add urdfs (part5)

2026-09-09 11:31:38 +08:00 · 2019-03-16 04:49:10 +01:00
parent d61b71d848
commit 25abd7be7d
741 changed files with 380855 additions and 0 deletions
@@ -0,0 +1,27 @@
+Copyright (c) 2013, EnricoMingo
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without modification,
+are permitted provided that the following conditions are met:
+
+  Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+  Redistributions in binary form must reproduce the above copyright notice, this
+  list of conditions and the following disclaimer in the documentation and/or
+  other materials provided with the distribution.
+
+  Neither the name of the {organization} nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
+ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Arm0.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00783643799997 -0.049178 0.0017515" rpy="1.86256225222 -1.09592858636 1.76731515433"/>
+      <geometry>
+        <cylinder radius="0.079599" length="0.00542136014502"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00783643800003 0.049178 0.0017515" rpy="-1.86256225222 -1.09592858636 -1.76731515433"/>
+      <geometry>
+        <cylinder radius="0.079599" length="0.00542136014502"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Arm1.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00580910624997 -0.0032445 -0.003419" rpy="0.552985339235 -0.0730953826544 3.12084255435"/>
+      <geometry>
+        <cylinder radius="0.0547674" length="0.0134796293232"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00580910625003 0.0032445 -0.003419" rpy="-0.552985339235 -0.0730953826544 -3.12084255435"/>
+      <geometry>
+        <cylinder radius="0.0547674" length="0.0134796293232"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Arm2.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00430111499997 -0.006696 -0.08463803" rpy="0.0242586357105 0.195631486985 -3.13921206457"/>
+      <geometry>
+        <cylinder radius="0.0571513" length="0.0978415550528"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00430111500003 0.006696 -0.08463803" rpy="-0.0242586357105 0.195631486985 3.13921206457"/>
+      <geometry>
+        <cylinder radius="0.0571513" length="0.0978415550528"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Elbow.STL">
+  <link name="1.00000_1.00000_1.00000">
+    <collision>
+      <origin xyz="-0.00636137 -0.000122973500001 -0.01132083" rpy="2.7016162375 0.222994565931 -1.1308199107"/>
+      <geometry>
+        <cylinder radius="0.0431983" length="0.0339393894282"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Forearm0.STL">
+  <link name="1.00000_1.00000_1.00000">
+    <collision>
+      <origin xyz="-0.006284315 -0.000863781500017 -0.0091406" rpy="0.0592526379928 0.0122259723087 -1.97764684523"/>
+      <geometry>
+        <cylinder radius="0.0626269" length="0.0496215841338"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Forearm1.STL">
+  <link name="0.00100_0.00100_0.00100">
+    <collision>
+      <origin xyz="0.005355755 0.0024572765 0.000422915499998" rpy="3.08901522746 1.54098175847 0.0525774261274"/>
+      <geometry>
+        <cylinder radius="0.0237975" length="0.0368262475311"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Forearm2.STL">
+  <link name="0.00100_0.00100_0.00100">
+    <collision>
+      <origin xyz="0.003050957 2.23779328401e-16 -0.00794705" rpy="-1.47736817796 -2.0682310711e-13 -1.57079632679"/>
+      <geometry>
+        <cylinder radius="0.0287441" length="0.0456425720165"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/ForearmOld.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.000205485000032 1.45000000011e-05 -0.070934" rpy="-0.000264584310412 -0.00017627035427 -3.14159263027"/>
+      <geometry>
+        <cylinder radius="0.0343464" length="0.139842007067"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Leg0.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00910030499999 -0.0462221 0.023993" rpy="1.0968387311 1.54795703172 -2.06497043563"/>
+      <geometry>
+        <cylinder radius="0.0501148" length="0.037608398472"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00910030500001 0.0462221 0.023993" rpy="-1.0968387311 1.54795703172 2.06497043563"/>
+      <geometry>
+        <cylinder radius="0.0501148" length="0.037608398472"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Leg1.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00445571499998 -0.00216775 -0.0296915" rpy="-0.0179278449804 0.108338944009 3.14062053473"/>
+      <geometry>
+        <cylinder radius="0.069314" length="0.0596180606672"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.00445571500002 0.00216775 -0.0296915" rpy="0.0179278449804 0.108338944009 -3.14062053473"/>
+      <geometry>
+        <cylinder radius="0.069314" length="0.0596180606672"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Leg2.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="0.00225776525001 0.0005286 -0.064165" rpy="-0.0327549625444 0.0475534115278 3.14081363208"/>
+      <geometry>
+        <cylinder radius="0.058131" length="0.0976947829434"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="0.00225776524999 -0.0005286 -0.064165" rpy="0.0327549625444 0.0475534115278 -3.14081363208"/>
+      <geometry>
+        <cylinder radius="0.058131" length="0.0976947829434"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Leg3.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.000523105999984 -0.00259805 -0.088466" rpy="3.13102412684 0.015500429667 -1.19683239087"/>
+      <geometry>
+        <cylinder radius="0.0608736" length="0.179775634922"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.000523106000016 0.00259805 -0.088466" rpy="-3.13102412684 0.015500429667 1.19683239087"/>
+      <geometry>
+        <cylinder radius="0.0608736" length="0.179775634922"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Leg4.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="0.000658891500017 -0.00757645 0.00183105" rpy="-1.26456004307 -1.22305546484 -2.1924905643"/>
+      <geometry>
+        <cylinder radius="0.0547565" length="0.00259602197714"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="0.000656335499983 0.0074793 0.0016633" rpy="1.2752438291 -1.23789722245 2.17042743835"/>
+      <geometry>
+        <cylinder radius="0.0548151" length="0.00319178118758"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/RoundFoot.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="0.02577663 -0.00402060000001 -0.0418466" rpy="-0.244627861954 1.17174387841 2.97880524468"/>
+      <geometry>
+        <cylinder radius="0.0820345" length="0.0651259105033"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="0.03937_-0.03937_0.03937">
+    <collision>
+      <origin xyz="0.02577663 0.00402059999999 -0.0418466" rpy="0.244627861954 1.17174387841 -2.97880524468"/>
+      <geometry>
+        <cylinder radius="0.0820345" length="0.0651259105033"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/SoftHandOpen.STL">
+  <link name="0.00100_0.00100_0.00100">
+    <collision>
+      <origin xyz="0.01249006 0.00211918 -0.0254188" rpy="-3.05665771363 0.676555643872 0.240409954571"/>
+      <geometry>
+        <cylinder radius="0.0843427" length="0.0586977011354"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="-0.00100_0.00100_0.00100">
+    <collision>
+      <origin xyz="0.01995553 -0.00244339 -0.025148475" rpy="0.105324525738 0.652450665716 0.0356618288453"/>
+      <geometry>
+        <cylinder radius="0.0841797" length="0.0598876835521"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Torso1.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-1.7454e-05 9.55711000419e-06 0.00124947" rpy="-0.0295245999415 0.576384381114 3.1328396521"/>
+      <geometry>
+        <cylinder radius="0.055065" length="0.00120753172937"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Torso2.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="2.3496e-05 5.00000041992e-08 0.00608047" rpy="1.57079632679 -0.0 -3.14159265359"/>
+      <geometry>
+        <cylinder radius="0.0514548" length="0.0381365"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Torso3.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.031894424 -0.000441961250002 0.12045097" rpy="0.0143206503408 0.258145802253 -3.13973388089"/>
+      <geometry>
+        <cylinder radius="0.127681" length="0.0590515270933"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/Waist.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="-0.033316845 1.75687099931e-05 0.0599415" rpy="3.14124868221 -0.455217322454 0.00148505249957"/>
+      <geometry>
+        <cylinder radius="0.0716302" length="0.110065467483"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/XtionBase.STL">
+  <link name="0.03937_0.03937_0.03937">
+    <collision>
+      <origin xyz="0.046035396 1.63655600137e-05 0.37605947" rpy="-3.14148651769 0.0528346053494 0.00401672585977"/>
+      <geometry>
+        <cylinder radius="0.080024" length="0.364608785575"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<robot name="/home/enrico/walkman/drc/IITComanRosPkg/coman_urdf/meshes/simple/XtionCamBody.STL">
+  <link name="0.00100_0.00100_0.00100">
+    <collision>
+      <origin xyz="-0.0025875 0.000179100000018 0.01613" rpy="1.57131237921 0.00179069987239 -3.13980102938"/>
+      <geometry>
+        <cylinder radius="0.0244478" length="0.155023269191"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
@@ -0,0 +1,27 @@
+This software is graciously provided by HumaRobotics under the Simplified BSD License.
+HumaRobotics is a trademark of Generation Robots
+
+Copyright (c) 2013, Generation Robots
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+1. Redistributions of source code must retain the above copyright notice, this
+list of conditions and the following disclaimer.
+2. Redistributions in binary form must reproduce the above copyright notice,
+this list of conditions and the following disclaimer in the documentation
+and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR
+ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
+The views and conclusions contained in the software and documentation are those
+of the authors and should not be interpreted as representing official policies,
+either expressed or implied, of the FreeBSD Project. 
--- a/Show More
+++ b/Show More