Merge pull request #24 from roboticslab-uc3m/hands-dextra

add TEO with dextra hands [ @jgagom thanks! ]
roboticslab-uc3m · Jul 16, 2018 · 34946a8 · 34946a8
2 parents 611f9ad + c7b851c
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diff --git a/openrave/teo/models/6.1^mano_abductor_links.wrl b/openrave/teo/models/6.1^mano_abductor_links.wrl
diff --git a/openrave/teo/models/6.1^mano_static_links.wrl b/openrave/teo/models/6.1^mano_static_links.wrl
diff --git a/openrave/teo/models/6.2^mano_abductor_links.wrl b/openrave/teo/models/6.2^mano_abductor_links.wrl
diff --git a/openrave/teo/models/6.2^mano_static_links.wrl b/openrave/teo/models/6.2^mano_static_links.wrl
diff --git a/openrave/teo/models/6.3^mano_proximal_links.wrl b/openrave/teo/models/6.3^mano_proximal_links.wrl
diff --git a/openrave/teo/models/6.3^mano_static_links.wrl b/openrave/teo/models/6.3^mano_static_links.wrl
diff --git a/openrave/teo/models/6.4^mano_middle_links.wrl b/openrave/teo/models/6.4^mano_middle_links.wrl
diff --git a/openrave/teo/models/6.5^mano_distal_links.wrl b/openrave/teo/models/6.5^mano_distal_links.wrl
diff --git a/openrave/teo/models/6.6^mano_proximalthumb_links.wrl b/openrave/teo/models/6.6^mano_proximalthumb_links.wrl
diff --git a/openrave/teo/models/6.7^mano_distalthumb_links.wrl b/openrave/teo/models/6.7^mano_distalthumb_links.wrl
diff --git a/openrave/teo/models/7.1^manoizq_static_links.wrl b/openrave/teo/models/7.1^manoizq_static_links.wrl
diff --git a/openrave/teo/models/muneca.wrl b/openrave/teo/models/muneca.wrl
diff --git a/openrave/teo/teo_dextra.robot.xml b/openrave/teo/teo_dextra.robot.xml
@@ -0,0 +1,141 @@
+<Robot name="teoSim">
+
+    <KinBody name="base">
+        <Body name="RootWaist" type="dynamic">
+            <Geom type="trimesh">
+                <Translation>0 0 0</Translation>
+                <rotationaxis>0 0 1 0</rotationaxis>
+                <Render>models/RootWaist_links.wrl</Render>
+                <collision>models/RootWaist_links.wrl</collision>
+            </Geom>
+            <Mass type="custom">
+                <density>1</density>
+            </Mass>
+        </Body>
+    </KinBody>
+
+    <!-- trunk -->
+    <KinBody name="trunk" file="teo_trunk.kinbody.xml" />
+
+    <!-- head -->
+    <KinBody name="head" file="teo_head.kinbody.xml" />
+
+    <!-- rightArm -->
+    <KinBody name="rightArm" file="teo_rightArm.kinbody.xml" />
+
+    <!-- rightHand -->
+    <KinBody name="rightHand" file="teo_dextraRightHand.kinbody.xml" />
+        <rotationaxis>0 1 1 90</rotationaxis>
+
+    <!-- leftArm -->
+    <KinBody name="leftArm" file="teo_leftArm.kinbody.xml" />
+
+    <!-- rightHand -->
+    <KinBody name="leftHand" file="teo_dextraLeftHand.kinbody.xml" />
+
+    <!-- rightLeg -->
+    <KinBody name="rightLeg" file="teo_rightLeg.kinbody.xml" />
+
+    <!-- leftLeg -->
+    <KinBody name="leftLeg" file="teo_leftLeg.kinbody.xml" />
+
+    <!-- Manipulators -->
+
+    <Manipulator name="trunk">
+        <effector>FrontalWaist</effector>   <!-- last link where end effector is attached-->
+        <base>RootWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <!-- <iksolver>MyTriDOFSolver</iksolver> -->
+        <Translation>0 0 0</Translation>
+    </Manipulator>
+
+    <Manipulator name="head">
+        <effector>FrontalNeck</effector>   <!-- last link where end effector is attached-->
+        <base>FrontalWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <!-- <iksolver>MyTriDOFSolver</iksolver> -->
+        <Translation>0 0 0</Translation>-->
+    </Manipulator>
+
+    <!-- ######## Grasping Manipulators: ##################################### 
+         ######## rightArm, trunkAndRightArm, leftArm, trunkAndLeftArm #######
+         #####################################################################-->
+    <Manipulator name="rightArm">
+        <effector>r1Man</effector>   <!-- last link where end effector is attached-->
+        <base>FrontalWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <!--iksolver>ik/rightArmIk.so</iksolver-->
+        <joints>thumbAbductorJoint RightThumbProximalJoint RightThumbDistalJoint RightIndexFingerProximalJoint RightIndexFingerMiddleJoint RightIndexFingerDistalJoint RightMiddleFingerProximalJoint RightMiddleFingerMiddleJoint RightMiddleFingerDistalJoint RightRingFingerProximalJoint RightRingFingerMiddleJoint RightRingFingerDistalJoint RightPinkyFingerProximalJoint RightPinkyFingerMiddleJoint RightPinkyFingerDistalJoint</joints>
+        <direction>0 0 1</direction>
+        <Translation>0 0 0</Translation>
+        <rotationaxis>0 1 1 90</rotationaxis>
+        <closingdirection>-30 -50 -30 -50 -30 -50</closingdirection>
+    </Manipulator>
+
+    <Manipulator name="trunkAndRightArm">
+        <effector>r1Man</effector>   <!-- last link where end effector is attached-->
+        <base>RootWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <!--iksolver>ik/rightArmTrunkIk.so</iksolver-->
+        <joints>thumbAbductorJoint RightThumbProximalJoint RightThumbDistalJoint RightIndexFingerProximalJoint RightIndexFingerMiddleJoint RightIndexFingerDistalJoint RightMiddleFingerProximalJoint RightMiddleFingerMiddleJoint RightMiddleFingerDistalJoint RightRingFingerProximalJoint RightRingFingerMiddleJoint RightRingFingerDistalJoint RightPinkyFingerProximalJoint RightPinkyFingerMiddleJoint RightPinkyFingerDistalJoint</joints>
+        <direction>0 0 1</direction>
+        <Translation>0 0 0</Translation>
+        <rotationaxis>0 1 1 180</rotationaxis>
+        <closingdirection>-30 -50 -30 -50 -30 -50</closingdirection>
+    </Manipulator>
+
+    <Manipulator name="leftArm">
+        <effector>r2Man</effector>   <!-- last link where end effector is attached-->
+        <base>FrontalWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <!--iksolver>ik/leftArmIk.so</iksolver-->
+        <joints>leftthumbAbductorJoint leftThumbProximalJoint leftThumbDistalJoint leftIndexFingerProximalJoint leftIndexFingerMiddleJoint leftIndexFingerDistalJoint leftMiddleFingerProximalJoint leftMiddleFingerMiddleJoint leftMiddleFingerDistalJoint leftRingFingerProximalJoint leftRingFingerMiddleJoint leftRingFingerDistalJoint leftPinkyFingerProximalJoint leftPinkyFingerMiddleJoint leftPinkyFingerDistalJoint</joints>
+        <direction>0 0 -1</direction>
+        <Translation>0 0 -0.2</Translation>
+        <closingdirection>-30 -50 -30 -50 -30 -50</closingdirection>
+        <Translation>0 0 0</Translation>
+    </Manipulator>
+
+    <Manipulator name="trunkAndLeftArm">
+        <effector>r2Man</effector>   <!-- last link where end effector is attached-->
+        <base>RootWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->    
+        <!--iksolver>ik/leftArmTrunkIk.so</iksolver-->
+        <joints>leftthumbAbductorJoint leftThumbProximalJoint leftThumbDistalJoint leftIndexFingerProximalJoint leftIndexFingerMiddleJoint leftIndexFingerDistalJoint leftMiddleFingerProximalJoint leftMiddleFingerMiddleJoint leftMiddleFingerDistalJoint leftRingFingerProximalJoint leftRingFingerMiddleJoint leftRingFingerDistalJoint leftPinkyFingerProximalJoint leftPinkyFingerMiddleJoint leftPinkyFingerDistalJoint</joints>
+        <direction>0 0 -1</direction>
+        <Translation>0 0 -0.2</Translation>
+        <closingdirection>-30 -50 -30 -50 -30 -50</closingdirection>
+        <!-- <iksolver>MyTriDOFSolver</iksolver> -->
+    </Manipulator>
+
+    <Manipulator name="rightLeg">
+        <effector>r5Man</effector>   <!-- last link where end effector is attached-->
+        <base>RootWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <Translation>0 0 0</Translation>
+    </Manipulator>
+
+    <Manipulator name="leftLeg">
+        <effector>r6Man</effector>   <!-- last link where end effector is attached-->
+        <base>RootWaist</base>           <!-- base link-->
+        <!-- the id of the inverse kinematics solver, it is not necessary to-->
+        <!-- specify an ik solver for every robot. But if there is one,-->
+        <!-- use iksolver field to identity it.-->
+        <Translation>0 0 0</Translation>
+    </Manipulator>
+
+</Robot>