From 9da3c63ea3f6ebe571c3d14b538a50a5d9c6e7da Mon Sep 17 00:00:00 2001 From: George Stavrinos Date: Wed, 17 Oct 2018 13:19:04 +0300 Subject: [PATCH 1/2] Added Schunk PG70 gripper, with two different contacts files --- models/robots/schunk_pg70/eigen/eigen.xml | 14 + .../robots/schunk_pg70/iv/pg70_base_link.iv | 52409 ++++++++++++++++ .../robots/schunk_pg70/iv/pg70_base_link.xml | 8 + .../schunk_pg70/iv/pg70_finger1_link.iv | 1808 + .../schunk_pg70/iv/pg70_finger1_link.xml | 8 + .../schunk_pg70/iv/pg70_finger2_link.iv | 1808 + .../schunk_pg70/iv/pg70_finger2_link.xml | 8 + models/robots/schunk_pg70/schunk_pg70.xml | 54 + .../schunk_pg70/schunk_pg70_min_contacts.xml | 54 + .../robots/schunk_pg70/virtual/contacts.xml | 285 + .../schunk_pg70/virtual/minimum_contacts.xml | 145 + 11 files changed, 56601 insertions(+) create mode 100644 models/robots/schunk_pg70/eigen/eigen.xml create mode 100644 models/robots/schunk_pg70/iv/pg70_base_link.iv create mode 100644 models/robots/schunk_pg70/iv/pg70_base_link.xml create mode 100644 models/robots/schunk_pg70/iv/pg70_finger1_link.iv create mode 100644 models/robots/schunk_pg70/iv/pg70_finger1_link.xml create mode 100644 models/robots/schunk_pg70/iv/pg70_finger2_link.iv create mode 100644 models/robots/schunk_pg70/iv/pg70_finger2_link.xml create mode 100644 models/robots/schunk_pg70/schunk_pg70.xml create mode 100644 models/robots/schunk_pg70/schunk_pg70_min_contacts.xml create mode 100644 models/robots/schunk_pg70/virtual/contacts.xml create mode 100644 models/robots/schunk_pg70/virtual/minimum_contacts.xml diff --git a/models/robots/schunk_pg70/eigen/eigen.xml b/models/robots/schunk_pg70/eigen/eigen.xml new file mode 100644 index 0000000000..a5a9f684bb --- /dev/null +++ b/models/robots/schunk_pg70/eigen/eigen.xml @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/models/robots/schunk_pg70/iv/pg70_base_link.iv b/models/robots/schunk_pg70/iv/pg70_base_link.iv new file mode 100644 index 0000000000..369bea6f50 --- /dev/null +++ b/models/robots/schunk_pg70/iv/pg70_base_link.iv @@ -0,0 +1,52409 @@ +#Inventor V2.1 ascii + + +DEF _pg70_base_link Separator { + + Separator { + + Transform { + translation -0 -0 -0 + rotation 0 0 1 0 + scaleFactor 1 1 1 + scaleOrientation 0 0 1 0 + + } + DEF _visual_0_pg70_base_link Separator { + + DEF Gripper_Schunk Separator { + + Transform { + translation 5.83816e-005 0.049030859 -0.00051178294 + rotation -1 0 0 1.5707964 + scaleFactor 1.0125 1 1.2179489 + + } + Separator { + + Material { + ambientColor 0.2 0.2 0.2 + diffuseColor 0.5 0.5 0.5 + specularColor 0 0 0 + emissiveColor 0 0 0 + shininess 0.2 + transparency 0 + + } + DEF Gripper_Schunk IndexedTriangleStripSet { + vertexProperty + VertexProperty { + vertex [ -30.475849 -56.51173 -26.7568, + -31.057631 -56.51173 -26.7568, + -30.352831 -56.51173 -27.21591, + -30.352831 -56.51173 -27.21591, + -31.057631 -56.51173 -26.7568, + -30.85667 -56.51173 -27.5068, + -30.352831 -56.51173 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-0.347 28.892 + 0.002 0 0 0 0.001 0 0 0 0.002 + pg70_base_link.iv + diff --git a/models/robots/schunk_pg70/iv/pg70_finger1_link.iv b/models/robots/schunk_pg70/iv/pg70_finger1_link.iv new file mode 100644 index 0000000000..ce3db1c10e --- /dev/null +++ b/models/robots/schunk_pg70/iv/pg70_finger1_link.iv @@ -0,0 +1,1808 @@ +#Inventor V2.1 ascii + + +DEF _pg70_finger1_link Separator { + + Material { + ambientColor 0.2 0.2 0.2 + diffuseColor 1 0 0 + transparency 0 + + } + Separator { + + MatrixTransform { + matrix 1 0 0 0 + 0 -1 0 0 + 0 0 -1 0 + 0 0 0 1 + + } + Cube { + width 30 + height 10 + depth 10 + + } + } + Separator { + + Transform { + translation -15 -45 2.5 + rotation 0.70710677 0 0.70710677 3.1415927 + scaleFactor 1 1 1 + scaleOrientation 0 0 1 0 + + } + DEF _visual_1_pg70_finger1_link Separator { + + DEF _ Separator { + + Transform { + translation 0 0 0 + rotation 0 0 1 0 + scaleFactor 1000 1000 1000 + + } + Material { + ambientColor 0.2 0.2 0.2 + diffuseColor 1 1 1 + 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b/models/robots/schunk_pg70/iv/pg70_finger1_link.xml @@ -0,0 +1,8 @@ + + + plastic + 1 + 0 0 0 + 1 0 0 0 1 0 0 0 1 + pg70_finger1_link.iv + diff --git a/models/robots/schunk_pg70/iv/pg70_finger2_link.iv b/models/robots/schunk_pg70/iv/pg70_finger2_link.iv new file mode 100644 index 0000000000..2885839c63 --- /dev/null +++ b/models/robots/schunk_pg70/iv/pg70_finger2_link.iv @@ -0,0 +1,1808 @@ +#Inventor V2.1 ascii + + +DEF _pg70_finger2_link Separator { + + Material { + ambientColor 0.2 0.2 0.2 + diffuseColor 1 0 0 + transparency 0 + + } + Separator { + + MatrixTransform { + matrix 1 0 0 0 + 0 1 0 0 + 0 0 1 0 + 0 0 0 1 + + } + Cube { + width 30 + height 10 + depth 10 + + } + } + Separator { + + Transform { + translation 15 45 2.5 + rotation 0 -1 0 1.5707964 + scaleFactor 1 1 1 + scaleOrientation 0 0 1 0 + + } + DEF _visual_1_pg70_finger2_link Separator { + + DEF _ Separator { + + Transform { + translation 0 0 0 + rotation 0 0 1 0 + scaleFactor 1000 1000 1000 + + } + Material { + 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file From 015513de03a9b6e89ddbaa308740693d31569f03 Mon Sep 17 00:00:00 2001 From: George Stavrinos Date: Thu, 18 Oct 2018 16:07:42 +0300 Subject: [PATCH 2/2] Fixed finger positions in min contacts version --- models/robots/schunk_pg70/schunk_pg70_min_contacts.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/models/robots/schunk_pg70/schunk_pg70_min_contacts.xml b/models/robots/schunk_pg70/schunk_pg70_min_contacts.xml index bf14e8436d..8c5f207269 100644 --- a/models/robots/schunk_pg70/schunk_pg70_min_contacts.xml +++ b/models/robots/schunk_pg70/schunk_pg70_min_contacts.xml @@ -19,7 +19,7 @@ - 0 76.5 40 + 0 47.5 40 1 0 0 0 -1 0 0 0 -1 @@ -35,7 +35,7 @@ - 0 76.5 -40 + 0 47.5 -40 1 0 0 0 1 0 0 0 1