forked from DanyResasco/Grasp-simulation
-
Notifications
You must be signed in to change notification settings - Fork 0
/
reflex_col.rob
executable file
·112 lines (87 loc) · 5.86 KB
/
reflex_col.rob
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
#Converted using URDFtoRob
#Drivers were added manually
#
#Important notes:
#
#Mass and motor calibration set essentially at random
#
#The tendon drive's connection between the proximal and distal joint
#needs to be simulated manually
#
#1/17/2015
#Kris Hauser
links base pad swivel_1 proximal_1 distal_1 distal_pad_1 proximal_pad_1 swivel_2 proximal_2 distal_2 distal_pad_2 proximal_pad_2 proximal_3 distal_3 distal_pad_3 proximal_pad_3
parents -1 0 0 2 3 4 3 0 7 8 9 8 0 12 13 12
axis 0 0 1 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 0 1 0 0 1 0 0 -1 0 -1 0 0 -1 0 0 0 1 0 0 1 0 -1 0 0 -1 0 0 0 1 0 0 1
jointtype r r r r r r r r r r r r r r r r
Tparent 1 0 0 0 1 0 0 0 1 0 0 0 \
-3.55271e-15 -3.60822e-15 -1 -1 0 3.60822e-15 -5.55112e-17 1 -3.55271e-15 0.02 0 0.063 \
1 2.77556e-16 1.97994e-16 -2.77556e-16 1 -6.75551e-16 -1.97994e-16 6.75551e-16 1 0.0503974 -0.026 0.063 \
1 -2.22045e-16 2.40508e-17 2.22045e-16 1 6.2004e-16 -2.40508e-17 -6.2004e-16 1 0.01 0 0.0186 \
1 0 0 0 1 0 0 0 1 0.066 0 -0.005 \
-3.55271e-15 -3.60822e-15 -1 -1 0 3.60822e-15 -5.55112e-17 1 -3.55271e-15 -0.076 0 0.0085 \
-3.55271e-15 -3.60822e-15 -1 -1 0 3.60822e-15 -5.55112e-17 1 -3.55271e-15 0 0 0 \
1 1.66533e-16 -7.33448e-16 -1.66533e-16 1 -1.22459e-15 7.33448e-16 1.22459e-15 1 0.0503974 0.026 0.063 \
1 -1.11022e-16 9.55493e-16 1.11022e-16 1 1.16908e-15 -9.55493e-16 -1.16908e-15 1 0.01 0 0.0186 \
1 0 0 0 1 0 0 0 1 0.066 0 -0.005 \
-3.44169e-15 -3.4972e-15 -1 -1 0 3.60822e-15 -5.55112e-17 1 -3.55271e-15 -0.076 0 0.0085 \
-3.44169e-15 -3.4972e-15 -1 -1 0 3.60822e-15 -5.55112e-17 1 -3.55271e-15 0 0 0 \
-1 -3.23109e-15 2.22045e-16 3.23109e-15 -1 -5.55112e-17 2.22045e-16 -5.55112e-17 1 -0.03 0 0.0816 \
1 0 0 0 1 0 0 0 1 0.066 0 -0.005 \
-3.9968e-15 -3.71925e-15 -1 -1 2.22045e-16 3.4972e-15 1.11022e-16 1 -3.44169e-15 -0.076 0 0.0085 \
-3.9968e-15 -3.71925e-15 -1 -1 -4.44089e-16 3.71925e-15 -2.22045e-16 1 -3.9968e-15 0 0 0
qmin 0 0 0 -0.34 -inf 0 0 -1.5708 -0.34 -inf 0 0 -0.34 -inf 0 0
qmax 0 0 1.5708 2.83 inf 0 0 0 2.83 inf 0 0 2.83 inf 0 0
geometry reflex/reduced/base_link.STL reflex/reduced/pad.STL reflex/reduced/swivel_1.STL reflex/reduced/proximal_1.STL reflex/reduced/distal_1.STL reflex/reduced/distal_pad_1.STL reflex/reduced/proximal_pad_1.STL reflex/reduced/swivel_2.STL reflex/reduced/proximal_2.STL reflex/reduced/distal_2.STL reflex/reduced/distal_pad_2.STL reflex/reduced/proximal_pad_2.STL reflex/reduced/proximal_3.STL reflex/reduced/distal_3.STL reflex/reduced/distal_pad_3.STL reflex/reduced/proximal_pad_3.STL
#the distal links are shifted
geomtransform 4 1 0 0 0.01 0 1 0 0 0 0 1 0.007 0 0 0 1
geomtransform 5 1 0 0 0 0 1 0 -0.004 0 0 1 -0.01 0 0 0 1
geomtransform 9 1 0 0 0.01 0 1 0 0 0 0 1 0.007 0 0 0 1
geomtransform 10 1 0 0 0 0 1 0 -0.004 0 0 1 -0.01 0 0 0 1
geomtransform 13 1 0 0 0.01 0 1 0 0 0 0 1 0.007 0 0 0 1
geomtransform 14 1 0 0 0 0 1 0 -0.004 0 0 1 -0.01 0 0 0 1
mass 0.5 0.1 0.05 0.03 0.05 0.005 0.005 0.05 0.03 0.03 0.005 0.005 0.03 0.03 0.005 0.005
automass
torquemax inf inf 10 10 5 inf inf 10 10 5 inf inf 20 5 inf inf
velmax 0 0 1 1 inf 0 0 1 1 inf 0 0 1 inf 0 0
accmax 0 0 10 10 10 0 0 10 10 10 0 0 10 10 0 0
joint weld 0
joint weld 1
joint normal 2
joint spin 3
joint spin 4
joint weld 5
joint weld 6
joint normal 7
joint spin 8
joint spin 9
joint weld 10
joint weld 11
joint spin 12
joint spin 13
joint weld 14
joint weld 15
driver affine 2 2 7 1.5708 -1.5708 0 0 0 1 0 1 -10 10
driver normal 3
driver normal 4
driver normal 8
driver normal 9
driver normal 12
driver normal 13
#for separated normal links
servoP 5 5 2 5 2 10 2
servoI 0 0 0 0 0 0 0
servoD 0 0 0 0 0 0 0
dryFriction 0.1 0.1 0.1 0.1 0.1 0.1 0.1
viscousFriction 0.5 0.5 0.5 0.5 0.5 0.5 0.5
noselfcollision 0 3 0 4 0 5 0 6 0 8 0 9 0 10 0 11 0 12 0 13 0 14 0 15
noselfcollision 1 2 1 3 1 4 1 7 1 8 1 9 1 12 1 13
noselfcollision 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 2 12 2 13 2 14 2 15
noselfcollision 3 5 3 7 3 8 3 9 3 12 3 13
noselfcollision 4 6 4 7 4 8 4 9 4 12 4 13
noselfcollision 5 7
noselfcollision 7 9 7 10 7 11 7 12 7 13 7 14 7 15
noselfcollision 8 10 8 12 8 13
noselfcollision 9 11 9 12 9 13
noselfcollision 12 15
property sensors "reflex_col_sensors.xml"