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Merge pull request #49 from mpetersen94/prm_comparison_update
PRM comparison update
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| /bazel-* | ||
| /build/ | ||
| /cmake-build-*/ | ||
| /data/ | ||
| /.vscode | ||
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| models/room_gen/building.sdf | ||
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| Original file line number | Diff line number | Diff line change |
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| # Model directive for iiwa with sphere collision and welded gripper | ||
| directives: | ||
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| # Add iiwa | ||
| - add_model: | ||
| name: iiwa | ||
| file: package://drake/manipulation/models/iiwa_description/urdf/iiwa14_spheres_collision.urdf | ||
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| - add_weld: | ||
| parent: world | ||
| child: iiwa::base | ||
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| # Add schunk | ||
| - add_model: | ||
| name: wsg | ||
| file: package://drake/manipulation/models/wsg_50_description/sdf/schunk_wsg_50_welded_fingers.sdf | ||
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| - add_frame: | ||
| name: iiwa::wsg_attach | ||
| X_PF: | ||
| base_frame: iiwa::iiwa_link_7 | ||
| translation: [0, 0, 0.114] | ||
| rotation: !Rpy { deg: [90.0, 0.0, 0.0 ]} | ||
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| - add_weld: | ||
| parent: iiwa::wsg_attach | ||
| child: wsg::body | ||
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| # Add shelves | ||
| - add_model: | ||
| name: shelves | ||
| file: package://gcs/models/shelves/shelves.sdf | ||
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| - add_frame: | ||
| name: shelf_origin | ||
| X_PF: | ||
| base_frame: world | ||
| translation: [0.85, 0, 0.4] | ||
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| - add_weld: | ||
| parent: shelf_origin | ||
| child: shelves::shelves_body | ||
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| # Add Bins | ||
| - add_model: | ||
| name: binR | ||
| file: package://gcs/models/bin/bin.sdf | ||
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| - add_frame: | ||
| name: bin_originR | ||
| X_PF: | ||
| base_frame: world | ||
| translation: [0, -0.6, 0] | ||
| rotation: !Rpy { deg: [0.0, 0.0, 90.0 ]} | ||
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| - add_weld: | ||
| parent: bin_originR | ||
| child: binR::bin_base | ||
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| - add_model: | ||
| name: binL | ||
| file: package://gcs/models/bin/bin.sdf | ||
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| - add_frame: | ||
| name: bin_originL | ||
| X_PF: | ||
| base_frame: world | ||
| translation: [0, 0.6, 0] | ||
| rotation: !Rpy { deg: [0.0, 0.0, 90.0 ]} | ||
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| - add_weld: | ||
| parent: bin_originL | ||
| child: binL::bin_base | ||
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| # Add table | ||
| - add_model: | ||
| name: table | ||
| file: package://gcs/models/table/table_wide.sdf | ||
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| - add_frame: | ||
| name: table_origin | ||
| X_PF: | ||
| base_frame: world | ||
| translation: [0.4, 0.0, 0.0] | ||
| rotation: !Rpy { deg: [0., 0., 00]} | ||
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| - add_weld: | ||
| parent: table_origin | ||
| child: table::table_body |
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208 changes: 208 additions & 0 deletions
208
models/schunk_wsg_50_welded_fingers_sphere_collision.sdf
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,208 @@ | ||
| <?xml version="1.0"?> | ||
| <!-- This sdf file is based on schunk_wsg_50.sdf --> | ||
| <sdf version="1.7"> | ||
| <model name="Schunk_Gripper"> | ||
| <link name="body"> | ||
| <pose>0 -0.049133 0 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.988882</mass> | ||
| <inertia> | ||
| <ixx>0.162992</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.162992</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.164814</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <kinematic>0</kinematic> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <scale>1 1 1</scale> | ||
| <uri>package://drake_models/wsg_50_description/meshes/wsg_body.obj</uri> | ||
| </mesh> | ||
| </geometry> | ||
| <material> | ||
| <diffuse>0.7 0.7 0.7 1</diffuse> | ||
| </material> | ||
| </visual> | ||
| <collision name='sphere1'> | ||
| <pose>0.02 0 0.0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.05</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name='sphere2'> | ||
| <pose>-0.02 0 0.0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.05</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name='sphere3'> | ||
| <pose>-0.045 0.005 0.0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.05</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name='sphere4'> | ||
| <pose>0.045 0.005 0.0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.05</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <frame name="body_frame"> | ||
| <pose relative_to="body"/> | ||
| </frame> | ||
| <link name="left_finger"> | ||
| <pose>-0.06 0.028 0 0 3.141592 0</pose> | ||
| <inertial> | ||
| <mass>0.05</mass> | ||
| <inertia> | ||
| <ixx>0.16</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <kinematic>0</kinematic> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <scale>1 1 1</scale> | ||
| <uri>package://drake_models/wsg_50_description/meshes/finger_without_tip.obj</uri> | ||
| </mesh> | ||
| </geometry> | ||
| <material> | ||
| <diffuse>0.2 0.2 0.2 1</diffuse> | ||
| </material> | ||
| </visual> | ||
| <collision name="sphere1"> | ||
| <pose>0.005 -0.02 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.018</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere2"> | ||
| <pose>0.005 -0.01 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.017</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere3"> | ||
| <pose>0.002 0.005 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.014</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere4"> | ||
| <pose>0.00 0.02 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.01</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere5"> | ||
| <pose>0.00 0.032 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.011</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <link name="right_finger"> | ||
| <pose>0.06 0.028 0 0 0 0</pose> | ||
| <inertial> | ||
| <mass>0.05</mass> | ||
| <inertia> | ||
| <ixx>0.16</ixx> | ||
| <ixy>0</ixy> | ||
| <ixz>0</ixz> | ||
| <iyy>0.16</iyy> | ||
| <iyz>0</iyz> | ||
| <izz>0.16</izz> | ||
| </inertia> | ||
| </inertial> | ||
| <kinematic>0</kinematic> | ||
| <visual name="visual"> | ||
| <geometry> | ||
| <mesh> | ||
| <scale>1 1 1</scale> | ||
| <uri>package://drake_models/wsg_50_description/meshes/finger_without_tip.obj</uri> | ||
| </mesh> | ||
| </geometry> | ||
| <material> | ||
| <diffuse>0.2 0.2 0.2 1</diffuse> | ||
| </material> | ||
| </visual> | ||
| <collision name="sphere1"> | ||
| <pose>0.005 -0.02 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.018</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere2"> | ||
| <pose>0.005 -0.01 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.017</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere3"> | ||
| <pose>0.002 0.005 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.014</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere4"> | ||
| <pose>0.00 0.02 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.01</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| <collision name="sphere5"> | ||
| <pose>0.00 0.032 0 0 0 0</pose> | ||
| <geometry> | ||
| <sphere> | ||
| <radius>0.011</radius> | ||
| </sphere> | ||
| </geometry> | ||
| </collision> | ||
| </link> | ||
| <joint name="left_finger_sliding_joint" type="fixed"> | ||
| <parent>body</parent> | ||
| <child>left_finger</child> | ||
| </joint> | ||
| <joint name="right_finger_sliding_joint" type="fixed"> | ||
| <parent>body</parent> | ||
| <child>right_finger</child> | ||
| </joint> | ||
| <static>0</static> | ||
| </model> | ||
| </sdf> |
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