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XML files for Floating 3finger gripper #3

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XML files for Floating 3finger gripper #3

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51 changes: 51 additions & 0 deletions data/grasping_simulation.xml
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<?xml version="1.0" encoding="UTF-8"?>
<world>
<robot name="Hand" file="robots/3fingerhand.rob"/>
<terrain file="terrains/plane.off"/>

<simulation>
<globals maxContacts="10" robotSelfCollisions="1" adaptiveTimeStepping="0.1"/>
<object index="0">
<geometry padding="0.005"/>
</object>
<robot index="0" body="5">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.01" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="6">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="7">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="8">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="9">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="10">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="11">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="12">s
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="13">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="14">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="15">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="16">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
<robot index="0" body="17">
<geometry kFriction="1.0" kRestitution="0.0" padding="0.001" stiffness="2000000" damping="1000"/>
</robot>
</simulation>
</world>
90 changes: 90 additions & 0 deletions data/robots/3fingerhand.rob
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### 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
22 changes: 22 additions & 0 deletions data/robots/box_finger/box_finger.off
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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
47 changes: 47 additions & 0 deletions data/robots/box_finger/finger.rob
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### 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