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Guilhem Saurel
hpp-rbprm-corba
Commits
2804e903
Commit
2804e903
authored
Oct 06, 2017
by
Pierre Fernbach
Browse files
add hrp2 ROM shape with low body collision
parent
8cbb410a
Changes
5
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CMakeLists.txt
View file @
2804e903
...
...
@@ -68,6 +68,7 @@ install(FILES
install
(
FILES
data/urdf/hrp2_trunk.urdf
data/urdf/hrp2_trunk_flexible.urdf
data/urdf/hrp2_trunk_lowBody_flexible.urdf
data/urdf/hrp2_trunk_arms_flexible.urdf
data/urdf/hrp2_rom.urdf
data/urdf/hrp2_larm_rom.urdf
...
...
@@ -139,6 +140,7 @@ install(FILES
install
(
FILES
data/srdf/hrp2_trunk.srdf
data/srdf/hrp2_trunk_flexible.srdf
data/srdf/hrp2_trunk_lowBody_flexible.srdf
data/srdf/hrp2_trunk_arms_flexible.srdf
data/srdf/hrp2_rom.srdf
data/srdf/hrp2_larm_rom.srdf
...
...
@@ -218,9 +220,11 @@ install(FILES
data/meshes/ground_table.stl
data/meshes/hrp2_trunk.stl
data/meshes/hrp2_trunk_body.stl
data/meshes/hrp2_trunk_body_low.stl
data/meshes/hrp2_trunk_torso.stl
data/meshes/hrp2_trunk_torso_arms.stl
data/meshes/hrp2_trunk_body_view.dae
data/meshes/hrp2_trunk_body_low_view.dae
data/meshes/hrp2_trunk_torso_arms_view.dae
data/meshes/hrp2_trunk_torso_view.dae
data/meshes/hrp2_rom.stl
...
...
data/meshes/hrp2_trunk_body_low.stl
0 → 100644
View file @
2804e903
File added
data/meshes/hrp2_trunk_body_low_view.dae
0 → 100644
View file @
2804e903
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data/srdf/hrp2_trunk_lowBody_flexible.srdf
0 → 100644
View file @
2804e903
<?xml version="1.0"?>
<robot
name=
"hrp2_trunk_flexible"
>
<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>
<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>
data/urdf/hrp2_trunk_lowBody_flexible.urdf
0 → 100644
View file @
2804e903
<robot name="hrp2_trunk_flexible">
<link name="base_link"/>
<joint name="WAIST" type="fixed">
<parent link="base_link"/>
<child link="BODY"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="BODY">
<inertial>
<mass value="58.0"/>
<inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body_low_view.dae"/>
</geometry>
<material name="red">
<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/hrp2_trunk_body_low.stl"/>
</geometry>
</collision>
</link>
<!-- Chest -->
<joint name="CHEST_JOINT0" type="revolute">
<parent link="BODY"/>
<child link="CHEST_LINK0"/>
<origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
<axis xyz="0 0 1"/>
<limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
</joint>
<link name="CHEST_LINK0">
</link>
<joint name="CHEST_JOINT1" type="revolute">
<parent link="CHEST_LINK0"/>
<child link="torso"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<axis xyz="0 1 0"/>
<limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
</joint>
<link name="torso">
<visual>
<origin xyz="0 0 0" rpy="0 0 0.003" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms_view.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0.003" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms.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">
<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">
<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>
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