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Kashu7100 commited on
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1 Parent(s): 651f681

vis

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Files changed (6) hide show
  1. README.md +2 -2
  2. manipulators/agilex_piper/vis/Piper_collision.png +3 -0
  3. manipulators/agilex_piper/vis/Piper_visual.png +3 -0
  4. manipulators/trossen_wx250s/vis/WidowX250_collision.png +3 -0
  5. manipulators/trossen_wx250s/vis/WidowX250_visual.png +3 -0
  6. manipulators/trossen_wx250s/wx250s.xml +11 -11
README.md CHANGED
@@ -32,8 +32,8 @@ Our Top-1 Principle: We must make it SUPER EASY to use.
32
  | Robot Name | Vis | Col | Robot Name | Vis | Col |
33
  |---|---|---|---|---|---|
34
  | `Panda` | <img src="manipulators/franka_panda/vis/Panda_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/Panda_collision.png" width="250"/> | `UR5eRobotiq85` | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_visual.png" width="250"/> | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_collision.png" width="250"/> |
35
- | `PandaRobotiq85` | <img src="manipulators/franka_panda/vis/PandaRobotiq85_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/PandaRobotiq85_collision.png" width="250"/> |
36
-
37
 
38
  ### Humanoids
39
 
 
32
  | Robot Name | Vis | Col | Robot Name | Vis | Col |
33
  |---|---|---|---|---|---|
34
  | `Panda` | <img src="manipulators/franka_panda/vis/Panda_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/Panda_collision.png" width="250"/> | `UR5eRobotiq85` | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_visual.png" width="250"/> | <img src="manipulators/universal_ur5e/vis/UR5eRobotiq85_collision.png" width="250"/> |
35
+ | `PandaRobotiq85` | <img src="manipulators/franka_panda/vis/PandaRobotiq85_visual.png" width="250"/> | <img src="manipulators/franka_panda/vis/PandaRobotiq85_collision.png" width="250"/> | | | |
36
+ | `WidowX250` | <img src="manipulators/trossen_wx250s/vis/WidowX250_visual.png" width="250"/> | <img src="manipulators/trossen_wx250s/vis/WidowX250_collision.png" width="250"/> | `Piper` | <img src="manipulators/agilex_piper/vis/Piper_visual.png" width="250"/> | <img src="manipulators/agilex_piper/vis/Piper_collision.png" width="250"/> |
37
 
38
  ### Humanoids
39
 
manipulators/agilex_piper/vis/Piper_collision.png ADDED

Git LFS Details

  • SHA256: 5a11fb89bb8d1754482fa4e8d18dca6dbfa1e9f0a030d1fc2c3b068b3e0f871d
  • Pointer size: 130 Bytes
  • Size of remote file: 73.8 kB
manipulators/agilex_piper/vis/Piper_visual.png ADDED

Git LFS Details

  • SHA256: 921d0aed35a878b162bcd56c4d57c155018fec33855baf436a15e3562d1ceb03
  • Pointer size: 130 Bytes
  • Size of remote file: 85.4 kB
manipulators/trossen_wx250s/vis/WidowX250_collision.png ADDED

Git LFS Details

  • SHA256: d0c4452cf50647cc4433a6edcacdb361be29d68ee32cd2cb1844bf1eec2a74b8
  • Pointer size: 130 Bytes
  • Size of remote file: 72.8 kB
manipulators/trossen_wx250s/vis/WidowX250_visual.png ADDED

Git LFS Details

  • SHA256: b26225b6cd5e45e05d532246fe019d8c6e5de6551682ca7957e165b29a751936
  • Pointer size: 130 Bytes
  • Size of remote file: 71.8 kB
manipulators/trossen_wx250s/wx250s.xml CHANGED
@@ -36,43 +36,43 @@
36
  </default>
37
 
38
  <worldbody>
39
- <light mode="targetbodycom" target="wx250s/gripper_link" pos="1 0 1"/>
40
- <body name="wx250s/base_link" childclass="wx250s">
41
  <inertial pos="-0.0380446 0.000613892 0.0193354" quat="0.509292 0.490887 -0.496359 0.503269" mass="0.538736"
42
  diaginertia="0.00252518 0.00211519 0.000690737"/>
43
  <geom quat="1 0 0 1" mesh="wx250s_1_base" class="visual"/>
44
  <geom quat="1 0 0 1" mesh="wx250s_1_base" class="collision"/>
45
- <body name="wx250s/shoulder_link" pos="0 0 0.072">
46
  <inertial pos="2.23482e-05 4.14609e-05 0.0066287" quat="0.0130352 0.706387 0.012996 0.707586" mass="0.480879"
47
  diaginertia="0.000588946 0.000555655 0.000378999"/>
48
  <joint name="waist" axis="0 0 1" range="-3.14158 3.14158"/>
49
  <geom pos="0 0 -0.003" quat="1 0 0 1" mesh="wx250s_2_shoulder" class="visual"/>
50
  <geom pos="0 0 -0.003" quat="1 0 0 1" mesh="wx250s_2_shoulder" class="collision"/>
51
- <body name="wx250s/upper_arm_link" pos="0 0 0.03865">
52
  <inertial pos="0.0171605 2.725e-07 0.191323" quat="0.705539 0.0470667 -0.0470667 0.705539" mass="0.430811"
53
  diaginertia="0.00364425 0.003463 0.000399348"/>
54
  <joint name="shoulder" range="-1.88496 1.98968"/>
55
  <geom quat="1 0 0 1" mesh="wx250s_3_upper_arm" class="visual"/>
56
  <geom quat="1 0 0 1" mesh="wx250s_3_upper_arm" class="collision"/>
57
- <body name="wx250s/upper_forearm_link" pos="0.04975 0 0.25">
58
  <inertial pos="0.107963 0.000115876 0" quat="0.000980829 0.707106 -0.000980829 0.707106" mass="0.234589"
59
  diaginertia="0.000888 0.000887807 3.97035e-05"/>
60
  <joint name="elbow" range="-2.14675 1.6057"/>
61
  <geom mesh="wx250s_4_upper_forearm" class="visual"/>
62
  <geom mesh="wx250s_4_upper_forearm" class="collision"/>
63
- <body name="wx250s/lower_forearm_link" pos="0.175 0 0">
64
  <inertial pos="0.0374395 0.00522252 0" quat="-0.0732511 0.703302 0.0732511 0.703302" mass="0.220991"
65
  diaginertia="0.0001834 0.000172527 5.88633e-05"/>
66
  <joint name="forearm_roll" axis="1 0 0" range="-3.14158 3.14158"/>
67
  <geom quat="0 1 0 0" mesh="wx250s_5_lower_forearm" class="visual"/>
68
  <geom quat="0 1 0 0" mesh="wx250s_5_lower_forearm" class="collision"/>
69
- <body name="wx250s/wrist_link" pos="0.075 0 0">
70
  <inertial pos="0.04236 -1.0663e-05 0.010577" quat="0.608721 0.363497 -0.359175 0.606895" mass="0.084957"
71
  diaginertia="3.29057e-05 3.082e-05 2.68343e-05"/>
72
  <joint name="wrist_angle" axis="0 1 0" range="-1.74533 2.14675"/>
73
  <geom quat="1 0 0 1" mesh="wx250s_6_wrist" class="visual"/>
74
  <geom quat="1 0 0 1" mesh="wx250s_6_wrist" class="collision"/>
75
- <body name="wx250s/gripper_link" pos="0.065 0 0">
76
  <inertial pos="0.0325296 4.2061e-07 0.0090959" quat="0.546081 0.419626 0.62801 0.362371"
77
  mass="0.110084" diaginertia="0.00307592 0.00307326 0.0030332"/>
78
  <joint name="wrist_rotate" axis="1 0 0" range="-3.14158 3.14158"/>
@@ -80,7 +80,7 @@
80
  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_7_gripper" class="collision"/>
81
  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_9_gripper_bar" class="visual"/>
82
  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_9_gripper_bar" class="collision"/>
83
- <body name="wx250s/left_finger_link" pos="0.066 0 0">
84
  <inertial pos="0.013816 0 0" quat="0.705384 0.705384 -0.0493271 -0.0493271" mass="0.016246"
85
  diaginertia="4.79509e-06 3.7467e-06 1.48651e-06"/>
86
  <joint name="left_finger" axis="0 1 0" type="slide" range="0.01 0.037"/>
@@ -88,7 +88,7 @@
88
  <geom type="box" size=".017 .004 .006" pos="0.0275 -0.006 -0.006" rgba="1 0 0 1" class="collision"/>
89
  <geom type="box" size=".017 .004 .006" pos="0.0275 -0.006 0.006" rgba="1 0 0 1" class="collision"/>
90
  </body>
91
- <body name="wx250s/right_finger_link" pos="0.066 0 0">
92
  <inertial pos="0.013816 0 0" quat="0.705384 0.705384 0.0493271 0.0493271" mass="0.016246"
93
  diaginertia="4.79509e-06 3.7467e-06 1.48651e-06"/>
94
  <joint name="right_finger" axis="0 1 0" type="slide" range="-0.037 -0.01"/>
@@ -106,7 +106,7 @@
106
  </worldbody>
107
 
108
  <contact>
109
- <exclude body1="wx250s/base_link" body2="wx250s/shoulder_link"/>
110
  </contact>
111
 
112
  <equality>
 
36
  </default>
37
 
38
  <worldbody>
39
+ <light mode="targetbodycom" target="gripper_link" pos="1 0 1"/>
40
+ <body name="base_link" childclass="wx250s">
41
  <inertial pos="-0.0380446 0.000613892 0.0193354" quat="0.509292 0.490887 -0.496359 0.503269" mass="0.538736"
42
  diaginertia="0.00252518 0.00211519 0.000690737"/>
43
  <geom quat="1 0 0 1" mesh="wx250s_1_base" class="visual"/>
44
  <geom quat="1 0 0 1" mesh="wx250s_1_base" class="collision"/>
45
+ <body name="shoulder_link" pos="0 0 0.072">
46
  <inertial pos="2.23482e-05 4.14609e-05 0.0066287" quat="0.0130352 0.706387 0.012996 0.707586" mass="0.480879"
47
  diaginertia="0.000588946 0.000555655 0.000378999"/>
48
  <joint name="waist" axis="0 0 1" range="-3.14158 3.14158"/>
49
  <geom pos="0 0 -0.003" quat="1 0 0 1" mesh="wx250s_2_shoulder" class="visual"/>
50
  <geom pos="0 0 -0.003" quat="1 0 0 1" mesh="wx250s_2_shoulder" class="collision"/>
51
+ <body name="upper_arm_link" pos="0 0 0.03865">
52
  <inertial pos="0.0171605 2.725e-07 0.191323" quat="0.705539 0.0470667 -0.0470667 0.705539" mass="0.430811"
53
  diaginertia="0.00364425 0.003463 0.000399348"/>
54
  <joint name="shoulder" range="-1.88496 1.98968"/>
55
  <geom quat="1 0 0 1" mesh="wx250s_3_upper_arm" class="visual"/>
56
  <geom quat="1 0 0 1" mesh="wx250s_3_upper_arm" class="collision"/>
57
+ <body name="upper_forearm_link" pos="0.04975 0 0.25">
58
  <inertial pos="0.107963 0.000115876 0" quat="0.000980829 0.707106 -0.000980829 0.707106" mass="0.234589"
59
  diaginertia="0.000888 0.000887807 3.97035e-05"/>
60
  <joint name="elbow" range="-2.14675 1.6057"/>
61
  <geom mesh="wx250s_4_upper_forearm" class="visual"/>
62
  <geom mesh="wx250s_4_upper_forearm" class="collision"/>
63
+ <body name="lower_forearm_link" pos="0.175 0 0">
64
  <inertial pos="0.0374395 0.00522252 0" quat="-0.0732511 0.703302 0.0732511 0.703302" mass="0.220991"
65
  diaginertia="0.0001834 0.000172527 5.88633e-05"/>
66
  <joint name="forearm_roll" axis="1 0 0" range="-3.14158 3.14158"/>
67
  <geom quat="0 1 0 0" mesh="wx250s_5_lower_forearm" class="visual"/>
68
  <geom quat="0 1 0 0" mesh="wx250s_5_lower_forearm" class="collision"/>
69
+ <body name="wrist_link" pos="0.075 0 0">
70
  <inertial pos="0.04236 -1.0663e-05 0.010577" quat="0.608721 0.363497 -0.359175 0.606895" mass="0.084957"
71
  diaginertia="3.29057e-05 3.082e-05 2.68343e-05"/>
72
  <joint name="wrist_angle" axis="0 1 0" range="-1.74533 2.14675"/>
73
  <geom quat="1 0 0 1" mesh="wx250s_6_wrist" class="visual"/>
74
  <geom quat="1 0 0 1" mesh="wx250s_6_wrist" class="collision"/>
75
+ <body name="gripper_link" pos="0.065 0 0">
76
  <inertial pos="0.0325296 4.2061e-07 0.0090959" quat="0.546081 0.419626 0.62801 0.362371"
77
  mass="0.110084" diaginertia="0.00307592 0.00307326 0.0030332"/>
78
  <joint name="wrist_rotate" axis="1 0 0" range="-3.14158 3.14158"/>
 
80
  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_7_gripper" class="collision"/>
81
  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_9_gripper_bar" class="visual"/>
82
  <geom pos="-0.02 0 0" quat="1 0 0 1" mesh="wx250s_9_gripper_bar" class="collision"/>
83
+ <body name="left_finger_link" pos="0.066 0 0">
84
  <inertial pos="0.013816 0 0" quat="0.705384 0.705384 -0.0493271 -0.0493271" mass="0.016246"
85
  diaginertia="4.79509e-06 3.7467e-06 1.48651e-06"/>
86
  <joint name="left_finger" axis="0 1 0" type="slide" range="0.01 0.037"/>
 
88
  <geom type="box" size=".017 .004 .006" pos="0.0275 -0.006 -0.006" rgba="1 0 0 1" class="collision"/>
89
  <geom type="box" size=".017 .004 .006" pos="0.0275 -0.006 0.006" rgba="1 0 0 1" class="collision"/>
90
  </body>
91
+ <body name="right_finger_link" pos="0.066 0 0">
92
  <inertial pos="0.013816 0 0" quat="0.705384 0.705384 0.0493271 0.0493271" mass="0.016246"
93
  diaginertia="4.79509e-06 3.7467e-06 1.48651e-06"/>
94
  <joint name="right_finger" axis="0 1 0" type="slide" range="-0.037 -0.01"/>
 
106
  </worldbody>
107
 
108
  <contact>
109
+ <exclude body1="base_link" body2="shoulder_link"/>
110
  </contact>
111
 
112
  <equality>