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  • sw/armarx/robot-api
  • uwkce_singer/robot-api
  • untcg_hofmann/robot-api
  • ulqba_korosakov/RobotAPI
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data/RobotAPI/robots/Armar3/ArmarIII-RightArm_minColModel.xml
View file @ 65dbeda9
......@@ -23,10 +23,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder_r.iv</File>
<File type="Inventor">fullmodel/shoulder_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/shoulder_r.iv</File>
<File type="Inventor">collisionModel/shoulder_r.wrl</File>
</CollisionModel>
<Child name="Shoulder 2 R"/>
</RobotNode>
......@@ -38,7 +38,7 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/shoulder2_r_rot.iv</File>
<File type="Inventor">fullmodel/shoulder2_r_rot.wrl</File>
</Visualization>
<Child name="Upperarm R"/>
</RobotNode>
......@@ -54,10 +54,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/upperarm_r.iv</File>
<File type="Inventor">fullmodel/upperarm_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/upperarm_r.iv</File>
<File type="Inventor">collisionModel/upperarm_r.wrl</File>
</CollisionModel>
<Child name="Elbow R"/>
</RobotNode>
......@@ -69,7 +69,7 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/elbow_r.iv</File>
<File type="Inventor">fullmodel/elbow_r.wrl</File>
</Visualization>
<!--Physics>
<CoM location="Joint"/>
......@@ -85,14 +85,14 @@
</Joint>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/underarm_r.iv</File>
<File type="Inventor">fullmodel/underarm_r.wrl</File>
</Visualization>
<Physics>
<CoM location="VisualizationBBoxCenter"/>
<Mass value="2.26566087" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">collisionModel/underarm_r.iv</File>
<File type="Inventor">collisionModel/underarm_r.wrl</File>
</CollisionModel>
<Child name="Wrist 1 R"/>
</RobotNode>
......@@ -105,10 +105,10 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist1_r.iv</File>
<File type="Inventor">fullmodel/wrist1_r.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist1_l.iv</File>
<File type="Inventor">collisionModel/wrist1_l.wrl</File>
</CollisionModel-->
<Child name="Wrist 2 R"/>
</RobotNode>
......@@ -124,10 +124,10 @@
</Physics-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/wrist2_r.iv</File>
<File type="Inventor">fullmodel/wrist2_r.wrl</File>
</Visualization>
<!--CollisionModel>
<File type="Inventor">collisionModel/wrist2_l.iv</File>
<File type="Inventor">collisionModel/wrist2_l.wrl</File>
</CollisionModel-->
<Physics>
<CoM location="VisualizationBBoxCenter"/>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightHand.xml
View file @ 65dbeda9
......@@ -49,11 +49,11 @@
</Transform>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_r.iv</File>
<File type="Inventor">fullmodel/palm1_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm1_r.iv</File>
<File type="Inventor">convexModel/palm1_r.wrl</File>
</CollisionModel>
<Physics>
......@@ -78,11 +78,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_r.iv</File>
<File type="Inventor">fullmodel/palm2_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/palm2_r.iv</File>
<File type="Inventor">convexModel/palm2_r.wrl</File>
</CollisionModel>
<Physics>
......@@ -113,11 +113,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r1.iv</File>
<File type="Inventor">fullmodel/thumb_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_r1.iv</File>
<File type="Inventor">convexModel/thumb_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -141,11 +141,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r2.iv</File>
<File type="Inventor">fullmodel/thumb_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/thumb_r2.iv</File>
<File type="Inventor">convexModel/thumb_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -182,11 +182,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r1.iv</File>
<File type="Inventor">fullmodel/pinky_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_r1.iv</File>
<File type="Inventor">convexModel/pinky_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -210,11 +210,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r2.iv</File>
<File type="Inventor">fullmodel/pinky_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/pinky_r2.iv</File>
<File type="Inventor">convexModel/pinky_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -242,11 +242,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r1.iv</File>
<File type="Inventor">fullmodel/ring_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_r1.iv</File>
<File type="Inventor">convexModel/ring_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -270,11 +270,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r2.iv</File>
<File type="Inventor">fullmodel/ring_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/ring_r2.iv</File>
<File type="Inventor">convexModel/ring_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -301,11 +301,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r1.iv</File>
<File type="Inventor">fullmodel/middle_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_r1.iv</File>
<File type="Inventor">convexModel/middle_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -329,11 +329,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r2.iv</File>
<File type="Inventor">fullmodel/middle_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/middle_r2.iv</File>
<File type="Inventor">convexModel/middle_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -370,11 +370,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r1.iv</File>
<File type="Inventor">fullmodel/index_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_r1.iv</File>
<File type="Inventor">convexModel/index_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -398,11 +398,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r2.iv</File>
<File type="Inventor">fullmodel/index_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/index_r2.iv</File>
<File type="Inventor">convexModel/index_r2.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-RightHand_minColModel.xml
View file @ 65dbeda9
......@@ -40,11 +40,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm1_r.iv</File>
<File type="Inventor">fullmodel/palm1_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/palm1_r.iv</File>
<File type="Inventor">collisionModel/palm1_r.wrl</File>
</CollisionModel>
<Physics>
<Mass value="800" unit="g"/>
......@@ -66,11 +66,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/palm2_r.iv</File>
<File type="Inventor">fullmodel/palm2_r.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/palm2_r.iv</File>
<File type="Inventor">collisionModel/palm2_r.wrl</File>
</CollisionModel>
<Physics>
<Mass value="800" unit="g"/>
......@@ -101,11 +101,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/thumb_r1.iv</File>
<File type="Inventor">fullmodel/thumb_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_r1.iv</File>
<File type="Inventor">collisionModel/thumb_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -128,11 +128,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/thumb_r2.iv</File>
<File type="Inventor">fullmodel/thumb_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/thumb_r2.iv</File>
<File type="Inventor">collisionModel/thumb_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -160,11 +160,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r1.iv</File>
<File type="Inventor">fullmodel/pinky_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_r1.iv</File>
<File type="Inventor">collisionModel/pinky_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -187,11 +187,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/pinky_r2.iv</File>
<File type="Inventor">fullmodel/pinky_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/pinky_r2.iv</File>
<File type="Inventor">collisionModel/pinky_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -219,11 +219,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r1.iv</File>
<File type="Inventor">fullmodel/ring_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_r1.iv</File>
<File type="Inventor">collisionModel/ring_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -246,11 +246,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/ring_r2.iv</File>
<File type="Inventor">fullmodel/ring_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/ring_r2.iv</File>
<File type="Inventor">collisionModel/ring_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -278,11 +278,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r1.iv</File>
<File type="Inventor">fullmodel/middle_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_r1.iv</File>
<File type="Inventor">collisionModel/middle_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -305,11 +305,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/middle_r2.iv</File>
<File type="Inventor">fullmodel/middle_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/middle_r2.iv</File>
<File type="Inventor">collisionModel/middle_r2.wrl</File>
</CollisionModel>
<Physics>
......@@ -337,11 +337,11 @@
</Joint>
<Visualization enable="true">
<File type="Inventor">fullmodel/index_r1.iv</File>
<File type="Inventor">fullmodel/index_r1.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/index_r1.iv</File>
<File type="Inventor">collisionModel/index_r1.wrl</File>
</CollisionModel>
<Physics>
......@@ -365,11 +365,11 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/index_r2.iv</File>
<File type="Inventor">fullmodel/index_r2.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/index_r2.iv</File>
<File type="Inventor">collisionModel/index_r2.wrl</File>
</CollisionModel>
<Physics>
......
data/RobotAPI/robots/Armar3/ArmarIII-WithPlatform.xml
View file @ 65dbeda9
......@@ -68,14 +68,14 @@
<Joint type="fixed"/>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File>
<File type="Inventor">fullmodel/platform.wrl</File>
</Visualization>
<Physics>
<CoM location="Joint" x="0" y="0" z="200"/>
<Mass value="100" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform.iv</File>
<File type="Inventor">convexModel/platform.wrl</File>
</CollisionModel>
<Child name="Hip Pitch"/>
</RobotNode>
......@@ -91,13 +91,13 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization>
<Physics>
<Mass value="10" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform_pitch_link.iv</File>
<File type="Inventor">convexModel/platform_pitch_link.wrl</File>
</CollisionModel>
<Child name="Hip Roll"/>
</RobotNode>
......@@ -110,14 +110,14 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File>
<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization>
<Physics>
<Mass value="10" units="kg" />
<IgnoreCollision name="Platform"/>
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform_roll_link.iv</File>
<File type="Inventor">convexModel/platform_roll_link.wrl</File>
</CollisionModel>
<Child name="Hip Yaw"/>
</RobotNode>
......@@ -135,10 +135,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File>
<File type="Inventor">fullmodel/torso.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/torso.iv</File>
<File type="Inventor">convexModel/torso.wrl</File>
</CollisionModel>
<Child name="Center of Arms"/>
</RobotNode>
......
data/RobotAPI/robots/Armar3/ArmarIII.xml
View file @ 65dbeda9
......@@ -60,18 +60,62 @@
<RobotNode name="Platform"> <!-- visualization via 3D-model at the very end of the kinematic chain-->
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File>
<File type="Inventor">fullmodel/platform.wrl</File>
</Visualization>
<Physics>
<CoM location="Joint" x="0" y="0" z="200"/>
<Mass value="100" units="kg" />
<Friction value="0.1" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform.iv</File>
<File type="Inventor">convexModel/platform.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="400" radius="390">
<Transform>
<Translation x="0" y="0" z="380" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Laser Scanner Front"/>
<Child name="Laser Scanner Back Left"/>
<Child name="Laser Scanner Back Right"/>
<Child name="Hip Pitch"/>
</RobotNode>
<RobotNode name="Laser Scanner Front">
<Transform>
<DH a="330" d="100" theta="90" alpha="0" units="degree"/>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
</RobotNode>
<RobotNode name="Laser Scanner Back Left">
<Transform>
<DH a="320" d="100" theta="210" alpha="0" units="degree"/>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
</RobotNode>
<RobotNode name="Laser Scanner Back Right">
<Transform>
<DH a="320" d="100" theta="340" alpha="0" units="degree"/>
<DH a="0" d="0" theta="-90" alpha="0" units="degree"/>
</Transform>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
</Visualization>
</RobotNode>
<RobotNode name="Hip Pitch">
<Transform>
<Translation x="0" y="158" z="890" units='mm'/>
......@@ -86,13 +130,13 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization>
<Physics>
<Mass value="10" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform_pitch_link.iv</File>
<File type="Inventor">convexModel/platform_pitch_link.wrl</File>
</CollisionModel>
<Child name="Hip Roll"/>
</RobotNode>
......@@ -108,14 +152,14 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File>
<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization>
<Physics>
<Mass value="10" units="kg" />
<IgnoreCollision name="Platform"/>
</Physics>
<CollisionModel>
<File type="Inventor">convexModel/platform_roll_link.iv</File>
<File type="Inventor">convexModel/platform_roll_link.wrl</File>
</CollisionModel>
<Child name="Hip Yaw"/>
</RobotNode>
......@@ -136,11 +180,21 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File>
<File type="Inventor">fullmodel/torso.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">convexModel/torso.iv</File>
<File type="Inventor">convexModel/torso.wrl</File>
</CollisionModel>
<PrimitiveModel>
<Primitives>
<Capsule height="400" radius="210">
<Transform>
<Translation x="0" y="-40" z="225" />
<rpy roll="90" pitch="0" yaw="0" unit="degree"/>
</Transform>
</Capsule>
</Primitives>
</PrimitiveModel>
<Child name="Center of Arms"/>
</RobotNode>
......@@ -255,7 +309,7 @@
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoRightArmIndexFingertip" kinematicRoot="Platform" tcp="Index R Fingertip">
<RobotNodeSet name="TorsoRightArmIndexFingertip" kinematicRoot="Platform" tcp="Index R Fingertip">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
......@@ -268,18 +322,36 @@
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="HipYawRightArm" kinematicRoot="Platform" tcp="TCP R">
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="HipYawRightArm" kinematicRoot="Platform" tcp="TCP R">
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
</RobotNodeSet>
<RobotNodeSet name="HipYawBothArms" kinematicRoot="Platform">
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
</RobotNodeSet>
<RobotNodeSet name="TorsoBothArms" kinematicRoot="Platform">
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
......@@ -381,6 +453,57 @@
</RobotNodeSet>
<RobotNodeSet name="RobotNoVirtualJoints" kinematicRoot="Platform">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
<Node name="Neck_3_Yaw"/>
<Node name="Head_Tilt"/>
<Node name="Cameras"/>
<Node name="Eye_Left"/>
<Node name="Eye_Right"/>
<Node name="Hip Pitch"/>
<Node name="Hip Roll"/>
<Node name="Hip Yaw"/>
<Node name="Shoulder 1 L"/>
<Node name="Shoulder 2 L"/>
<Node name="Upperarm L"/>
<Node name="Elbow L"/>
<Node name="Underarm L"/>
<Node name="Wrist 1 L"/>
<Node name="Wrist 2 L"/>
<Node name="Shoulder 1 R"/>
<Node name="Shoulder 2 R"/>
<Node name="Upperarm R"/>
<Node name="Elbow R"/>
<Node name="Underarm R"/>
<Node name="Wrist 1 R"/>
<Node name="Wrist 2 R"/>
<Node name="Hand Palm 1 L"/>
<Node name="Hand Palm 2 L"/>
<Node name="Thumb L J0"/>
<Node name="Thumb L J1"/>
<Node name="Index L J0"/>
<Node name="Index L J1"/>
<Node name="Middle L J0"/>
<Node name="Middle L J1"/>
<Node name="Ring L J0"/>
<Node name="Ring L J1"/>
<Node name="Pinky L J0"/>
<Node name="Pinky L J1"/>
<Node name="Hand Palm 1 R"/>
<Node name="Hand Palm 2 R"/>
<Node name="Thumb R J0"/>
<Node name="Thumb R J1"/>
<Node name="Index R J0"/>
<Node name="Index R J1"/>
<Node name="Middle R J0"/>
<Node name="Middle R J1"/>
<Node name="Ring R J0"/>
<Node name="Ring R J1"/>
<Node name="Pinky R J0"/>
<Node name="Pinky R J1"/>
</RobotNodeSet>
<RobotNodeSet name="HeadMotionMeasurementChain" kinematicRoot="Neck_1_Pitch" tcp="HeadMotionMeasurementTCP">
<Node name="Neck_1_Pitch"/>
<Node name="Neck_2_Roll"/>
......@@ -390,6 +513,24 @@
<Node name="Eye_Left"/>
<Node name="HeadMotionMeasurementTCP"/>
</RobotNodeSet>
<RobotInfo>
<LeftArm>
<KinematicChain value="LeftArm" />
<TorsoKinematicChain value="HipYawLeftArm" />
<TCP value="TCP L" />
<ForceTorqueSensor value="FT L" />
<EndEffector value="TCP L" />
<MemoryHandName value="???" />
</LeftArm>
<RightArm>
<KinematicChain value="RightArm" />
<TorsoKinematicChain value="HipYawRightArm" />
<TCP value="TCP R" />
<ForceTorqueSensor value="FT R" />
<EndEffector value="TCP R" />
<MemoryHandName value="???" />
</RightArm>
</RobotInfo>
</Robot>
data/RobotAPI/robots/Armar3/ArmarIII_minColModel.xml
View file @ 65dbeda9
......@@ -53,14 +53,14 @@
<Joint type="fixed"/>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform.iv</File>
<File type="Inventor">fullmodel/platform.wrl</File>
</Visualization>
<Physics>
<CoM location="Joint" x="0" y="0" z="200"/>
<Mass value="200" units="kg" />
</Physics>
<CollisionModel>
<File type="Inventor">collisionModel/platform.iv</File>
<File type="Inventor">collisionModel/platform.wrl</File>
</CollisionModel>
<Child name="Hip Pitch"/>
</RobotNode>
......@@ -78,7 +78,7 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_pitch_link.iv</File>
<File type="Inventor">fullmodel/platform_pitch_link.wrl</File>
</Visualization>
<Child name="Hip Roll"/>
</RobotNode>
......@@ -91,7 +91,7 @@
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/platform_roll_link.iv</File>
<File type="Inventor">fullmodel/platform_roll_link.wrl</File>
</Visualization>
<Child name="Hip Yaw"/>
</RobotNode>
......@@ -107,10 +107,10 @@
</Physics>
<Visualization enable="true">
<CoordinateAxis type="Inventor" enable="false" scaling="8"/>
<File type="Inventor">fullmodel/torso.iv</File>
<File type="Inventor">fullmodel/torso.wrl</File>
</Visualization>
<CollisionModel>
<File type="Inventor">collisionModel/torso.iv</File>
<File type="Inventor">collisionModel/torso.wrl</File>
</CollisionModel>
<Child name="Center of Arms"/>
</RobotNode>
......
data/RobotAPI/robots/Armar3/collisionModel/head.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object head.obj
#
# Vertices: 34
# Faces: 64
#
####
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vn -1.730112 -2.445841 1.960692
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vn -2.704190 2.697744 2.704191
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vn -1.944891 -0.508277 5.290409
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vn 2.686150 -2.351918 1.108588
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vn 4.661419 1.553358 1.542215
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vn 1.539734 4.665117 1.544693
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vn 1.793017 -3.028851 2.460323
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vn 1.537271 4.665110 -1.547167
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vn 2.695584 2.706336 -2.704198
v 0.116019 0.150185 -0.067993 1.000000 1.000000 1.000000
vn 3.930370 -2.675263 -1.113844
v 0.070359 -0.049888 -0.057956 1.000000 1.000000 1.000000
vn 1.544677 -1.543479 -4.663885
v 0.096274 -0.019847 -0.087977 1.000000 1.000000 1.000000
vn 1.789096 -3.028863 -2.463160
v 0.126345 -0.049799 -0.058001 1.000000 1.000000 1.000000
vn 0.514143 -1.541427 5.762268
v 0.070425 -0.019888 0.084829 1.000000 1.000000 1.000000
vn 1.853485 -1.999376 1.508888
v 0.070520 -0.089888 0.064829 1.000000 1.000000 1.000000
vn 3.932140 -2.675257 1.107596
v 0.070448 -0.049888 0.054829 1.000000 1.000000 1.000000
vn 1.851079 -1.999384 -1.511828
v 0.070414 -0.089888 -0.067956 1.000000 1.000000 1.000000
vn 0.504964 -1.541457 -5.763072
v 0.070287 -0.019888 -0.087956 1.000000 1.000000 1.000000
# 34 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 5//5 1//1 3//3
f 6//6 5//5 3//3
f 6//6 3//3 7//7
f 4//4 7//7 3//3
f 8//8 2//2 1//1
f 9//9 2//2 8//8
f 4//4 2//2 10//10
f 9//9 10//10 2//2
f 11//11 1//1 5//5
f 8//8 1//1 12//12
f 13//13 12//12 1//1
f 13//13 1//1 11//11
f 11//11 5//5 14//14
f 6//6 14//14 5//5
f 15//15 16//16 17//17
f 18//18 17//17 16//16
f 19//19 15//15 17//17
f 20//20 17//17 18//18
f 21//21 17//17 22//22
f 20//20 22//22 17//17
f 19//19 17//17 21//21
f 15//15 23//23 16//16
f 24//24 16//16 23//23
f 18//18 16//16 25//25
f 26//26 25//25 16//16
f 26//26 16//16 24//24
f 27//27 23//23 15//15
f 24//24 23//23 28//28
f 29//29 28//28 23//23
f 29//29 23//23 27//27
f 19//19 27//27 15//15
f 8//8 18//18 25//25
f 10//10 8//8 25//25
f 10//10 25//25 24//24
f 26//26 24//24 25//25
f 8//8 12//12 18//18
f 22//22 18//18 12//12
f 20//20 18//18 22//22
f 11//11 22//22 12//12
f 13//13 11//11 12//12
f 9//9 8//8 10//10
f 30//30 21//21 22//22
f 14//14 30//30 22//22
f 11//11 14//14 22//22
f 19//19 21//21 30//30
f 31//31 30//30 14//14
f 32//32 30//30 31//31
f 19//19 30//30 32//32
f 6//6 31//31 14//14
f 7//7 33//33 31//31
f 32//32 31//31 33//33
f 6//6 7//7 31//31
f 34//34 33//33 7//7
f 27//27 33//33 34//34
f 32//32 33//33 27//27
f 34//34 7//7 4//4
f 10//10 24//24 28//28
f 34//34 10//10 28//28
f 27//27 34//34 28//28
f 29//29 27//27 28//28
f 34//34 4//4 10//10
f 19//19 32//32 27//27
# 64 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/head.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0 0.99999994 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation 1 0 0 3.1400001
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Transform {
translation 0 0 0
rotation 0 1 0 3.1400001
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+5 Group {
children
DEF _+6 Shape {
appearance
Appearance {
material
Material {
diffuseColor 1 1 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 34.884602 -130 -63.688,
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}
normal
Normal {
vector [ -4.88664e-016 2.3900099e-016 -1,
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2.23744e-017 1 2.3900099e-016,
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0.70710701 -0.70710701 -5.1453699e-016,
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}
coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
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3, 1, 9, -1, 8, 9, 1, -1,
10, 0, 4, -1, 7, 0, 11, -1,
12, 11, 0, -1, 12, 0, 10, -1,
10, 4, 13, -1, 5, 13, 4, -1,
14, 15, 16, -1, 17, 16, 15, -1,
18, 14, 16, -1, 19, 16, 17, -1,
20, 16, 21, -1, 19, 21, 16, -1,
18, 16, 20, -1, 14, 22, 15, -1,
23, 15, 22, -1, 17, 15, 24, -1,
25, 24, 15, -1, 25, 15, 23, -1,
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28, 27, 22, -1, 28, 22, 26, -1,
18, 26, 14, -1, 7, 17, 24, -1,
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31, 29, 30, -1, 18, 29, 31, -1,
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33, 32, 6, -1, 26, 32, 33, -1,
31, 32, 26, -1, 33, 6, 3, -1,
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26, 33, 27, -1, 28, 26, 27, -1,
33, 3, 9, -1, 18, 31, 26, -1 ]
normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
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1, 1, 1, -1, 1, 1, 1, -1,
4, 4, 4, -1, 3, 3, 3, -1,
3, 3, 3, -1, 4, 4, 4, -1,
4, 4, 4, -1, 4, 4, 4, -1,
5, 5, 5, -1, 6, 6, 6, -1,
7, 7, 7, -1, 6, 6, 6, -1,
7, 7, 7, -1, 7, 7, 7, -1,
7, 7, 7, -1, 5, 5, 5, -1,
8, 8, 8, -1, 6, 6, 6, -1,
6, 6, 6, -1, 8, 8, 8, -1,
9, 9, 9, -1, 8, 8, 8, -1,
8, 8, 8, -1, 9, 9, 9, -1,
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11, 11, 11, -1, 11, 11, 11, -1,
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12, 12, 12, -1, 12, 12, 12, -1,
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11, 11, 11, -1, 13, 13, 13, -1,
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14, 14, 14, -1, 15, 15, 15, -1,
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15, 15, 15, -1, 9, 9, 9, -1,
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16, 16, 16, -1, 5, 5, 5, -1,
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17, 17, 17, -1, 17, 17, 17, -1,
18, 18, 18, -1, 18, 18, 18, -1,
17, 17, 17, -1, 9, 9, 9, -1 ]
ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
}
}
}
}
}
}
}
}
data/RobotAPI/robots/Armar3/collisionModel/index_l1.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object index_l1.obj
#
# Vertices: 8
# Faces: 12
#
####
vn -1.569545 -1.573297 -1.569544
v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
vn 1.569545 1.570795 -1.572047
v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
vn 1.569545 1.573297 1.569544
v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
vn 1.572046 -1.568294 1.572045
v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
vn -1.572046 1.568294 -1.572045
v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
vn -1.572046 1.570795 1.569546
v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
vn -1.569545 -1.570795 1.572047
v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
# 8 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 5//5 1//1 3//3
f 4//4 5//5 3//3
f 1//1 6//6 2//2
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 6//6 1//1
f 7//7 6//6 8//8
f 8//8 1//1 5//5
f 7//7 8//8 5//5
f 4//4 7//7 5//5
# 12 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/index_l1.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0.99999994 0 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation -0 -0.99999994 -0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Transform {
translation -4.25 0 0
rotation 0 0 1 0
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+5 Group {
children
DEF _+6 Shape {
appearance
Appearance {
material
Material {
diffuseColor 0.87840003 0.949 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 10.67 -2.4000001 3.75,
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10.67 -2.4000001 -21.25,
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10.67 42.25 -21.25,
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normal
Normal {
vector [ -2.7755599e-016 -1 -1.66533e-016,
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coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
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normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
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ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
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}
}
}
}
}
}
}
data/RobotAPI/robots/Armar3/collisionModel/index_l2.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object index_l2.obj
#
# Vertices: 10
# Faces: 16
#
####
vn -1.569545 -1.573297 -1.569544
v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
vn 1.569545 1.570795 -1.572047
v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
vn 3.077615 -2.847326 0.453632
v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
vn -1.572046 1.568294 -1.572045
v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
vn -1.572046 1.570795 1.569546
v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
vn 3.073076 2.852942 0.449094
v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
vn -1.569545 -1.570795 1.572047
v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
vn 1.506032 -1.859444 2.023642
v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
vn 1.503067 1.865060 2.020677
v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
# 10 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 4//4 1//1 3//3
f 1//1 5//5 2//2
f 6//6 2//2 5//5
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 5//5 1//1
f 6//6 5//5 8//8
f 8//8 1//1 9//9
f 4//4 9//9 1//1
f 8//8 9//9 10//10
f 4//4 10//10 9//9
f 6//6 8//8 10//10
f 7//7 6//6 10//10
f 4//4 7//7 10//10
# 16 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/index_l2.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0.99999994 0 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation -0 -0.99999994 -0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Group {
children
DEF _+5 Shape {
appearance
Appearance {
material
Material {
diffuseColor 0 0 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 10 -1.25 4.25,
-10 -1.25 -20.75,
10 -1.25 -20.75,
10 8.75 -20.75,
-10 -1.25 4.25,
-10 58.75 4.25,
-10 8.75 -20.75,
10 58.75 4.25,
10 58.75 -5.75,
-10 58.75 -5.75 ]
}
normal
Normal {
vector [ 0 -1 1.30104e-016,
-6.7654202e-017 8.5001503e-017 -1,
1 -1.66533e-016 -6.0715302e-017,
-1 1.66533e-016 6.0715302e-017,
6.7654202e-017 -8.5001503e-017 1,
0 1 -1.30104e-016,
-6.4800998e-017 0.287348 -0.95782602 ]
}
coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
3, 0, 2, -1, 0, 4, 1, -1,
5, 1, 4, -1, 6, 1, 5, -1,
3, 1, 6, -1, 7, 4, 0, -1,
5, 4, 7, -1, 7, 0, 8, -1,
3, 8, 0, -1, 7, 8, 9, -1,
3, 9, 8, -1, 5, 7, 9, -1,
6, 5, 9, -1, 3, 6, 9, -1 ]
normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
2, 2, 2, -1, 0, 0, 0, -1,
3, 3, 3, -1, 3, 3, 3, -1,
1, 1, 1, -1, 4, 4, 4, -1,
4, 4, 4, -1, 2, 2, 2, -1,
2, 2, 2, -1, 5, 5, 5, -1,
6, 6, 6, -1, 5, 5, 5, -1,
3, 3, 3, -1, 6, 6, 6, -1 ]
ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
}
}
}
}
}
}
}
data/RobotAPI/robots/Armar3/collisionModel/index_r1.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object index_r1.obj
#
# Vertices: 8
# Faces: 12
#
####
vn -1.569545 -1.573297 -1.569544
v -0.003742 -0.010675 -0.002392 0.874510 0.945098 1.000000
vn 1.569545 1.570795 -1.572047
v 0.021246 0.005015 -0.002404 0.874510 0.945098 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.021258 -0.010655 -0.002392 0.874510 0.945098 1.000000
vn 1.569545 1.573297 1.569544
v 0.021246 0.005051 0.042246 0.874510 0.945098 1.000000
vn 1.572046 -1.568294 1.572045
v 0.021258 -0.010619 0.042258 0.874510 0.945098 1.000000
vn -1.572046 1.568294 -1.572045
v -0.003754 0.004995 -0.002404 0.874510 0.945098 1.000000
vn -1.572046 1.570795 1.569546
v -0.003754 0.005031 0.042246 0.874510 0.945098 1.000000
vn -1.569545 -1.570795 1.572047
v -0.003742 -0.010639 0.042258 0.874510 0.945098 1.000000
# 8 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 5//5 1//1 3//3
f 4//4 5//5 3//3
f 1//1 6//6 2//2
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 6//6 1//1
f 7//7 6//6 8//8
f 8//8 1//1 5//5
f 7//7 8//8 5//5
f 4//4 7//7 5//5
# 12 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/index_r1.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0.99999994 0 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation -0 -0.99999994 -0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Group {
children
DEF _+5 Shape {
appearance
Appearance {
material
Material {
diffuseColor 0.87840003 0.949 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 10.67 -2.4000001 3.75,
-5 -2.4000001 -21.25,
10.67 -2.4000001 -21.25,
-5 42.25 -21.25,
10.67 42.25 -21.25,
-5 -2.4000001 3.75,
-5 42.25 3.75,
10.67 42.25 3.75 ]
}
normal
Normal {
vector [ -2.7755599e-016 -1 -1.66533e-016,
5.5511198e-017 7.4593103e-017 -1,
1 -5.5511198e-017 2.7755599e-017,
-1 5.5511198e-017 -2.7755599e-017,
-5.5511198e-017 -7.4593103e-017 1,
2.7755599e-016 1 1.66533e-016 ]
}
coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
4, 0, 2, -1, 3, 4, 2, -1,
0, 5, 1, -1, 6, 1, 5, -1,
3, 1, 6, -1, 7, 5, 0, -1,
6, 5, 7, -1, 7, 0, 4, -1,
6, 7, 4, -1, 3, 6, 4, -1 ]
normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
2, 2, 2, -1, 1, 1, 1, -1,
0, 0, 0, -1, 3, 3, 3, -1,
3, 3, 3, -1, 4, 4, 4, -1,
4, 4, 4, -1, 2, 2, 2, -1,
5, 5, 5, -1, 5, 5, 5, -1 ]
ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
}
}
}
}
}
}
}
data/RobotAPI/robots/Armar3/collisionModel/index_r2.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object index_r2.obj
#
# Vertices: 10
# Faces: 16
#
####
vn -1.569545 -1.573297 -1.569544
v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
vn 1.569545 1.570795 -1.572047
v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
vn 3.077615 -2.847326 0.453632
v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
vn -1.572046 1.568294 -1.572045
v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
vn -1.572046 1.570795 1.569546
v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
vn 3.073076 2.852942 0.449094
v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
vn -1.569545 -1.570795 1.572047
v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
vn 1.506032 -1.859444 2.023642
v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
vn 1.503067 1.865060 2.020677
v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
# 10 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 4//4 1//1 3//3
f 1//1 5//5 2//2
f 6//6 2//2 5//5
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 5//5 1//1
f 6//6 5//5 8//8
f 8//8 1//1 9//9
f 4//4 9//9 1//1
f 8//8 9//9 10//10
f 4//4 10//10 9//9
f 6//6 8//8 10//10
f 7//7 6//6 10//10
f 4//4 7//7 10//10
# 16 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/index_r2.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0.99999994 0 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation -0 -0.99999994 -0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Group {
children
DEF _+5 Shape {
appearance
Appearance {
material
Material {
diffuseColor 0 0 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 10 -1.25 4.25,
-10 -1.25 -20.75,
10 -1.25 -20.75,
10 8.75 -20.75,
-10 -1.25 4.25,
-10 58.75 4.25,
-10 8.75 -20.75,
10 58.75 4.25,
10 58.75 -5.75,
-10 58.75 -5.75 ]
}
normal
Normal {
vector [ 0 -1 1.30104e-016,
-6.7654202e-017 8.5001503e-017 -1,
1 -1.66533e-016 -6.0715302e-017,
-1 1.66533e-016 6.0715302e-017,
6.7654202e-017 -8.5001503e-017 1,
0 1 -1.30104e-016,
-6.4800998e-017 0.287348 -0.95782602 ]
}
coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
3, 0, 2, -1, 0, 4, 1, -1,
5, 1, 4, -1, 6, 1, 5, -1,
3, 1, 6, -1, 7, 4, 0, -1,
5, 4, 7, -1, 7, 0, 8, -1,
3, 8, 0, -1, 7, 8, 9, -1,
3, 9, 8, -1, 5, 7, 9, -1,
6, 5, 9, -1, 3, 6, 9, -1 ]
normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
2, 2, 2, -1, 0, 0, 0, -1,
3, 3, 3, -1, 3, 3, 3, -1,
1, 1, 1, -1, 4, 4, 4, -1,
4, 4, 4, -1, 2, 2, 2, -1,
2, 2, 2, -1, 5, 5, 5, -1,
6, 6, 6, -1, 5, 5, 5, -1,
3, 3, 3, -1, 6, 6, 6, -1 ]
ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
}
}
}
}
}
}
}
data/RobotAPI/robots/Armar3/collisionModel/middle_l1.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object middle_l1.obj
#
# Vertices: 8
# Faces: 12
#
####
vn -1.569545 -1.573297 -1.569544
v -0.003745 -0.006425 -0.002395 0.874510 0.945098 1.000000
vn 1.569545 1.570795 -1.572047
v 0.021243 0.009265 -0.002407 0.874510 0.945098 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.021255 -0.006405 -0.002395 0.874510 0.945098 1.000000
vn 1.569545 1.573297 1.569544
v 0.021243 0.009301 0.042243 0.874510 0.945098 1.000000
vn 1.572046 -1.568294 1.572045
v 0.021255 -0.006369 0.042255 0.874510 0.945098 1.000000
vn -1.572046 1.568294 -1.572045
v -0.003757 0.009245 -0.002407 0.874510 0.945098 1.000000
vn -1.572046 1.570795 1.569546
v -0.003757 0.009281 0.042243 0.874510 0.945098 1.000000
vn -1.569545 -1.570795 1.572047
v -0.003745 -0.006389 0.042255 0.874510 0.945098 1.000000
# 8 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 5//5 1//1 3//3
f 4//4 5//5 3//3
f 1//1 6//6 2//2
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 6//6 1//1
f 7//7 6//6 8//8
f 8//8 1//1 5//5
f 7//7 8//8 5//5
f 4//4 7//7 5//5
# 12 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/middle_l1.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0.99999994 0 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation -0 -0.99999994 -0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Transform {
translation -4.25 0 0
rotation 0 0 1 0
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+5 Group {
children
DEF _+6 Shape {
appearance
Appearance {
material
Material {
diffuseColor 0.87840003 0.949 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 10.67 -2.4000001 3.75,
-5 -2.4000001 -21.25,
10.67 -2.4000001 -21.25,
-5 42.25 -21.25,
10.67 42.25 -21.25,
-5 -2.4000001 3.75,
-5 42.25 3.75,
10.67 42.25 3.75 ]
}
normal
Normal {
vector [ -2.7755599e-016 -1 -1.66533e-016,
5.5511198e-017 7.4593103e-017 -1,
1 -5.5511198e-017 2.7755599e-017,
-1 5.5511198e-017 -2.7755599e-017,
-5.5511198e-017 -7.4593103e-017 1,
2.7755599e-016 1 1.66533e-016 ]
}
coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
4, 0, 2, -1, 3, 4, 2, -1,
0, 5, 1, -1, 6, 1, 5, -1,
3, 1, 6, -1, 7, 5, 0, -1,
6, 5, 7, -1, 7, 0, 4, -1,
6, 7, 4, -1, 3, 6, 4, -1 ]
normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
2, 2, 2, -1, 1, 1, 1, -1,
0, 0, 0, -1, 3, 3, 3, -1,
3, 3, 3, -1, 4, 4, 4, -1,
4, 4, 4, -1, 2, 2, 2, -1,
5, 5, 5, -1, 5, 5, 5, -1 ]
ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
}
}
}
}
}
}
}
}
data/RobotAPI/robots/Armar3/collisionModel/middle_l2.obj 0 → 100644
View file @ 65dbeda9
####
#
# OBJ File Generated by Meshlab
#
####
# Object middle_l2.obj
#
# Vertices: 10
# Faces: 16
#
####
vn -1.569545 -1.573297 -1.569544
v -0.004242 -0.010004 -0.001242 0.000000 0.000000 1.000000
vn 1.569545 1.570795 -1.572047
v 0.020742 0.010016 -0.001258 0.000000 0.000000 1.000000
vn 1.572046 -1.570795 -1.569546
v 0.020758 -0.009984 -0.001242 0.000000 0.000000 1.000000
vn 3.077615 -2.847326 0.453632
v 0.020758 -0.009977 0.008758 0.000000 0.000000 1.000000
vn -1.572046 1.568294 -1.572045
v -0.004258 0.009996 -0.001258 0.000000 0.000000 1.000000
vn -1.572046 1.570795 1.569546
v -0.004258 0.010043 0.058742 0.000000 0.000000 1.000000
vn 3.073076 2.852942 0.449094
v 0.020742 0.010023 0.008742 0.000000 0.000000 1.000000
vn -1.569545 -1.570795 1.572047
v -0.004242 -0.009957 0.058758 0.000000 0.000000 1.000000
vn 1.506032 -1.859444 2.023642
v 0.005758 -0.009949 0.058758 0.000000 0.000000 1.000000
vn 1.503067 1.865060 2.020677
v 0.005742 0.010051 0.058742 0.000000 0.000000 1.000000
# 10 vertices, 0 vertices normals
f 1//1 2//2 3//3
f 4//4 3//3 2//2
f 4//4 1//1 3//3
f 1//1 5//5 2//2
f 6//6 2//2 5//5
f 7//7 2//2 6//6
f 4//4 2//2 7//7
f 8//8 5//5 1//1
f 6//6 5//5 8//8
f 8//8 1//1 9//9
f 4//4 9//9 1//1
f 8//8 9//9 10//10
f 4//4 10//10 9//9
f 6//6 8//8 10//10
f 7//7 6//6 10//10
f 4//4 7//7 10//10
# 16 faces, 0 coords texture
# End of File
data/RobotAPI/robots/Armar3/collisionModel/middle_l2.wrl 0 → 100644
View file @ 65dbeda9
#VRML V2.0 utf8
Group {
children
DEF _+0 Group {
children
DEF _+1 Transform {
scale 0.001 0.001 0.001
children
DEF _+2 Transform {
translation 0 0 0
rotation 0.99999994 0 0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+3 Transform {
translation 0 0 0
rotation -0 -0.99999994 -0 1.5700002
scale 1 1 1
scaleOrientation 0 0 1 0
center 0 0 0
children
DEF _+4 Group {
children
DEF _+5 Shape {
appearance
Appearance {
material
Material {
diffuseColor 0 0 1
}
}
geometry
IndexedFaceSet {
coord
Coordinate {
point [ 10 -1.25 4.25,
-10 -1.25 -20.75,
10 -1.25 -20.75,
10 8.75 -20.75,
-10 -1.25 4.25,
-10 58.75 4.25,
-10 8.75 -20.75,
10 58.75 4.25,
10 58.75 -5.75,
-10 58.75 -5.75 ]
}
normal
Normal {
vector [ 0 -1 1.30104e-016,
-6.7654202e-017 8.5001503e-017 -1,
1 -1.66533e-016 -6.0715302e-017,
-1 1.66533e-016 6.0715302e-017,
6.7654202e-017 -8.5001503e-017 1,
0 1 -1.30104e-016,
-6.4800998e-017 0.287348 -0.95782602 ]
}
coordIndex [ 0, 1, 2, -1, 3, 2, 1, -1,
3, 0, 2, -1, 0, 4, 1, -1,
5, 1, 4, -1, 6, 1, 5, -1,
3, 1, 6, -1, 7, 4, 0, -1,
5, 4, 7, -1, 7, 0, 8, -1,
3, 8, 0, -1, 7, 8, 9, -1,
3, 9, 8, -1, 5, 7, 9, -1,
6, 5, 9, -1, 3, 6, 9, -1 ]
normalIndex [ 0, 0, 0, -1, 1, 1, 1, -1,
2, 2, 2, -1, 0, 0, 0, -1,
3, 3, 3, -1, 3, 3, 3, -1,
1, 1, 1, -1, 4, 4, 4, -1,
4, 4, 4, -1, 2, 2, 2, -1,
2, 2, 2, -1, 5, 5, 5, -1,
6, 6, 6, -1, 5, 5, 5, -1,
3, 3, 3, -1, 6, 6, 6, -1 ]
ccw TRUE
solid TRUE
convex TRUE
creaseAngle 0
}
}
}
}
}
}
}
}