diff --git a/data/grasping_simulation.xml b/data/grasping_simulation.xml new file mode 100644 index 0000000..6c29c73 --- /dev/null +++ b/data/grasping_simulation.xml @@ -0,0 +1,51 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + s + + + + + + + + + + + + + + + + + + + diff --git a/data/robots/3fingerhand.rob b/data/robots/3fingerhand.rob new file mode 100644 index 0000000..193dc28 --- /dev/null +++ b/data/robots/3fingerhand.rob @@ -0,0 +1,90 @@ +### Kinematics of the Robotiq gripper ### +TParent 1 0 0 0 1 0 0 0 1 0 0 0 \ + 1 0 0 0 1 0 0 0 1 0 0 0 \ + 1 0 0 0 1 0 0 0 1 0 0 0 \ + 1 0 0 0 1 0 0 0 1 0 0 0 \ + 1 0 0 0 1 0 0 0 1 0 0 0 \ + 1 0 0 0 1 0 0 0 1 0 0 0 \ + 0 0 -1 0 -1 0 -1 0 0 0.037 0.044 0.00 \ + 0 0 -1 0 -1 0 -1 0 0 -0.037 0.044 0.00 \ + 0 0 1 0 1 0 -1 0 0 0.0 -0.044 0.00 + +# 0 1 0 1 0 0 0 0 -1 0 0 0.05\ + +parents -1 0 1 2 3 4 5 5 5 +axis 1 0 0 0 1 0 0 0 1 0 0 1 0 1 0 1 0 0 0 1 0 0 1 0 0 1 0 +jointtype p p p r r r r r r +qMin -inf -inf -inf -inf -inf -inf 0 0 0 +qMax inf inf inf inf inf inf 0 0 0 +velMaxDeg inf inf inf inf inf inf 0 0 0 +accMaxDeg inf inf inf inf inf inf 0 0 0 +qDeg 0 0 0 0 0 0 0 0 0 +geometry "" "" "" "" "" "RobotiQ/palm0.off" "RobotiQ/link0.off" "RobotiQ/link0.off" "RobotiQ/link0.off" + + +#geomscale 0.1 1 1 1 +torqueMax 500 500 500 50 50 50 0 0 0 + +mass 0.1 0.1 0.1 0.1 0.1 1 0.15 0.15 0.15 +automass +#inertia m.offx [7300 0 -650 +# 0 8800 0 +# -650 0 7000]kg*mm^2 + +#joint floating 5 -1 +joint normal 0 +joint normal 1 +joint normal 2 +joint spin 3 +joint spin 4 +joint spin 5 + +joint weld 8 +joint weld 6 +joint weld 7 + +mount 8 "box_finger/finger.rob" 1 0 0 0 1 0 0 0 1 0.018 0.0008 0 as "thumb" +mount 6 "box_finger/finger.rob" 1 0 0 0 1 0 0 0 1 0.018 0.0008 0 as "finger1" +mount 7 "box_finger/finger.rob" 1 0 0 0 1 0 0 0 1 0.018 0.0008 0 as "finger2" + + +#scissor 1 to scissor 2 +noselfcollision 6 7 +#scissor 1 to scissor 3 +noselfcollision 6 8 +#scissor 2 to scissor 3 +noselfcollision 7 8 + +#finger 1 +noselfcollision 5 12 #palm +noselfcollision 6 13 6 14 #scissor 1 +noselfcollision 7 12 7 13 7 14 #scissor 2 +noselfcollision 8 12 8 13 8 14 #scissor 3 +#finger 2 +noselfcollision 5 15 #palm +noselfcollision 5 17 #palm +noselfcollision 5 16 #palm +noselfcollision 7 16 7 17 #scissor 2 +noselfcollision 6 15 6 16 6 17 #scissor 1 +noselfcollision 8 15 8 16 8 17 #scissor 3 +#finger 3 +noselfcollision 5 9 #palm +noselfcollision 8 9 8 10 8 11 #scissor 3 +noselfcollision 6 9 6 10 6 11 #scissor 1 +noselfcollision 7 9 7 10 7 11 #scissor 2 + +#proximal to distal joints, all fingers +noselfcollision 9 11 12 14 15 17 + +driver normal 0 +driver normal 1 +driver normal 2 +driver normal 3 +driver normal 4 +driver normal 5 + +servoP 5000 5000 5000 500 500 500 +servoI 10 10 10 .5 .5 .5 +servoD 100 100 100 10 10 10 +viscousFriction 50 50 50 50 50 50 +dryFriction 1 1 1 1 1 1 \ No newline at end of file diff --git a/data/robots/box_finger/box_finger.off b/data/robots/box_finger/box_finger.off new file mode 100644 index 0000000..efc4965 --- /dev/null +++ b/data/robots/box_finger/box_finger.off @@ -0,0 +1,22 @@ +OFF +8 12 0 +0.000000 -0.150000 -0.080000 +0.000000 -0.150000 0.00000 +0.000000 0.150000 -0.080000 +0.000000 0.150000 0.00000 +0.500000 -0.150000 -0.080000 +0.500000 -0.150000 0.00000 +0.500000 0.150000 -0.080000 +0.500000 0.150000 0.00000 +3 0 1 3 +3 0 3 2 +3 4 6 7 +3 4 7 5 +3 0 4 5 +3 0 5 1 +3 2 3 7 +3 2 7 6 +3 0 2 6 +3 0 6 4 +3 1 5 7 +3 1 7 3 diff --git a/data/robots/box_finger/finger.rob b/data/robots/box_finger/finger.rob new file mode 100644 index 0000000..adea992 --- /dev/null +++ b/data/robots/box_finger/finger.rob @@ -0,0 +1,47 @@ +### Kinematics of the Robotiq gripper fingerThumb ### + +#Denavit-Hartenberg parameters. Alpha and theta are in degrees, d and a are in mm +#thetaDeg -29.61 0 29.61 +#d 0 0.1 0.1 +#a 0 0.057150 0.038940 +#alphaDeg 0 0 0 +TParent 0.8694087071436382 0.0 0.49409361455378836 -0.49409361455378836 0.0 0.8694087071436382 0.0 -1.0 0.0 0.000 0.0008 0.0 \ + 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 0.05 0.0 0.\ + 1.0 0.0 0.0 0.0 1.0 0.0 0.0 0.0 1.0 0.05 0.0 0. \ +#0.8694087071436382 0.49409361455378836 0.0 -0.49409361455378836 0.8694087071436382 0.0 0.0 0.0 1.0 0.018 0.0008 0.0 \ + +#scaled 0.8694087071436382 -0.49409361455378836 0.0 0.49409361455378836 0.8694087071436382 0.0 0.0 0.0 1.0 0.1168200 0.0 -0.008 +#geomtransform 1 1 0 0 0 0 1 0 0 0 0 1 0 +#geomtransform 2 1 0 0 0 0 1 0 0 0 0 0.1 0 +#rotational axes +geomscale 0.1 0.1 0.1 +axis 0 -1 0 0 -1 0 0 -1 0 + +#index of parent link +parents -1 0 1 + +#min and max joint values, in degrees +qMinDeg -5.39 0 -54.61 +qMaxDeg 64.61 90 43.39 + +#velocity maxima, in degrees +velMaxDeg 90 90 90 + +#acceration maxima, in degrees +accMaxDeg 180 180 180 + +#initial configuration, in degrees +qDeg -5.39 0 0.0 + +#geometry files +geometry "box_finger.off" "box_finger.off" "box_finger.off" + +mass 0.3 0.3 0.3 +automass +torqueMax 10 10 10 + +servoP 50 50 50 +servoD 0 0 0 +servoI 10 10 10 +dryFriction 0.05 0.05 0.05 +viscousFriction 2 2 2