Commit 095ccb59 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

added truck scenario

parent 11ea9998
......@@ -86,6 +86,7 @@ install(FILES
data/urdf/ground.urdf
data/urdf/groundcrouch.urdf
data/urdf/darpa.urdf
data/urdf/car.urdf
#~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
)
......@@ -115,6 +116,7 @@ install(FILES
data/srdf/ground.srdf
data/srdf/groundcrouch.srdf
data/srdf/darpa.srdf
data/srdf/car.srdf
#~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
)
......@@ -147,6 +149,7 @@ install(FILES
data/meshes/climb.stl
data/meshes/stepladder.stl
data/meshes/chair.stl
data/meshes/car.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
)
install(FILES
......
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<?xml version="1.0"?>
<robot name="car">
<handle name="handle">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
<triangle> 0 2 1 4 5 6</triangle>
</contact>
</robot>
......@@ -17,4 +17,10 @@
</contact>
<disable_collisions link1="BODY"
link2="torso" />
<disable_collisions link1="torso"
link2="HEAD_LINK0" />
<disable_collisions link1="torso"
link2="HEAD_LINK1" />
<disable_collisions link1="HEAD_LINK0"
link2="HEAD_LINK1" />
</robot>
<robot name="car">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/car.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/car.stl"/>
</geometry>
</collision>
</link>
</robot>
......@@ -40,5 +40,34 @@
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/>
</geometry>
</collision>
</link>!-- Head -->
<joint name="HEAD_JOINT0" type="revolute">
<parent link="torso"/>
<child link="HEAD_LINK0"/>
<origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
<axis xyz="0 0 1"/>
<limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
</joint>
<link name="HEAD_LINK0">
<inertial>
<origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
<mass value="0.374766"/>
<inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
</inertial>
</link>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_LINK0"/>
<child link="HEAD_LINK1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
</joint>
<!-- VRML link name="HEAD_LINK1" -->
<link name="HEAD_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
<mass value="0.993355"/>
<inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
</inertial>
</link>
</robot>
......@@ -40,5 +40,34 @@
<limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
</joint>
<link name="torso">
</link>!-- Head -->
<joint name="HEAD_JOINT0" type="revolute">
<parent link="torso"/>
<child link="HEAD_LINK0"/>
<origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
<axis xyz="0 0 1"/>
<limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
</joint>
<link name="HEAD_LINK0">
<inertial>
<origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
<mass value="0.374766"/>
<inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
</inertial>
</link>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_LINK0"/>
<child link="HEAD_LINK1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
</joint>
<!-- VRML link name="HEAD_LINK1" -->
<link name="HEAD_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
<mass value="0.993355"/>
<inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
</inertial>
</link>
</robot>
......@@ -40,5 +40,34 @@
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rarm_rom.stl"/>
</geometry>
</collision>
</link>!-- Head -->
<joint name="HEAD_JOINT0" type="revolute">
<parent link="torso"/>
<child link="HEAD_LINK0"/>
<origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
<axis xyz="0 0 1"/>
<limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
</joint>
<link name="HEAD_LINK0">
<inertial>
<origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
<mass value="0.374766"/>
<inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
</inertial>
</link>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_LINK0"/>
<child link="HEAD_LINK1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
</joint>
<!-- VRML link name="HEAD_LINK1" -->
<link name="HEAD_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
<mass value="0.993355"/>
<inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
</inertial>
</link>
</robot>
......@@ -40,5 +40,34 @@
<limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
</joint>
<link name="torso">
</link>!-- Head -->
<joint name="HEAD_JOINT0" type="revolute">
<parent link="torso"/>
<child link="HEAD_LINK0"/>
<origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
<axis xyz="0 0 1"/>
<limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
</joint>
<link name="HEAD_LINK0">
<inertial>
<origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
<mass value="0.374766"/>
<inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
</inertial>
</link>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_LINK0"/>
<child link="HEAD_LINK1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
</joint>
<!-- VRML link name="HEAD_LINK1" -->
<link name="HEAD_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
<mass value="0.993355"/>
<inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
</inertial>
</link>
</robot>
......@@ -53,4 +53,58 @@
</geometry>
</collision>
</link>
<!-- Head -->
<joint name="HEAD_JOINT0" type="revolute">
<parent link="torso"/>
<child link="HEAD_LINK0"/>
<origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
<axis xyz="0 0 1"/>
<limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
</joint>
<link name="HEAD_LINK0">
<inertial>
<origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
<mass value="0.374766"/>
<inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/HEAD_LINK0.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK0.dae"/>
</geometry>
</collision>
</link>
<joint name="HEAD_JOINT1" type="revolute">
<parent link="HEAD_LINK0"/>
<child link="HEAD_LINK1"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
</joint>
<!-- VRML link name="HEAD_LINK1" -->
<link name="HEAD_LINK1">
<inertial>
<origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
<mass value="0.993355"/>
<inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/HEAD_LINK1.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK1.dae"/>
</geometry>
</collision>
</link>
</robot>
......@@ -3,7 +3,7 @@
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package:///../hpp-rbprm-corba/meshes/truck_vision.stl"/>
<mesh filename="package://hpp-rbprm-corba/meshes/truck_vision.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
......
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