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This commit is contained in:
Michael Zechmair
2022-05-05 11:47:36 +02:00
commit 7084a1caf1
27 changed files with 371234 additions and 0 deletions
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42
arm_1dof/demo_human_col/meshes/distal.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 4
newmtl mymaterial.024
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.031
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.034
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.035
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/distal.obj Normal file
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arm_1dof/demo_human_col/meshes/forearm.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 2
newmtl mymaterial.037
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.038
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/forearm.obj Normal file
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arm_1dof/demo_human_col/meshes/hand.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 13
newmtl mymaterial.008
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
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Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.010
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.011
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.012
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
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newmtl mymaterial.013
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Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.014
Ns 225.000000
Ka 1.000000 1.000000 1.000000
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Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
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newmtl mymaterial.016
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
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Ni 1.450000
d 1.000000
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Ns 225.000000
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Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
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Ns 225.000000
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Ni 1.450000
d 1.000000
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newmtl mymaterial.019
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
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Ni 1.450000
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illum 2
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Ns 225.000000
Ka 1.000000 1.000000 1.000000
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Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.044
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
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Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/hand.obj Normal file
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arm_1dof/demo_human_col/meshes/hand_col.dae Normal file
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arm_1dof/demo_human_col/meshes/middle.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 4
newmtl mymaterial.023
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.025
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.027
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.033
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/middle_col.dae Normal file
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arm_1dof/demo_human_col/meshes/proximal.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 4
newmtl mymaterial.022
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.026
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
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illum 2
newmtl mymaterial.030
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Ka 1.000000 1.000000 1.000000
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Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
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newmtl mymaterial.032
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/proximal.obj Normal file
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arm_1dof/demo_human_col/meshes/proximal_col.dae Normal file
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arm_1dof/demo_human_col/meshes/skeleton.dae Normal file
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arm_1dof/demo_human_col/meshes/skeleton.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 6
newmtl mymaterial
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.001
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Ka 1.000000 1.000000 1.000000
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Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.002
Ns 225.000000
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Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.004
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2
newmtl mymaterial.040
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Ka 1.000000 1.000000 1.000000
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Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
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Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/skeleton.obj Normal file
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arm_1dof/demo_human_col/meshes/thumb_1.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 1
newmtl mymaterial.015
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/thumb_2.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 1
newmtl mymaterial.021
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/thumb_2.obj Normal file
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arm_1dof/demo_human_col/meshes/thumb_3.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 1
newmtl mymaterial.020
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/thumb_3.obj Normal file
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arm_1dof/demo_human_col/meshes/upper_arm.mtl Normal file
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# Blender MTL File: 'skeleton_combined_fingers.blend'
# Material Count: 1
newmtl mymaterial.003
Ns 225.000000
Ka 1.000000 1.000000 1.000000
Kd 0.800000 0.800000 0.800000
Ks 0.500000 0.500000 0.500000
Ke 0.000000 0.000000 0.000000
Ni 1.450000
d 1.000000
illum 2

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arm_1dof/demo_human_col/meshes/upper_arm.obj Normal file
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arm_1dof/demo_human_col/model.config Normal file
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<?xml version="1.0"?>
<model>
<name>Demonstrator Human Model</name>
<version>1.0</version>
<sdf version='1.5'>skeleton.sdf</sdf>
<author>
<name>Michael Zechmair</name>
<email>m.zechmair@maastrichtuniversity.nl</email>
</author>
<description>
Upper half of human skeleton with actuated right arm, hand, and fingers. Fingers are joined together
</description>
</model>

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arm_1dof/demo_human_col/skeleton.sdf Normal file
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<?xml version='1.0'?>
<sdf version="1.5">
<model name="skeleton">
<pose>0 0 0 0 -0 0</pose>
<link name="skeleton">
<pose>-0.02371838688850403 -0.006475403904914856 1.7455708980560303 1.5707963705062866 -0.0 0.0</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.20000000298023224</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 -1.5757 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/skeleton.dae</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 -1.5757 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/skeleton.dae</uri></mesh>
</geometry>
</collision>
</link>
<link name="upper_arm">
<pose>-0.017282448709011078 -0.1665889173746109 1.6547614336013794 1.5707963705062866 -0.0 0.0</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/upper_arm.obj</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/upper_arm.obj</uri></mesh>
</geometry>
</collision>
</link>
<link name="forearm">
<pose>-0.015147986821830273 -0.19349825382232666 1.3854427337646484 1.5707963705062866 -0.0 0.0</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/forearm.obj</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/forearm.obj</uri></mesh>
</geometry>
</collision>
</link>
<link name="hand">
<pose>0.00017236836720257998 -0.22414515912532806 1.2197521924972534 1.5707963705062866 -0.0 0.0</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/hand.obj</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/hand_col.dae</uri></mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<link name="thumb_1">
<pose>0.01882072165608406 -0.2590509057044983 1.2172046899795532 1.5707963705062866 -0.0 0.0</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/thumb_1.obj</uri></mesh>
</geometry>
</visual>
<!--<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/thumb_1.obj</uri></mesh>
</geometry>
</collision>-->
</link>
<link name="thumb_2">
<pose>0.035507991909980774 -0.2781006395816803 1.1910896301269531 1.5707963705062866 2.980238988925521e-08 -3.7253098383871475e-09</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/thumb_2.obj</uri></mesh>
</geometry>
</visual>
<!--<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/thumb_2.obj</uri></mesh>
</geometry>
</collision>-->
</link>
<link name="thumb_3">
<pose>0.04606077820062637 -0.29002290964126587 1.1742767095565796 1.5381336212158203 -0.012799005955457687 -0.015970906242728233</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/thumb_3.obj</uri></mesh>
</geometry>
</visual>
<!--<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/thumb_3.obj</uri></mesh>
</geometry>
</collision>-->
</link>
<link name="proximal">
<pose>0.004435993731021881 -0.23311419785022736 1.1511282920837402 1.5707964897155762 0.049396030604839325 1.5318446511258799e-09</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/proximal.obj</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/proximal_col.dae</uri></mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<link name="middle">
<pose>0.01475201454013586 -0.23537978529930115 1.1197322607040405 1.5707963705062866 -0.12925152480602264 -1.8796277034827114e-10</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/middle.obj</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/middle_col.dae</uri></mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<link name="distal">
<pose>0.024000873789191246 -0.2371281534433365 1.1017308235168457 1.5707963705062866 -0.14935961365699768 4.265647834955644e-09</pose>
<inertial>
<inertia>
<ixx>0.0001</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.0001</iyy>
<iyz>0</iyz>
<izz>0.0001</izz>
</inertia>
<mass>0.19999998807907104</mass>
</inertial>
<visual name="visual">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/distal.obj</uri></mesh>
</geometry>
</visual>
<collision name="collision">
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh><uri>model://demo_human_col/meshes/distal.obj</uri></mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>10</mu>
<mu2>10</mu2>
</ode>
</friction>
</surface>
</collision>
</link>
<!-- <joint name="world_root" type="fixed">
<parent>world</parent>
<child>skeleton</child>
</joint> -->
<joint name="shoulder_joint" type="revolute">
<parent>skeleton</parent>
<child>upper_arm</child>
<pose>-0.0002625510096549988 0.1382385492324829 0.0034110769629478455 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.1</lower>
<upper>0.7853981852531433</upper>
</limit>
</axis>
<dynamics>
<spring_reference>0.4</spring_reference>
<spring_stiffness>20</spring_stiffness>
<damping>4</damping>
</dynamics>
</joint>
<joint name="elbow_joint" type="revolute">
<parent>upper_arm</parent>
<child>forearm</child>
<pose>0.003702986752614379 0.11655723303556442 -0.035798244178295135 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<upper>1.5707963705062866</upper>
</limit>
</axis>
<dynamics>
<spring_reference>0.2</spring_reference>
<spring_stiffness>5</spring_stiffness>
<damping>1</damping>
</dynamics>
</joint>
<joint name="hand_joint_1" type="fixed">
<parent>forearm</parent>
<child>hand</child>
<pose>-0.003728454699739814 0.04303407669067383 -0.002157732844352722 5.479091100824007e-07 -4.2146872658577195e-08 -1.570796251296997</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<upper>1.5707963705062866</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>10</spring_stiffness>
<damping>1</damping>
</dynamics>
</axis>
</joint>
<joint name="proximal_joint" type="revolute">
<parent>hand</parent>
<child>proximal</child>
<pose>-0.006849215365946293 0.01723306067287922 -0.006170365028083324 0.18470512330532074 -0.15172354876995087 -1.2801685333251953</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<!-- <upper>2.268928028</upper> -->
<upper>2.0</upper>
</limit>
<dynamics>
<spring_reference>2.0</spring_reference>
<spring_stiffness>0.5</spring_stiffness>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<joint name="thumb_joint_01" type="fixed">
<parent>hand</parent>
<child>thumb_1</child>
<pose>-0.01046721264719963 0.01605987548828125 -0.016701191663742065 -2.392087459564209 -0.6794252395629883 -0.9853883385658264</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>-0.7853981852531433</lower>
<upper>0.7853981852531433</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>1</spring_stiffness>
<damping>0.1</damping>
</dynamics>
</axis>
</joint>
<joint name="thumb_joint_12" type="fixed">
<parent>thumb_1</parent>
<child>thumb_2</child>
<pose>-0.007540013175457716 0.013107539154589176 -0.009685487486422062 -1.7563650608062744 -0.576974093914032 -1.0101017951965332</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<upper>1.5707963705062866</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>1</spring_stiffness>
<damping>0.1</damping>
</dynamics>
</axis>
</joint>
<joint name="thumb_joint_23" type="fixed">
<parent>thumb_2</parent>
<child>thumb_3</child>
<pose>-0.004397843033075333 0.006628620438277721 -0.00488283671438694 -1.7522913217544556 -0.5405974984169006 -1.0248005390167236</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<upper>1.5707963705062866</upper>
</limit>
<dynamics>
<spring_reference>0</spring_reference>
<spring_stiffness>1</spring_stiffness>
<damping>0.1</damping>
</dynamics>
</axis>
</joint>
<joint name="middle_joint" type="revolute">
<parent>proximal</parent>
<child>middle</child>
<pose>-0.005126905627548695 0.008538579568266869 -0.001958192093297839 0.18470518290996552 -0.1517234593629837 -1.4588162899017334</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<upper>1.5707963705062866</upper>
</limit>
<dynamics>
<spring_reference>1.57</spring_reference>
<spring_stiffness>0.5</spring_stiffness>
<damping>0.1</damping>
</dynamics>
</axis>
</joint>
<joint name="distal_joint" type="revolute">
<parent>middle</parent>
<child>distal</child>
<pose>-0.0028767052572220564 0.0012630047276616096 -0.0008793922024779022 0.18470518290996552 -0.1517234444618225 -1.4789243936538696</pose>
<axis>
<xyz>0 0 1</xyz>
<limit>
<lower>0.0</lower>
<upper>1.5707963705062866</upper>
</limit>
<dynamics>
<spring_reference>1.57</spring_reference>
<spring_stiffness>0.5</spring_stiffness>
<damping>0.01</damping>
</dynamics>
</axis>
</joint>
<plugin name="CapMaterial" filename="ModelCapacitivePropertiesPlugin.so">
<RelativePermittivity>100000.0</RelativePermittivity>
<!-- <CylLength></CylLength>
<CylRadius></CylRadius>
<NumWedges></NumWedges> -->
</plugin>
</model>
</sdf>

238
arm_1dof/demo_human_col/skeleton.urdf Normal file
View File

@@ -0,0 +1,238 @@
<?xml version="1.0" ?>
<robot name="skeleton">
<joint name="skeleton__shoulder_joint" type="revolute">
<parent link="skeleton__skeleton"/>
<child link="skeleton__upper_arm"/>
<origin xyz="-0.01754 -0.17 1.793" rpy="1.59151 1.57079 0.02072"/>
<axis xyz="0 0 1"/>
<limit lower="-0.1" upper="0.7853981852531433" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__elbow_joint" type="revolute">
<parent link="skeleton__upper_arm"/>
<child link="skeleton__forearm"/>
<origin xyz="0.29099 0.0061 -0.0123" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__hand_joint_1" type="fixed">
<parent link="skeleton__forearm"/>
<child link="skeleton__hand"/>
<origin xyz="0.23921 0.00788 0.06428" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__proximal_joint" type="revolute">
<parent link="skeleton__hand"/>
<child link="skeleton__proximal"/>
<origin xyz="0.0941 0.002 0.00495" rpy="0.1847 -0.15172 0.24123"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="2.0" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__thumb_joint_01" type="fixed">
<parent link="skeleton__hand"/>
<child link="skeleton__thumb_1"/>
<origin xyz="0.02952 0.01191 0.02036" rpy="-2.39208 -0.67942 0.5854"/>
<axis xyz="0 0 1"/>
<limit lower="-0.7853981852531433" upper="0.7853981852531433" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__thumb_joint_12" type="fixed">
<parent link="skeleton__thumb_1"/>
<child link="skeleton__thumb_2"/>
<origin xyz="0.04365 0.00098 0.00148" rpy="0.61859 -0.06067 0.08498"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__thumb_joint_23" type="fixed">
<parent link="skeleton__thumb_2"/>
<child link="skeleton__thumb_3"/>
<origin xyz="0.03175 0.0012 -0.00069" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__middle_joint" type="revolute">
<parent link="skeleton__proximal"/>
<child link="skeleton__middle"/>
<origin xyz="0.04285 0 0" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<joint name="skeleton__distal_joint" type="revolute">
<parent link="skeleton__middle"/>
<child link="skeleton__distal"/>
<origin xyz="0.02734 0.00572 -0.00241" rpy="0 0 0"/>
<axis xyz="0 0 1"/>
<limit lower="0.0" upper="1.5707963705062866" effort="0.0" velocity="0.0"/>
</joint>
<link name="skeleton__skeleton">
<inertial>
<mass value="0.20000000298023224"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="-0.02371 -0.00647 1.74557" rpy="-0.0049 0 0"/>
<geometry>
<mesh filename="package://meshes/skeleton.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="-0.02371 -0.00647 1.74557" rpy="-0.0049 0 0"/>
<geometry>
<mesh filename="package://meshes/skeleton.dae" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__upper_arm">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="0.13823 0.00026 -0.00341" rpy="0 0 1.57079"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/upper_arm.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="0.13823 0.00026 -0.00341" rpy="0 0 1.57079"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/upper_arm.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__forearm">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="0.11655 -0.0037 0.03579" rpy="0 0 1.57079"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/forearm.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="0.11655 -0.0037 0.03579" rpy="0 0 1.57079"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/forearm.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__hand">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="0.04303 0.00372 0.00215" rpy="0 0 1.57079"/>
<geometry>
<mesh filename="package://meshes/hand_col.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="0.04303 0.00372 0.00215" rpy="0 0 1.57079"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/hand.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__thumb_1">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual name="skeleton__visual">
<origin xyz="0.0254 -0.00053 -0.00079" rpy="-3.1294 -0.96488 -0.71552"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/thumb_1.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__thumb_2">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual name="skeleton__visual">
<origin xyz="0.01794 0.00023 -0.00055" rpy="1.91061 -1.08836 0.28141"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/thumb_2.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__thumb_3">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<visual name="skeleton__visual">
<origin xyz="0.00932 -0.00015 0.00029" rpy="1.91527 -1.09474 0.23923"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/thumb_3.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__proximal">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="0.01919 0.0022 0.00295" rpy="0.09206 0.2203 1.27627"/>
<geometry>
<mesh filename="package://meshes/proximal_col.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="0.01919 0.0022 0.00295" rpy="0.09206 0.2203 1.27627"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/proximal.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__middle">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="0.00925 0.00417 -0.0002" rpy="0.13008 0.20044 1.45783"/>
<geometry>
<mesh filename="package://meshes/middle_col.dae" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="0.00925 0.00417 -0.0002" rpy="0.13008 0.20044 1.45783"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/middle.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
<link name="skeleton__distal">
<inertial>
<mass value="0.19999998807907104"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
</inertial>
<collision name="skeleton__collision">
<origin xyz="0.00163 0.00281 0.00012" rpy="0.1341 0.1978 1.47817"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/distal.obj" scale="1.0 1.0 1.0"/>
</geometry>
</collision>
<visual name="skeleton__visual">
<origin xyz="0.00163 0.00281 0.00012" rpy="0.1341 0.1978 1.47817"/>
<geometry>
<mesh filename="package://demo_human_col/meshes/distal.obj" scale="1.0 1.0 1.0"/>
</geometry>
</visual>
</link>
</robot>