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Commit 095ccb59 authored by Steve Tonneau's avatar Steve Tonneau
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added truck scenario

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CMakeLists.txt
+ 3
− 0
View file @ 095ccb59
...@@ -86,6 +86,7 @@ install(FILES ...@@ -86,6 +86,7 @@ install(FILES
data/urdf/ground.urdf data/urdf/ground.urdf
data/urdf/groundcrouch.urdf data/urdf/groundcrouch.urdf
data/urdf/darpa.urdf data/urdf/darpa.urdf
data/urdf/car.urdf
#~ data/urdf/scene2.urdf #~ data/urdf/scene2.urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
) )
...@@ -115,6 +116,7 @@ install(FILES ...@@ -115,6 +116,7 @@ install(FILES
data/srdf/ground.srdf data/srdf/ground.srdf
data/srdf/groundcrouch.srdf data/srdf/groundcrouch.srdf
data/srdf/darpa.srdf data/srdf/darpa.srdf
data/srdf/car.srdf
#~ data/srdf/scene2.srdf #~ data/srdf/scene2.srdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
) )
...@@ -147,6 +149,7 @@ install(FILES ...@@ -147,6 +149,7 @@ install(FILES
data/meshes/climb.stl data/meshes/climb.stl
data/meshes/stepladder.stl data/meshes/stepladder.stl
data/meshes/chair.stl data/meshes/chair.stl
data/meshes/car.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
) )
install(FILES install(FILES
......
data/blender/car.blend 0 → 100644
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data/blender/car.dae 0 → 100644
+ 426
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data/blender/truck.blend 0 → 100644
+ 0
− 0
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File added
data/meshes/car.dae 0 → 100644
+ 426
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data/meshes/car.stl
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data/meshes/hrp2_rleg_rom.stl
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data/meshes/hrp2_trunk_body.stl
+ 0
− 0
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data/meshes/hrp2_trunk_body_view.dae
+ 199
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data/meshes/truck.stl
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data/meshes/truck_vision.stl
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data/srdf/car.srdf 0 → 100644
+ 18
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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>
data/srdf/hrp2_trunk_flexible.srdf
+ 6
− 0
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...@@ -17,4 +17,10 @@ ...@@ -17,4 +17,10 @@
</contact> </contact>
<disable_collisions link1="BODY" <disable_collisions link1="BODY"
link2="torso" /> 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>
data/urdf/car.urdf 0 → 100644
+ 19
− 0
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<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>
data/urdf/hrp2_larm_rom.urdf
+ 29
− 0
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...@@ -40,5 +40,34 @@ ...@@ -40,5 +40,34 @@
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/> <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/>
</geometry> </geometry>
</collision> </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> </link>
</robot> </robot>
data/urdf/hrp2_lleg_rom.urdf
+ 29
− 0
View file @ 095ccb59
...@@ -40,5 +40,34 @@ ...@@ -40,5 +40,34 @@
<limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/> <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
</joint> </joint>
<link name="torso"> <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> </link>
</robot> </robot>
data/urdf/hrp2_rarm_rom.urdf
+ 29
− 0
View file @ 095ccb59
...@@ -40,5 +40,34 @@ ...@@ -40,5 +40,34 @@
<mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rarm_rom.stl"/> <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rarm_rom.stl"/>
</geometry> </geometry>
</collision> </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> </link>
</robot> </robot>
data/urdf/hrp2_rleg_rom.urdf
+ 29
− 0
View file @ 095ccb59
...@@ -40,5 +40,34 @@ ...@@ -40,5 +40,34 @@
<limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/> <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
</joint> </joint>
<link name="torso"> <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> </link>
</robot> </robot>
data/urdf/hrp2_trunk_flexible.urdf
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− 0
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...@@ -53,4 +53,58 @@ ...@@ -53,4 +53,58 @@
</geometry> </geometry>
</collision> </collision>
</link> </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> </robot>
data/urdf/truck.urdf
+ 1
− 1
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...@@ -3,7 +3,7 @@ ...@@ -3,7 +3,7 @@
<visual> <visual>
<origin xyz="0 0 0" rpy="0 0 0" /> <origin xyz="0 0 0" rpy="0 0 0" />
<geometry> <geometry>
<mesh filename="package:///../hpp-rbprm-corba/meshes/truck_vision.stl"/> <mesh filename="package://hpp-rbprm-corba/meshes/truck_vision.stl"/>
</geometry> </geometry>
<material name="white"> <material name="white">
<color rgba="1 1 1 1"/> <color rgba="1 1 1 1"/>
......
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