /kaniko/executor
--context "${CI_PROJECT_DIR}"
--dockerfile "${CI_PROJECT_DIR}/docker/jammy"
--destination "${CI_REGISTRY_IMAGE}:latest-jammy"
rules:
- if: $CI_COMMIT_BRANCH == "master"
.test-docker-image-common:
before_script:
- source /axii/scripts/install_axii.sh
- _axii_auto_env_refresh
script:
- echo "ArmarX Workspace = '$ARMARX_WORKSPACE'"
- printenv
- axii workspace list-modules
- axii workspace list-modules --deps
- axii workspace info
- echo "RobotAPI directory = '$RobotAPI_DIR'"
- which armarx
- which armarx-package
- armarx switch docker_test --ice-host 127.0.0.1 --ice-port 10000 --ice-default-host 127.0.0.1 --mongo-host 127.0.0.1 --mongo-port 10001
- armarx profile
- armarx status || true
- cd $ArmarXGui_DIR
- ctest --output-on-failure .
test-docker-image-bionic:
stage: post-deploy-test
needs: ["docker-bionic"]
extends: .test-docker-image-common
image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-bionic
rules:
- if: $CI_COMMIT_BRANCH == "master"
test-docker-image-jammy:
stage: post-deploy-test
needs: ["docker-jammy"]
extends: .test-docker-image-common
image: git.h2t.iar.kit.edu:5050/sw/armarx/robot-api:latest-jammy
rules:
- if: $CI_COMMIT_BRANCH == "master"
.gitlab/CODEOWNERS 0 → 100644
View file @ 65dbeda9
# ARON
/source/RobotAPI/libraries/aron/ @peller @dreher
/source/RobotAPI/interface/aron/ @peller @dreher
/source/RobotAPI/interface/aron.ice @peller @dreher
# ArMem
/source/RobotAPI/components/armem/ @peller @kartmann @dreher
/source/RobotAPI/libraries/armem/ @peller @kartmann @dreher
/source/RobotAPI/libraries/armem_robot_localization/ @reister
/source/RobotAPI/libraries/armem_robot_mapping/ @reister
/source/RobotAPI/interface/armem/ @fratty @RainerKartmann @dreher
/source/RobotAPI/interface/armem.ice @fratty @RainerKartmann @dreher
.gitlab/ci/armarx-workspace.json 0 → 100644
View file @ 65dbeda9
{
"modules": {
"tools/ccache/default": {},
"armarx/RobotAPI": {}
},
"global": {
"prepare": {
"cmake": {
"definitions": {
"CMAKE_BUILD_TYPE": "RelWithDebInfo",
"CMAKE_C_COMPILER_LAUNCHER": "$CCACHE",
"CMAKE_CXX_COMPILER_LAUNCHER": "$CCACHE"
}
}
}
}
}
CMakeLists.txt
View file @ 65dbeda9
# RobotAPI
cmake_minimum_required(VERSION 3.10.2)
cmake_minimum_required(VERSION 2.8)
if(POLICY CMP0043)
cmake_policy(SET CMP0043 OLD)
endif()
find_package("ArmarXCore" REQUIRED
PATHS "$ENV{HOME}/armarx/Core/build"
......@@ -12,19 +15,34 @@ set(ARMARX_ENABLE_DEPENDENCY_VERSION_CHECK_DEFAULT TRUE)
set(ARMARX_ENABLE_AUTO_CODE_FORMATTING TRUE)
armarx_project("RobotAPI")
depends_on_armarx_package(ArmarXGui "OPTIONAL")
set(ArmarX_Simox_VERSION 2.3.25)
depends_on_armarx_package(ArmarXGui)
find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
if (Simox_FOUND)
setupSimoxExternalLibraries()
endif()
find_package(DMP QUIET)
find_package(OpenCV QUIET)
find_package(IVT COMPONENTS ivt ivtopencv QUIET)
find_package(manif QUIET)
add_subdirectory(source)
list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox")
install_project()
add_subdirectory(scenarios)
if (TRUE)
find_package(libmongocxx QUIET)
find_package(libbsoncxx QUIET)
if (NOT libbsoncxx_FOUND OR NOT libbsoncxx_FOUND)
string(ASCII 27 Esc)
set(BoldYellow "${Esc}[1;33m")
set(ColourReset "${Esc}[m")
message(WARNING "${BoldYellow}\
The packages libbsoncxx or libbsoncxx not found. \
They are required to build the memory system (armem and related libraries). \
Please use this installation script to install libmongocxx and libbsoncxx:
cd ${PROJECT_SOURCE_DIR}/etc/mongocxx/ && ./install_mongocxx.sh ~/repos \
or run 'cmake -DCMAKE_PREFIX_PATH=$mongocxx_install_dir' if you have mongocxx already installed \
${ColourReset}")
endif()
endif()
README.md 0 → 100644
View file @ 65dbeda9
# RobotAPI
[Online Documentation](https://armarx.humanoids.kit.edu/RobotAPI-Overview.html)
README.txt deleted 100644 → 0
View file @ 96bbbf52
Stub to make the package tool work.
build/.gitkeep 0 → 100644
View file @ 65dbeda9
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
This diff is collapsed.
data/RobotAPI/ViewSelection/graph40k.gra 0 → 100644
View file @ 65dbeda9
This diff is collapsed.
data/RobotAPI/obstacle_avoidance/2d_scene_obstacles.json 0 → 100644
View file @ 65dbeda9
[{
"name": "guard_frame_right",
"posX": 3100,
"posY": 2330,
"yaw": 0.0,
"axisLengthX": 170,
"axisLengthY": 600,
"refPosX": 3170,
"refPosY": 2320,
"safetyMarginX": 300,
"safetyMarginY": 300
},{
"name": "guard_corner_fix",
"posX": 3670,
"posY": 2780,
"yaw": 0.0,
"axisLengthX": 100,
"axisLengthY": 150,
"refPosX": 3170,
"refPosY": 2320,
"safetyMarginX": 300,
"safetyMarginY": 300
},{
"name": "ctrl_table",
"posX": 4400,
"posY": 2000,
"yaw": 0.0,
"axisLengthX": 1500,
"axisLengthY": 150,
"refPosX": 3170,
"refPosY": 2000,
"safetyMarginX": 200,
"safetyMarginY": 400
},{
"name": "guard_frame_left",
"posX": 700,
"posY": 2380,
"yaw": 0.0,
"axisLengthX": 200,
"axisLengthY": 650,
"refPosX": 500,
"refPosY": 2380,
"safetyMarginX": 400,
"safetyMarginY": 400
},{
"name": "guard_stander",
"posX": 305,
"posY": 6680,
"yaw": -0.23,
"axisLengthX": 700,
"axisLengthY": 200,
"refPosX": 305,
"refPosY": 6680,
"safetyMarginX": 400,
"safetyMarginY": 400
},{
"name": "table_left",
"posX": 3700,
"posY": 4700,
"yaw": 0.75,
"axisLengthX": 550,
"axisLengthY": 300,
"refPosX": 4200,
"refPosY": 4900,
"safetyMarginX": 300,
"safetyMarginY": 300
},{
"name": "table_right",
"posX": 4600,
"posY": 4700,
"yaw": -0.75,
"axisLengthX": 550,
"axisLengthY": 300,
"refPosX": 4200,
"refPosY": 4900,
"safetyMarginX": 400,
"safetyMarginY": 400
},{
"name": "table_corner",
"posX": 3400,
"posY": 4750,
"yaw": 0,
"axisLengthX": 800,
"axisLengthY": 650,
"refPosX": 3400,
"refPosY": 5216,
"safetyMarginX": 300,
"safetyMarginY": 300
}
]
data/RobotAPI/robotStateMemoryConfig.txt 0 → 100644
View file @ 65dbeda9
// Configuration set for the Humanoid Robot ARMAR-6
// Reft Hand
sens.Index L 1 Joint.acceleration => HandL
sens.Index L 1 Joint.gravityTorque => HandL
sens.Index L 1 Joint.inertiaTorque => HandL
sens.Index L 1 Joint.inverseDynamicsTorque => HandL
sens.Index L 1 Joint.position => HandL
sens.Index L 1 Joint.torque => HandL
sens.Index L 1 Joint.velocity => HandL
sens.Index L 2 Joint.acceleration => HandL
sens.Index L 2 Joint.gravityTorque => HandL
sens.Index L 2 Joint.inertiaTorque => HandL
sens.Index L 2 Joint.inverseDynamicsTorque => HandL
sens.Index L 2 Joint.position => HandL
sens.Index L 2 Joint.torque => HandL
sens.Index L 2 Joint.velocity => HandL
sens.Index L 3 Joint.acceleration => HandL
sens.Index L 3 Joint.gravityTorque => HandL
sens.Index L 3 Joint.inertiaTorque => HandL
sens.Index L 3 Joint.inverseDynamicsTorque => HandL
sens.Index L 3 Joint.position => HandL
sens.Index L 3 Joint.torque => HandL
sens.Index L 3 Joint.velocity => HandL
sens.Middle L 1 Joint.acceleration => HandL
sens.Middle L 1 Joint.gravityTorque => HandL
sens.Middle L 1 Joint.inertiaTorque => HandL
sens.Middle L 1 Joint.inverseDynamicsTorque => HandL
sens.Middle L 1 Joint.position => HandL
sens.Middle L 1 Joint.torque => HandL
sens.Middle L 1 Joint.velocity => HandL
sens.Middle L 2 Joint.acceleration => HandL
sens.Middle L 2 Joint.gravityTorque => HandL
sens.Middle L 2 Joint.inertiaTorque => HandL
sens.Middle L 2 Joint.inverseDynamicsTorque => HandL
sens.Middle L 2 Joint.position => HandL
sens.Middle L 2 Joint.torque => HandL
sens.Middle L 2 Joint.velocity => HandL
sens.Middle L 3 Joint.acceleration => HandL
sens.Middle L 3 Joint.gravityTorque => HandL
sens.Middle L 3 Joint.inertiaTorque => HandL
sens.Middle L 3 Joint.inverseDynamicsTorque => HandL
sens.Middle L 3 Joint.position => HandL
sens.Middle L 3 Joint.torque => HandL
sens.Middle L 3 Joint.velocity => HandL
sens.Pinky L 1 Joint.acceleration => HandL
sens.Pinky L 1 Joint.gravityTorque => HandL
sens.Pinky L 1 Joint.inertiaTorque => HandL
sens.Pinky L 1 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 1 Joint.position => HandL
sens.Pinky L 1 Joint.torque => HandL
sens.Pinky L 1 Joint.velocity => HandL
sens.Pinky L 2 Joint.acceleration => HandL
sens.Pinky L 2 Joint.gravityTorque => HandL
sens.Pinky L 2 Joint.inertiaTorque => HandL
sens.Pinky L 2 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 2 Joint.position => HandL
sens.Pinky L 2 Joint.torque => HandL
sens.Pinky L 2 Joint.velocity => HandL
sens.Pinky L 3 Joint.acceleration => HandL
sens.Pinky L 3 Joint.gravityTorque => HandL
sens.Pinky L 3 Joint.inertiaTorque => HandL
sens.Pinky L 3 Joint.inverseDynamicsTorque => HandL
sens.Pinky L 3 Joint.position => HandL
sens.Pinky L 3 Joint.torque => HandL
sens.Pinky L 3 Joint.velocity => HandL
sens.Ring L 1 Joint.acceleration => HandL
sens.Ring L 1 Joint.gravityTorque => HandL
sens.Ring L 1 Joint.inertiaTorque => HandL
sens.Ring L 1 Joint.inverseDynamicsTorque => HandL
sens.Ring L 1 Joint.position => HandL
sens.Ring L 1 Joint.torque => HandL
sens.Ring L 1 Joint.velocity => HandL
sens.Ring L 2 Joint.acceleration => HandL
sens.Ring L 2 Joint.gravityTorque => HandL
sens.Ring L 2 Joint.inertiaTorque => HandL
sens.Ring L 2 Joint.inverseDynamicsTorque => HandL
sens.Ring L 2 Joint.position => HandL
sens.Ring L 2 Joint.torque => HandL
sens.Ring L 2 Joint.velocity => HandL
sens.Ring L 3 Joint.acceleration => HandL
sens.Ring L 3 Joint.gravityTorque => HandL
sens.Ring L 3 Joint.inertiaTorque => HandL
sens.Ring L 3 Joint.inverseDynamicsTorque => HandL
sens.Ring L 3 Joint.position => HandL
sens.Ring L 3 Joint.torque => HandL
sens.Ring L 3 Joint.velocity => HandL
sens.Thumb L 1 Joint.acceleration => HandL
sens.Thumb L 1 Joint.gravityTorque => HandL
sens.Thumb L 1 Joint.inertiaTorque => HandL
sens.Thumb L 1 Joint.inverseDynamicsTorque => HandL
sens.Thumb L 1 Joint.position => HandL
sens.Thumb L 1 Joint.torque => HandL
sens.Thumb L 1 Joint.velocity => HandL
sens.Thumb L 2 Joint.acceleration => HandL
sens.Thumb L 2 Joint.gravityTorque => HandL
sens.Thumb L 2 Joint.inertiaTorque => HandL
sens.Thumb L 2 Joint.inverseDynamicsTorque => HandL
sens.Thumb L 2 Joint.position => HandL
sens.Thumb L 2 Joint.torque => HandL
sens.Thumb L 2 Joint.velocity => HandL
// Right Hand
sens.Index R 1 Joint.acceleration => HandR
sens.Index R 1 Joint.gravityTorque => HandR
sens.Index R 1 Joint.inertiaTorque => HandR
sens.Index R 1 Joint.inverseDynamicsTorque => HandR
sens.Index R 1 Joint.position => HandR
sens.Index R 1 Joint.torque => HandR
sens.Index R 1 Joint.velocity => HandR
sens.Index R 2 Joint.acceleration => HandR
sens.Index R 2 Joint.gravityTorque => HandR
sens.Index R 2 Joint.inertiaTorque => HandR
sens.Index R 2 Joint.inverseDynamicsTorque => HandR
sens.Index R 2 Joint.position => HandR
sens.Index R 2 Joint.torque => HandR
sens.Index R 2 Joint.velocity => HandR
sens.Index R 3 Joint.acceleration => HandR
sens.Index R 3 Joint.gravityTorque => HandR
sens.Index R 3 Joint.inertiaTorque => HandR
sens.Index R 3 Joint.inverseDynamicsTorque => HandR
sens.Index R 3 Joint.position => HandR
sens.Index R 3 Joint.torque => HandR
sens.Index R 3 Joint.velocity => HandR
sens.Middle R 1 Joint.acceleration => HandR
sens.Middle R 1 Joint.gravityTorque => HandR
sens.Middle R 1 Joint.inertiaTorque => HandR
sens.Middle R 1 Joint.inverseDynamicsTorque => HandR
sens.Middle R 1 Joint.position => HandR
sens.Middle R 1 Joint.torque => HandR
sens.Middle R 1 Joint.velocity => HandR
sens.Middle R 2 Joint.acceleration => HandR
sens.Middle R 2 Joint.gravityTorque => HandR
sens.Middle R 2 Joint.inertiaTorque => HandR
sens.Middle R 2 Joint.inverseDynamicsTorque => HandR
sens.Middle R 2 Joint.position => HandR
sens.Middle R 2 Joint.torque => HandR
sens.Middle R 2 Joint.velocity => HandR
sens.Middle R 3 Joint.acceleration => HandR
sens.Middle R 3 Joint.gravityTorque => HandR
sens.Middle R 3 Joint.inertiaTorque => HandR
sens.Middle R 3 Joint.inverseDynamicsTorque => HandR
sens.Middle R 3 Joint.position => HandR
sens.Middle R 3 Joint.torque => HandR
sens.Middle R 3 Joint.velocity => HandR
sens.Ring R 1 Joint.acceleration => HandR
sens.Ring R 1 Joint.gravityTorque => HandR
sens.Ring R 1 Joint.inertiaTorque => HandR
sens.Ring R 1 Joint.inverseDynamicsTorque => HandR
sens.Ring R 1 Joint.position => HandR
sens.Ring R 1 Joint.torque => HandR
sens.Ring R 1 Joint.velocity => HandR
sens.Ring R 2 Joint.acceleration => HandR
sens.Ring R 2 Joint.gravityTorque => HandR
sens.Ring R 2 Joint.inertiaTorque => HandR
sens.Ring R 2 Joint.inverseDynamicsTorque => HandR
sens.Ring R 2 Joint.position => HandR
sens.Ring R 2 Joint.torque => HandR
sens.Ring R 2 Joint.velocity => HandR
sens.Ring R 3 Joint.acceleration => HandR
sens.Ring R 3 Joint.gravityTorque => HandR
sens.Ring R 3 Joint.inertiaTorque => HandR
sens.Ring R 3 Joint.inverseDynamicsTorque => HandR
sens.Ring R 3 Joint.position => HandR
sens.Ring R 3 Joint.torque => HandR
sens.Ring R 3 Joint.velocity => HandR
sens.Thumb R 1 Joint.acceleration => HandR
sens.Thumb R 1 Joint.gravityTorque => HandR
sens.Thumb R 1 Joint.inertiaTorque => HandR
sens.Thumb R 1 Joint.inverseDynamicsTorque => HandR
sens.Thumb R 1 Joint.position => HandR
sens.Thumb R 1 Joint.torque => HandR
sens.Thumb R 1 Joint.velocity => HandR
sens.Thumb R 2 Joint.acceleration => HandR
sens.Thumb R 2 Joint.gravityTorque => HandR
sens.Thumb R 2 Joint.inertiaTorque => HandR
sens.Thumb R 2 Joint.inverseDynamicsTorque => HandR
sens.Thumb R 2 Joint.position => HandR
sens.Thumb R 2 Joint.torque => HandR
sens.Thumb R 2 Joint.velocity => HandR
sens.Pinky R 1 Joint.acceleration => HandR
sens.Pinky R 1 Joint.gravityTorque => HandR
sens.Pinky R 1 Joint.inertiaTorque => HandR
sens.Pinky R 1 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 1 Joint.position => HandR
sens.Pinky R 1 Joint.torque => HandR
sens.Pinky R 1 Joint.velocity => HandR
sens.Pinky R 2 Joint.acceleration => HandR
sens.Pinky R 2 Joint.gravityTorque => HandR
sens.Pinky R 2 Joint.inertiaTorque => HandR
sens.Pinky R 2 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 2 Joint.position => HandR
sens.Pinky R 2 Joint.torque => HandR
sens.Pinky R 2 Joint.velocity => HandR
sens.Pinky R 3 Joint.acceleration => HandR
sens.Pinky R 3 Joint.gravityTorque => HandR
sens.Pinky R 3 Joint.inertiaTorque => HandR
sens.Pinky R 3 Joint.inverseDynamicsTorque => HandR
sens.Pinky R 3 Joint.position => HandR
sens.Pinky R 3 Joint.torque => HandR
sens.Pinky R 3 Joint.velocity => HandR
// Arm L
sens.ArmL1_Cla1.acceleration => ArmL
sens.ArmL1_Cla1.gravityTorque => ArmL
sens.ArmL1_Cla1.inertiaTorque => ArmL
sens.ArmL1_Cla1.inverseDynamicsTorque => ArmL
sens.ArmL1_Cla1.position => ArmL
sens.ArmL1_Cla1.torque => ArmL
sens.ArmL1_Cla1.velocity => ArmL
sens.ArmL2_Sho1.acceleration => ArmL
sens.ArmL2_Sho1.gravityTorque => ArmL
sens.ArmL2_Sho1.inertiaTorque => ArmL
sens.ArmL2_Sho1.inverseDynamicsTorque => ArmL
sens.ArmL2_Sho1.position => ArmL
sens.ArmL2_Sho1.torque => ArmL
sens.ArmL2_Sho1.velocity => ArmL
sens.ArmL3_Sho2.acceleration => ArmL
sens.ArmL3_Sho2.gravityTorque => ArmL
sens.ArmL3_Sho2.inertiaTorque => ArmL
sens.ArmL3_Sho2.inverseDynamicsTorque => ArmL
sens.ArmL3_Sho2.position => ArmL
sens.ArmL3_Sho2.torque => ArmL
sens.ArmL3_Sho2.velocity => ArmL
sens.ArmL4_Sho3.acceleration => ArmL
sens.ArmL4_Sho3.gravityTorque => ArmL
sens.ArmL4_Sho3.inertiaTorque => ArmL
sens.ArmL4_Sho3.inverseDynamicsTorque => ArmL
sens.ArmL4_Sho3.position => ArmL
sens.ArmL4_Sho3.torque => ArmL
sens.ArmL4_Sho3.velocity => ArmL
sens.ArmL5_Elb1.acceleration => ArmL
sens.ArmL5_Elb1.gravityTorque => ArmL
sens.ArmL5_Elb1.inertiaTorque => ArmL
sens.ArmL5_Elb1.inverseDynamicsTorque => ArmL
sens.ArmL5_Elb1.position => ArmL
sens.ArmL5_Elb1.torque => ArmL
sens.ArmL5_Elb1.velocity => ArmL
sens.ArmL6_Elb2.acceleration => ArmL
sens.ArmL6_Elb2.gravityTorque => ArmL
sens.ArmL6_Elb2.inertiaTorque => ArmL
sens.ArmL6_Elb2.inverseDynamicsTorque => ArmL
sens.ArmL6_Elb2.position => ArmL
sens.ArmL6_Elb2.torque => ArmL
sens.ArmL6_Elb2.velocity => ArmL
sens.ArmL7_Wri1.acceleration => ArmL
sens.ArmL7_Wri1.gravityTorque => ArmL
sens.ArmL7_Wri1.inertiaTorque => ArmL
sens.ArmL7_Wri1.inverseDynamicsTorque => ArmL
sens.ArmL7_Wri1.position => ArmL
sens.ArmL7_Wri1.torque => ArmL
sens.ArmL7_Wri1.velocity => ArmL
sens.ArmL8_Wri2.acceleration => ArmL
sens.ArmL8_Wri2.gravityTorque => ArmL
sens.ArmL8_Wri2.inertiaTorque => ArmL
sens.ArmL8_Wri2.inverseDynamicsTorque => ArmL
sens.ArmL8_Wri2.position => ArmL
sens.ArmL8_Wri2.torque => ArmL
sens.ArmL8_Wri2.velocity => ArmL
// Arm R
sens.ArmR1_Cla1.acceleration => ArmR
sens.ArmR1_Cla1.gravityTorque => ArmR
sens.ArmR1_Cla1.inertiaTorque => ArmR
sens.ArmR1_Cla1.inverseDynamicsTorque => ArmR
sens.ArmR1_Cla1.position => ArmR
sens.ArmR1_Cla1.torque => ArmR
sens.ArmR1_Cla1.velocity => ArmR
sens.ArmR2_Sho1.acceleration => ArmR
sens.ArmR2_Sho1.gravityTorque => ArmR
sens.ArmR2_Sho1.inertiaTorque => ArmR
sens.ArmR2_Sho1.inverseDynamicsTorque => ArmR
sens.ArmR2_Sho1.position => ArmR
sens.ArmR2_Sho1.torque => ArmR
sens.ArmR2_Sho1.velocity => ArmR
sens.ArmR3_Sho2.acceleration => ArmR
sens.ArmR3_Sho2.gravityTorque => ArmR
sens.ArmR3_Sho2.inertiaTorque => ArmR
sens.ArmR3_Sho2.inverseDynamicsTorque => ArmR
sens.ArmR3_Sho2.position => ArmR
sens.ArmR3_Sho2.torque => ArmR
sens.ArmR3_Sho2.velocity => ArmR
sens.ArmR4_Sho3.acceleration => ArmR
sens.ArmR4_Sho3.gravityTorque => ArmR
sens.ArmR4_Sho3.inertiaTorque => ArmR
sens.ArmR4_Sho3.inverseDynamicsTorque => ArmR
sens.ArmR4_Sho3.position => ArmR
sens.ArmR4_Sho3.torque => ArmR
sens.ArmR4_Sho3.velocity => ArmR
sens.ArmR5_Elb1.acceleration => ArmR
sens.ArmR5_Elb1.gravityTorque => ArmR
sens.ArmR5_Elb1.inertiaTorque => ArmR
sens.ArmR5_Elb1.inverseDynamicsTorque => ArmR
sens.ArmR5_Elb1.position => ArmR
sens.ArmR5_Elb1.torque => ArmR
sens.ArmR5_Elb1.velocity => ArmR
sens.ArmR6_Elb2.acceleration => ArmR
sens.ArmR6_Elb2.gravityTorque => ArmR
sens.ArmR6_Elb2.inertiaTorque => ArmR
sens.ArmR6_Elb2.inverseDynamicsTorque => ArmR
sens.ArmR6_Elb2.position => ArmR
sens.ArmR6_Elb2.torque => ArmR
sens.ArmR6_Elb2.velocity => ArmR
sens.ArmR7_Wri1.acceleration => ArmR
sens.ArmR7_Wri1.gravityTorque => ArmR
sens.ArmR7_Wri1.inertiaTorque => ArmR
sens.ArmR7_Wri1.inverseDynamicsTorque => ArmR
sens.ArmR7_Wri1.position => ArmR
sens.ArmR7_Wri1.torque => ArmR
sens.ArmR7_Wri1.velocity => ArmR
sens.ArmR8_Wri2.acceleration => ArmR
sens.ArmR8_Wri2.gravityTorque => ArmR
sens.ArmR8_Wri2.inertiaTorque => ArmR
sens.ArmR8_Wri2.inverseDynamicsTorque => ArmR
sens.ArmR8_Wri2.position => ArmR
sens.ArmR8_Wri2.torque => ArmR
sens.ArmR8_Wri2.velocity => ArmR
// Neck
sens.Neck_1_Yaw.acceleration => Neck
sens.Neck_1_Yaw.gravityTorque => Neck
sens.Neck_1_Yaw.inertiaTorque => Neck
sens.Neck_1_Yaw.inverseDynamicsTorque => Neck
sens.Neck_1_Yaw.position => Neck
sens.Neck_1_Yaw.torque => Neck
sens.Neck_1_Yaw.velocity => Neck
sens.Neck_2_Pitch.acceleration => Neck
sens.Neck_2_Pitch.gravityTorque => Neck
sens.Neck_2_Pitch.inertiaTorque => Neck
sens.Neck_2_Pitch.inverseDynamicsTorque => Neck
sens.Neck_2_Pitch.position => Neck
sens.Neck_2_Pitch.torque => Neck
sens.Neck_2_Pitch.velocity => Neck
// Torso
sens.TorsoJoint.acceleration => Torso
sens.TorsoJoint.gravityTorque => Torso
sens.TorsoJoint.inertiaTorque => Torso
sens.TorsoJoint.inverseDynamicsTorque => Torso
sens.TorsoJoint.position => Torso
sens.TorsoJoint.torque => Torso
sens.TorsoJoint.velocity => Torso
// Platform
sens.Platform.accelerationX => Platform
sens.Platform.accelerationY => Platform
sens.Platform.accelerationRotation => Platform
sens.Platform.absolutePositionX => Platform
sens.Platform.absolutePositionY => Platform
sens.Platform.absolutePositionRotation => Platform
sens.Platform.relativePositionX => Platform
sens.Platform.relativePositionY => Platform
sens.Platform.relativePositionRotation => Platform
sens.Platform.velocityX => Platform
sens.Platform.velocityY => Platform
sens.Platform.velocityRotation => Platform
// FT L
sens.FT L.fx => FT L
sens.FT L.fy => FT L
sens.FT L.fz => FT L
sens.FT L.gravCompFx => FT L
sens.FT L.gravCompFy => FT L
sens.FT L.gravCompFz => FT L
sens.FT L.gravCompTx => FT L
sens.FT L.gravCompTy => FT L
sens.FT L.gravCompTz => FT L
sens.FT L.tx => FT L
sens.FT L.ty => FT L
sens.FT L.tz => FT L
// FT R
sens.FT R.fx => FT R
sens.FT R.fy => FT R
sens.FT R.fz => FT R
sens.FT R.gravCompFx => FT R
sens.FT R.gravCompFy => FT R
sens.FT R.gravCompFz => FT R
sens.FT R.gravCompTx => FT R
sens.FT R.gravCompTy => FT R
sens.FT R.gravCompTz => FT R
sens.FT R.tx => FT R
sens.FT R.ty => FT R
sens.FT R.tz => FT R
data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
View file @ 65dbeda9
......@@ -8,7 +8,7 @@
</Transform>
<Visualization>
<File type="Inventor">fullmodel/head_base.iv</File>
<File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization>
<Physics>
......@@ -17,7 +17,7 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/head_base.iv</File>
<File type="Inventor">convexModel/head_base.wrl</File>
</CollisionModel>
<Child name="Neck_1_Pitch"/>
......@@ -40,7 +40,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File>
<File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization>
<Physics>
......@@ -50,7 +50,7 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_pitch_link.iv</File>
<File type="Inventor">convexModel/neck_pitch_link.wrl</File>
</CollisionModel>
<Child name="Neck_2_Roll"/>
......@@ -71,7 +71,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File>
<File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization>
<Physics>
......@@ -82,7 +82,7 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_roll_link.iv</File>
<File type="Inventor">convexModel/neck_roll_link.wrl</File>
</CollisionModel>
<Child name="Neck_3_Yaw"/>
......@@ -103,7 +103,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File>
<File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization>
<Physics>
......@@ -112,8 +112,17 @@
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/neck_yaw_link.iv</File>
<File type="Inventor">convexModel/neck_yaw_link.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Sphere radius="140">
<Transform>
<Translation x="40" y="0" z="180" />
</Transform>
</Sphere>
</Primitives>
</PrimitiveModel>
<Child name="Head_Tilt"/>
</RobotNode>
......@@ -140,11 +149,11 @@
</Physics>
<Visualization>
<File type="Inventor">fullmodel/head.iv</File>
<File type="Inventor">fullmodel/head.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/head.iv</File>
<File type="Inventor">convexModel/head.wrl</File>
</CollisionModel>
<Child name="Head Center1"/>
......@@ -179,7 +188,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.iv</File>
<File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization>
</RobotNode>
......@@ -243,10 +252,10 @@
<RobotNode name="DepthCamera">
<Transform>
<Translation x="105" y="70" z="0" units='mm'/>
<Translation x="105" y="90" z="0" units='mm'/>
<rollpitchyaw roll="0" pitch="90" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
<rollpitchyaw roll="16.0" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="21.0" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
</Transform>
......@@ -271,8 +280,9 @@
<RobotNode name="HeadIMU">
<Transform>
<Translation x="0" y="-10" z="0" units='mm'/>
<Translation x="0" y="-80" z="0" units='mm'/>
<rollpitchyaw roll="90" pitch="0" yaw="0" unitsAngle="degree"/>
<rollpitchyaw roll="0" pitch="0" yaw="180" unitsAngle="degree"/>
</Transform>
<Visualization enable="true">
......@@ -305,7 +315,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File>
<File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization>
......@@ -334,7 +344,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File>
<File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization>
<CollisionModel>
......@@ -394,7 +404,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File>
<File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -403,7 +413,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File>
<File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization>
</RobotNode>
......@@ -438,7 +448,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File>
<File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -450,7 +460,7 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File>
<File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization>
</RobotNode>
......@@ -484,6 +494,17 @@
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGazeNoEyes" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="VirtualCentralGaze"/>
</RobotNodeSet>
<RobotNodeSet name="IKVirtualGaze_NoRoll" kinematicRoot="Neck_1_Pitch" tcp="VirtualCentralGaze">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_3_Yaw"/>
......
data/RobotAPI/robots/Armar3/ArmarIII-Head_minColModel.xml
View file @ 65dbeda9
......@@ -8,7 +8,7 @@
</Joint>
<Child name="Neck_1_Pitch"/>
<Visualization>
<File type="Inventor">fullmodel/head_base.iv</File>
<File type="Inventor">fullmodel/head_base.wrl</File>
</Visualization>
</RobotNode>
......@@ -19,7 +19,7 @@
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_pitch_link.iv</File>
<File type="Inventor">fullmodel/neck_pitch_link.wrl</File>
</Visualization>
<Child name="Neck_2_Roll"/>
</RobotNode>
......@@ -30,7 +30,7 @@
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_roll_link.iv</File>
<File type="Inventor">fullmodel/neck_roll_link.wrl</File>
</Visualization>
<Child name="Neck_3_Yaw"/>
</RobotNode>
......@@ -41,7 +41,7 @@
<Limits unit="degree" lo="-45" hi="45"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/neck_yaw_link.iv</File>
<File type="Inventor">fullmodel/neck_yaw_link.wrl</File>
</Visualization>
<Child name="Head_Tilt"/>
</RobotNode>
......@@ -56,10 +56,10 @@
<Mass value="6.79877000" units="kg" />
</Physics>
<Visualization>
<File type="Inventor">fullmodel/head.iv</File>
<File type="Inventor">fullmodel/head.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/head.iv</File>
<File type="Inventor">collisionModel/head.wrl</File>
</CollisionModel>
<Child name="Head Center"/>
</RobotNode>
......@@ -78,7 +78,7 @@
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/jaw.iv</File>
<File type="Inventor">fullmodel/jaw.wrl</File>
</Visualization>
</RobotNode>
......@@ -122,7 +122,7 @@
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_l.iv</File>
<File type="Inventor">fullmodel/eye_l.wrl</File>
</Visualization>
<Child name="Lid Left Bottom"/>
<Child name="Lid Left Top"/>
......@@ -135,7 +135,7 @@
<Limits unit="degree" lo="-30" hi="30"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/eye_r.iv</File>
<File type="Inventor">fullmodel/eye_r.wrl</File>
</Visualization>
<Child name="Lid Right Bottom"/>
<Child name="Lid Right Top"/>
......@@ -158,7 +158,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_bottom.iv</File>
<File type="Inventor">fullmodel/lid_l_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -167,7 +167,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_l_top.iv</File>
<File type="Inventor">fullmodel/lid_l_top.wrl</File>
</Visualization>
</RobotNode>
......@@ -187,7 +187,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_bottom.iv</File>
<File type="Inventor">fullmodel/lid_r_bottom.wrl</File>
</Visualization>
</RobotNode>
......@@ -196,7 +196,7 @@
<Axis x="0" y="1" z="0"/>
</Joint>
<Visualization>
<File type="Inventor">fullmodel/lid_r_top.iv</File>
<File type="Inventor">fullmodel/lid_r_top.wrl</File>
</Visualization>
</RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm.xml
View file @ 65dbeda9
......@@ -28,11 +28,21 @@
<Mass value="3.65" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder_l.iv</File>
<File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder_l.iv</File>
<File type="Inventor">convexModel/shoulder_l.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="80" radius="120">
<Transform>
<Translation x="0" y="0" z="-90" />
<rpy roll="90" pitch="0" yaw="00" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Shoulder 2 L"/>
</RobotNode>
......@@ -55,11 +65,20 @@
<Mass value="2.5" units="kg" />
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
<File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/shoulder2_l_rot.iv</File>
<File type="Inventor">convexModel/shoulder2_l_rot.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="310" radius="50">
<Transform>
<Translation x="0" y="150" z="0" />
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Upperarm L"/>
</RobotNode>
......@@ -83,10 +102,10 @@
<IgnoreCollision name="Shoulder 1 L"/>
</Physics>
<Visualization enable="true">
<File type="Inventor">fullmodel/upperarm_l.iv</File>
<File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/upperarm_l.iv</File>
<File type="Inventor">convexModel/upperarm_l.wrl</File>
</CollisionModel>
<Child name="Elbow L"/>
</RobotNode>
......@@ -106,10 +125,10 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File>
<File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/elbow_l.iv</File>
<File type="Inventor">convexModel/elbow_l.wrl</File>
</CollisionModel>
<Physics>
<CoM location="Joint"/>
......@@ -133,11 +152,21 @@
<MaxTorque value="3000"/>
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/underarm_l.iv</File>
<File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/underarm_l.iv</File>
<File type="Inventor">convexModel/underarm_l.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="240" radius="50">
<Transform>
<Translation x="0" y="0" z="-110" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
......@@ -164,10 +193,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File>
<File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/wrist1_l.iv</File>
<File type="Inventor">convexModel/wrist1_l.wrl</File>
</CollisionModel>
<Child name="Wrist 2 L"/>
</RobotNode>
......@@ -188,11 +217,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File>
<File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization>
<!-- bullet doesn't like two models connected with a fixed joint -> disable this collisison model and just use the hand palm model-->
<!--CollisionModel>
<File type="Inventor">convexModel/wrist2_l.iv</File>
<File type="Inventor">convexModel/wrist2_l.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftArm_minColModel.xml
View file @ 65dbeda9
......@@ -23,10 +23,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_l.iv</File>
<File type="Inventor">fullmodel/shoulder_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/shoulder_l.iv</File>
<File type="Inventor">collisionModel/shoulder_l.wrl</File>
</CollisionModel>
<Child name="Shoulder 2 L"/>
</RobotNode>
......@@ -42,7 +42,7 @@
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_l_rot.iv</File>
<File type="Inventor">fullmodel/shoulder2_l_rot.wrl</File>
</Visualization>
<Child name="Upperarm L"/>
</RobotNode>
......@@ -58,10 +58,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_l.iv</File>
<File type="Inventor">fullmodel/upperarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/upperarm_l.iv</File>
<File type="Inventor">collisionModel/upperarm_l.wrl</File>
</CollisionModel>
<Child name="Elbow L"/>
</RobotNode>
......@@ -73,15 +73,15 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_l.iv</File>
<File type="Inventor">fullmodel/elbow_l.wrl</File>
</Visualization>
<!--Physics>
<CoM location="Joint"/>
<Mass value="1.15744000" units="kg" />
</Physics-->
<!-- TODO elbow_l.iv does not exist (currently not needed)-->
<!-- TODO elbow_l.wrl does not exist (currently not needed)-->
<!--<CollisionModel>-->
<!--<File type="Inventor">collisionModel/elbow_l.iv</File>-->
<!--<File type="Inventor">collisionModel/elbow_l.wrl</File>-->
<!--</CollisionModel>-->
<Child name="Underarm L"/>
</RobotNode>
......@@ -98,10 +98,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_l.iv</File>
<File type="Inventor">fullmodel/underarm_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/underarm_l.iv</File>
<File type="Inventor">collisionModel/underarm_l.wrl</File>
</CollisionModel>
<Child name="Wrist 1 L"/>
</RobotNode>
......@@ -117,10 +117,10 @@
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_l.iv</File>
<File type="Inventor">fullmodel/wrist1_l.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File>
<File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel-->
<Child name="Wrist 2 L"/>
</RobotNode>
......@@ -136,10 +136,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_l.iv</File>
<File type="Inventor">fullmodel/wrist2_l.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File>
<File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel-->
<ChildFromRobot>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand.xml
View file @ 65dbeda9
......@@ -45,11 +45,11 @@
</Transform>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File>
<File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm1_l.iv</File>
<File type="Inventor">convexModel/palm1_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -74,11 +74,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File>
<File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm2_l.iv</File>
<File type="Inventor">convexModel/palm2_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -109,11 +109,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File>
<File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_l1.iv</File>
<File type="Inventor">convexModel/thumb_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -137,11 +137,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File>
<File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_l2.iv</File>
<File type="Inventor">convexModel/thumb_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -168,11 +168,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File>
<File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_l1.iv</File>
<File type="Inventor">convexModel/pinky_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -196,11 +196,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l2.iv</File>
<File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_l2.iv</File>
<File type="Inventor">convexModel/pinky_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -227,11 +227,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File>
<File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_l1.iv</File>
<File type="Inventor">convexModel/ring_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -255,11 +255,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File>
<File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_l2.iv</File>
<File type="Inventor">convexModel/ring_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -286,11 +286,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File>
<File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_l1.iv</File>
<File type="Inventor">convexModel/middle_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -314,11 +314,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File>
<File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_l2.iv</File>
<File type="Inventor">convexModel/middle_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -345,11 +345,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File>
<File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_l1.iv</File>
<File type="Inventor">convexModel/index_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -373,11 +373,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File>
<File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_l2.iv</File>
<File type="Inventor">convexModel/index_l2.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-LeftHand_minColModel.xml
View file @ 65dbeda9
......@@ -39,11 +39,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_l.iv</File>
<File type="Inventor">fullmodel/palm1_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/palm1_l.iv</File>
<File type="Inventor">collisionModel/palm1_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -67,11 +67,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_l.iv</File>
<File type="Inventor">fullmodel/palm2_l.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/palm2_l.iv</File>
<File type="Inventor">collisionModel/palm2_l.wrl</File>
</CollisionModel>
<Physics>
......@@ -109,11 +109,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l1.iv</File>
<File type="Inventor">fullmodel/thumb_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_l1.iv</File>
<File type="Inventor">collisionModel/thumb_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -136,11 +136,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_l2.iv</File>
<File type="Inventor">fullmodel/thumb_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_l2.iv</File>
<File type="Inventor">collisionModel/thumb_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -173,11 +173,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_l1.iv</File>
<File type="Inventor">fullmodel/pinky_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_l1.iv</File>
<File type="Inventor">collisionModel/pinky_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -201,11 +201,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/pinky_l2.iv</File>
<File type="Inventor">fullmodel/pinky_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_l2.iv</File>
<File type="Inventor">collisionModel/pinky_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -238,11 +238,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l1.iv</File>
<File type="Inventor">fullmodel/ring_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_l1.iv</File>
<File type="Inventor">collisionModel/ring_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -265,11 +265,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_l2.iv</File>
<File type="Inventor">fullmodel/ring_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_l2.iv</File>
<File type="Inventor">collisionModel/ring_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -302,11 +302,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l1.iv</File>
<File type="Inventor">fullmodel/middle_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_l1.iv</File>
<File type="Inventor">collisionModel/middle_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -329,11 +329,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_l2.iv</File>
<File type="Inventor">fullmodel/middle_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_l2.iv</File>
<File type="Inventor">collisionModel/middle_l2.wrl</File>
</CollisionModel>
<Physics>
......@@ -366,11 +366,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l1.iv</File>
<File type="Inventor">fullmodel/index_l1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/index_l1.iv</File>
<File type="Inventor">collisionModel/index_l1.wrl</File>
</CollisionModel>
<Physics>
......@@ -393,11 +393,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_l2.iv</File>
<File type="Inventor">fullmodel/index_l2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/index_l2.iv</File>
<File type="Inventor">collisionModel/index_l2.wrl</File>
</CollisionModel>
<Physics>
......