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Add Comau RML Dual Arm kinematics and geometry model
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146 changes: 146 additions & 0 deletions
146
rlsg/comau-rml-dual-arm.convex/comau-rml-dual-arm-combined.wrl
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,146 @@ | ||
| #VRML V2.0 utf8 | ||
| Transform { | ||
| children [ | ||
| DEF rml_link0 Transform { | ||
| children [ | ||
| Inline { | ||
| url "../comau-rml.convex/link0.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF rml_link1 Transform { | ||
| translation 1.375 0 0 | ||
| children [ | ||
| Inline { | ||
| url "../comau-rml.convex/link1.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link0 Transform { | ||
| translation 1.85642 0.14128 2.09387 | ||
| rotation -0.532254 0.760138 0.372688 2.16336 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link0.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link1 Transform { | ||
| translation 1.939791 0.3703399 1.8455218 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link1.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link2 Transform { | ||
| translation 2.1294134 0.89132303 1.6437299 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link2.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link3 Transform { | ||
| translation 2.1711946 1.0061159 1.5992672 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link3.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link4 Transform { | ||
| translation 2.0753009 0.74265009 0.82894486 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link4.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link5 Transform { | ||
| translation 2.0753009 0.74265009 0.82894486 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link5.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link6 Transform { | ||
| translation 2.0518689 0.67827171 0.640715 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link6.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link0 Transform { | ||
| translation 1.85642 -0.14128 2.09387 | ||
| rotation 0.532254 0.760138 -0.372688 2.16336 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link0.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link1 Transform { | ||
| translation 1.939791 -0.3703399 1.8455218 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link1.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link2 Transform { | ||
| translation 2.1294134 -0.89132303 1.6437299 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link2.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link3 Transform { | ||
| translation 2.1711946 -1.0061159 1.5992672 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link3.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link4 Transform { | ||
| translation 2.0753009 -0.74265009 0.82894486 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link4.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link5 Transform { | ||
| translation 2.0753009 -0.74265009 0.82894486 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link5.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link6 Transform { | ||
| translation 2.0518689 -0.67827171 0.640715 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/link6.wrl" | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } |
23 changes: 23 additions & 0 deletions
23
rlsg/comau-rml-dual-arm.convex/comau-rml-dual-arm-combined.xml
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| @@ -0,0 +1,23 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <rlsg xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlsg.xsd"> | ||
| <scene href="comau-rml-dual-arm-combined.wrl"> | ||
| <model name=""> | ||
| <body name="rml_link0"/> | ||
| <body name="rml_link1"/> | ||
| <body name="left_link0"/> | ||
| <body name="left_link1"/> | ||
| <body name="left_link2"/> | ||
| <body name="left_link3"/> | ||
| <body name="left_link4"/> | ||
| <body name="left_link5"/> | ||
| <body name="left_link6"/> | ||
| <body name="right_link0"/> | ||
| <body name="right_link1"/> | ||
| <body name="right_link2"/> | ||
| <body name="right_link3"/> | ||
| <body name="right_link4"/> | ||
| <body name="right_link5"/> | ||
| <body name="right_link6"/> | ||
| </model> | ||
| </scene> | ||
| </rlsg> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,30 @@ | ||
| #VRML V2.0 utf8 | ||
| Transform { | ||
| children [ | ||
| DEF left Transform { | ||
| rotation -0.532254 0.760138 0.372688 2.16336 # 2 1 0 -110 70 180 | ||
| translation 1.85642 0.14128 2.09387 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/comau-smart5-six-10-157.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right Transform { | ||
| rotation 0.532254 0.760138 -0.372688 2.16336 # 2 1 0 110 70 180 | ||
| translation 1.85642 -0.14128 2.09387 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157.convex/comau-smart5-six-10-157.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF rml Transform { | ||
| children [ | ||
| Inline { | ||
| url "../comau-rml.convex/comau-rml.wrl" | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| <?xml version="1.0" encoding="UTF-8"?> | ||
| <rlsg xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="rlsg.xsd"> | ||
| <scene href="comau-rml-dual-arm.wrl"> | ||
| <model name="left"> | ||
| <body name="link0"/> | ||
| <body name="link1"/> | ||
| <body name="link2"/> | ||
| <body name="link3"/> | ||
| <body name="link4"/> | ||
| <body name="link5"/> | ||
| <body name="link6"/> | ||
| </model> | ||
| <model name="right"> | ||
| <body name="link0"/> | ||
| <body name="link1"/> | ||
| <body name="link2"/> | ||
| <body name="link3"/> | ||
| <body name="link4"/> | ||
| <body name="link5"/> | ||
| <body name="link6"/> | ||
| </model> | ||
| <model name="rml"> | ||
| <body name="link0"/> | ||
| <body name="link1"/> | ||
| </model> | ||
| </scene> | ||
| </rlsg> |
146 changes: 146 additions & 0 deletions
146
rlsg/comau-rml-dual-arm/comau-rml-dual-arm-combined.wrl
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,146 @@ | ||
| #VRML V2.0 utf8 | ||
| Transform { | ||
| children [ | ||
| DEF rml_link0 Transform { | ||
| children [ | ||
| Inline { | ||
| url "../comau-rml/link0.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF rml_link1 Transform { | ||
| translation 1.375 0 0 | ||
| children [ | ||
| Inline { | ||
| url "../comau-rml/link1.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link0 Transform { | ||
| translation 1.85642 0.14128 2.09387 | ||
| rotation -0.532254 0.760138 0.372688 2.16336 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link0.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link1 Transform { | ||
| translation 1.939791 0.3703399 1.8455218 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link1.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link2 Transform { | ||
| translation 2.1294134 0.89132303 1.6437299 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link2.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link3 Transform { | ||
| translation 2.1711946 1.0061159 1.5992672 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link3.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link4 Transform { | ||
| translation 2.0753009 0.74265009 0.82894486 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link4.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link5 Transform { | ||
| translation 2.0753009 0.74265009 0.82894486 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link5.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF left_link6 Transform { | ||
| translation 2.0518689 0.67827171 0.640715 | ||
| rotation -0.5322541 0.76013756 0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link6.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link0 Transform { | ||
| translation 1.85642 -0.14128 2.09387 | ||
| rotation 0.532254 0.760138 -0.372688 2.16336 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link0.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link1 Transform { | ||
| translation 1.939791 -0.3703399 1.8455218 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link1.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link2 Transform { | ||
| translation 2.1294134 -0.89132303 1.6437299 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link2.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link3 Transform { | ||
| translation 2.1711946 -1.0061159 1.5992672 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link3.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link4 Transform { | ||
| translation 2.0753009 -0.74265009 0.82894486 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link4.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link5 Transform { | ||
| translation 2.0753009 -0.74265009 0.82894486 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link5.wrl" | ||
| } | ||
| ] | ||
| } | ||
| DEF right_link6 Transform { | ||
| translation 2.0518689 -0.67827171 0.640715 | ||
| rotation 0.5322541 0.76013756 -0.37268829 2.1633592 | ||
| children [ | ||
| Inline { | ||
| url "../comau-smart5-six-10-157/link6.wrl" | ||
| } | ||
| ] | ||
| } | ||
| ] | ||
| } |
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