Skip to content

Link

Jump to bottom Edit New page
LL light edited this page Jul 12, 2024 · 3 revisions 
  <!-- 可视化类别定义 -->
  <default class="robot/visual">
    <geom type="mesh" contype="0" conaffinity="0" group="2" solref=".01 1" solimp=".99 .99 .01"/>
  </default>
  <!-- 检测碰撞类别定义 -->
  <default class="robot/collision">
    <geom type="mesh" group="3" solref=".01 1" solimp=".99 .99 .01"/>
  </default>
  <default class="gripper">
    <joint axis="0 0 1" type="slide" range="0 0.044"/>
  </default>
  <site size="0.001" rgba="0.5 0.5 0.5 0.3" group="4"/>
</default>

<!--  meshes -->
<mesh name="link0_1" file="link0_1.stl"/>
<mesh name="link0_2" file="link0_2.stl"/>
<mesh name="link1_1" file="link1_1.stl"/>
<mesh name="link1_2" file="link1_2.stl"/>
<mesh name="link2" file="link2.stl"/>
<mesh name="link3_1" file="link3_1.stl"/>
<mesh name="link3_2" file="link3_2.stl"/>
<mesh name="link3_3" file="link3_3.stl"/>
<mesh name="link4" file="link4.stl"/>
<mesh name="hand" file="hand.stl"/>
<mesh name="gripper_left" file="gripper_left.stl"/>
<mesh name="gripper_left_front" file="gripper_left_front.stl"/>
<mesh name="gripper_left_back" file="gripper_left_back.stl"/>
<mesh name="gripper_left_top" file="gripper_left_top.stl"/>
<mesh name="gripper_right" file="gripper_right.stl"/>
<mesh name="gripper_right_front" file="gripper_right_front.stl"/>
<mesh name="gripper_right_back" file="gripper_right_back.stl"/>
<mesh name="gripper_right_top" file="gripper_right_top.stl"/>

    <!-- link1检测碰撞部分 -->
    <geom mesh="link1_1" class="robot/collision"/>
    <geom mesh="link1_2" class="robot/collision" pos="-0.09012 0.4024 -0.2376"/>
    <!-- link2部分 -->
    <body name="link2" pos="0.19798 -0.08  0.34101">
      <inertial mass="4.4846" pos="1.5706E-05 0.28708 -0.037366" fullinertia="0.18786 0.010046 0.19031 0.00010246 5.4337E-07 0.0033934"/>
      <joint name="joint2" range="-1.0628 1.7628" axis="0 1 0"/>
      <!-- link2可视化部分 -->
      <geom material="light_green" mesh="link2" class="robot/visual"/>
      <!-- link2检测碰撞部分 -->
      <geom mesh="link2" class="robot/collision"/>
      <!-- link3部分 -->
      <body name="link3" pos="0 0.08 0.68199 ">
        <inertial mass="6.0773" pos="0.17575 0.010672 0.00026208" fullinertia="0.012862  0.22848  0.22996 -0.0030293 0.010416 0.00054706"/>
        <joint name="joint3" range="-1.0628 1.7628" axis="0 1 0"/>
        <!-- link3可视化部分 -->
        <geom mesh="link3_1" material="light_green" class="robot/visual"/>
        <geom mesh="link3_2" material="dark_grey" class="robot/visual" />
        <geom mesh="link3_3" material="dark_grey" class="robot/visual"/>
        <!-- link3检测碰撞部分 -->
        <geom mesh="link3_1" class="robot/collision"/>
        <geom mesh="link3_2" class="robot/collision" />
        <geom mesh="link3_3" class="robot/collision" />
        <!-- link4部分 -->
        <body name="link4" pos="0.79748 -0.0088 -0.045">
          <inertial mass="2.0291" pos="-0.027031 0.094887 0.2319" fullinertia="0.012242 0.010335 0.010241 0.001837 0.00012713 -0.0002243"/>
          <joint name="joint4"/>
          <!-- link4可视化部分 -->
          <geom mesh="link4" material="light_green" class="robot/visual"/>
          <!-- link4检测碰撞部分 -->
          <geom mesh="link4" class="robot/collision"/>
          <body name="hand" pos="0 0 -0.085">
            <inertial mass="0.73" pos="-0.0047 -0.0526 -0.00212" diaginertia="0.001 0.0025 0.0017"/>
            <geom mesh="hand" material="off_white" class="robot/visual"/>
            <geom mesh="hand" class="robot/collision"/>
            <body name="gripper_left">
              <inertial mass="0.015" pos="-0.0888 -0.082 -0.07244" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
              <joint name="gripper_joint1" class="gripper" axis="0 -1 0"/>
              <geom mesh="gripper_left_top" material="off_white" class="robot/visual"/>
              <geom mesh="gripper_left" material="off_white" class="robot/visual"/>
              <geom mesh="gripper_left_front" class="robot/collision"/>
              <geom mesh="gripper_left_back" class="robot/collision"/>
            </body>
            <body name="gripper_right">
              <inertial mass="0.015" pos="-0.0888 -0.082 0.07244" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
              <joint name="gripper_joint2" class="gripper" axis="0 1 0"/>
              <geom mesh="gripper_right_top" material="off_white" class="robot/visual"/>
              <geom mesh="gripper_right" material="off_white" class="robot/visual"/>
              <geom mesh="gripper_right_front" class="robot/collision"/>
              <geom mesh="gripper_right_back" class="robot/collision"/>
            </body>
          </body>
        </body>
      </body>
    </body>
  </body>
</body>

IKPY

yeah ooh

IKPy wiki

Clone this wiki locally