little sophia face now loads through urdf->glb pipeline
parent
06a44e91eb
commit
e27b8d9132
|
|
@ -3,11 +3,16 @@ import { OrbitControls } from 'three/examples/jsm/controls/OrbitControls.js';
|
|||
//import URDFLoader from './urdf/ExtendedURDFLoader.js';
|
||||
import { createRotationSector, createAngleIndicator, createJointLabel } from './JointVisualiser.js';
|
||||
import ExtendedURDFLoader from './urdf/ExtendedURDFLoader.js';
|
||||
import { OBJLoader } from 'three/examples/jsm/loaders/OBJLoader.js';
|
||||
import { MTLLoader } from 'three/examples/jsm/loaders/MTLLoader.js';
|
||||
import { GLTFLoader } from 'three/examples/jsm/loaders/GLTFLoader.js';
|
||||
|
||||
const gltfLoader = new GLTFLoader();
|
||||
|
||||
|
||||
export class URDFEditor {
|
||||
constructor(canvas, urdfPath = './urdf/sample.urdf') {
|
||||
constructor(canvas) {
|
||||
this.canvas = canvas;
|
||||
this.urdfPath = urdfPath;
|
||||
|
||||
this.scene = new THREE.Scene();
|
||||
this.scene.background = new THREE.Color(0xaaaaaa);
|
||||
|
|
@ -47,13 +52,52 @@ export class URDFEditor {
|
|||
this.jointAngles = {};
|
||||
|
||||
this.loader = new ExtendedURDFLoader();
|
||||
this.loader.packages = { '': './urdf/' };
|
||||
this.loader.loadMeshCb = (path, manager, onComplete) => {
|
||||
if (path.endsWith('.glb') || path.endsWith('.gltf')) {
|
||||
const gltfLoader = new GLTFLoader(manager);
|
||||
gltfLoader.load(path, (gltf) => {
|
||||
onComplete(gltf.scene);
|
||||
});
|
||||
} else {
|
||||
// fall back to default behavior (STL, DAE)
|
||||
URDFLoader.prototype.loadMeshCb.call(this.loader, path, manager, onComplete);
|
||||
}
|
||||
};
|
||||
|
||||
this.loader.packages = {
|
||||
'Little_Sophia_Face': '/robots/LittleSophia'
|
||||
};
|
||||
this.loader.parseVisual = true;
|
||||
this.loader.parseCollision = false;
|
||||
|
||||
this.setupScene();
|
||||
this.loadURDF();
|
||||
this.setupEvents();
|
||||
|
||||
|
||||
|
||||
// Add some lights (optional if using MeshBasicMaterial)
|
||||
const ambient = new THREE.AmbientLight(0x404040);
|
||||
this.scene.add(ambient);
|
||||
const dirLight = new THREE.DirectionalLight(0xffffff, 1);
|
||||
dirLight.position.set(5, 5, 5);
|
||||
this.scene.add(dirLight);
|
||||
|
||||
// this.mesh = null;
|
||||
// gltfLoader.load('meshes/Little_Sophia.glb', (gltf) => {
|
||||
// const model = gltf.scene;
|
||||
// model.scale.set(0.001, 0.001, 0.001); // adjust if needed
|
||||
// model.rotation.y = Math.PI; // radians (180°)
|
||||
// this.scene.add(model);
|
||||
|
||||
// // Optional: fit camera to model
|
||||
// const box = new THREE.Box3().setFromObject(model);
|
||||
// const center = box.getCenter(new THREE.Vector3());
|
||||
// const size = box.getSize(new THREE.Vector3()).length();
|
||||
// });
|
||||
|
||||
|
||||
this.animate();
|
||||
}
|
||||
|
||||
setupScene() {
|
||||
|
|
@ -71,6 +115,8 @@ export class URDFEditor {
|
|||
}
|
||||
|
||||
async loadURDF() {
|
||||
this.urdfPath = '/robots/LittleSophia/urdf/LittleSophia.urdf';
|
||||
|
||||
const urdfText = await fetch(this.urdfPath).then(res => res.text());
|
||||
const robot = await this.loader.loadFromString(urdfText);
|
||||
|
||||
|
|
@ -81,8 +127,6 @@ export class URDFEditor {
|
|||
for (const jointName in this.robot.joints) {
|
||||
console.log(jointName, this.robot.joints[jointName].transmission);
|
||||
}
|
||||
|
||||
this.animate();
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -109,6 +153,8 @@ export class URDFEditor {
|
|||
this.mouse.y = -(event.clientY / this.canvas.clientHeight) * 2 + 1;
|
||||
|
||||
this.raycaster.setFromCamera(this.mouse, this.camera);
|
||||
|
||||
if (!this.robot) return;
|
||||
const intersects = this.raycaster.intersectObjects(this.robot.children, true);
|
||||
|
||||
if (this.isDragging && this.draggedJoint && this.worldAxis) {
|
||||
|
|
@ -224,6 +270,7 @@ export class URDFEditor {
|
|||
this.drawJointOverlay(); // ✅ fixed overlay
|
||||
//console.log(this.robot.joints)
|
||||
this.renderer.render(this.scene, this.camera);
|
||||
//console.log(this.mesh);
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -305,3 +352,15 @@ function getJointLimits(jointName, robot) {
|
|||
function getJointTransmission(jointName, robot) {
|
||||
return robot.joints[jointName].transmission;
|
||||
}
|
||||
|
||||
function loadObjWithMtl(objPath, mtlPath, onLoad) {
|
||||
const mtlLoader = new MTLLoader();
|
||||
mtlLoader.load(mtlPath, (materials) => {
|
||||
materials.preload();
|
||||
const objLoader = new OBJLoader();
|
||||
objLoader.setMaterials(materials);
|
||||
objLoader.load(objPath, (object) => {
|
||||
onLoad(object);
|
||||
});
|
||||
});
|
||||
}
|
||||
|
|
|
|||
|
|
@ -2,30 +2,48 @@
|
|||
"hash": "9696e02b",
|
||||
"configHash": "e103e9de",
|
||||
"lockfileHash": "8d45ad8a",
|
||||
"browserHash": "8e3e062d",
|
||||
"browserHash": "43e9bdf0",
|
||||
"optimized": {
|
||||
"three": {
|
||||
"src": "../../three/build/three.module.js",
|
||||
"file": "three.js",
|
||||
"fileHash": "acdec5e5",
|
||||
"fileHash": "b96af8a1",
|
||||
"needsInterop": false
|
||||
},
|
||||
"three/examples/jsm/controls/OrbitControls.js": {
|
||||
"src": "../../three/examples/jsm/controls/OrbitControls.js",
|
||||
"file": "three_examples_jsm_controls_OrbitControls__js.js",
|
||||
"fileHash": "c1a4f949",
|
||||
"fileHash": "950816ee",
|
||||
"needsInterop": false
|
||||
},
|
||||
"three/examples/jsm/loaders/ColladaLoader.js": {
|
||||
"src": "../../three/examples/jsm/loaders/ColladaLoader.js",
|
||||
"file": "three_examples_jsm_loaders_ColladaLoader__js.js",
|
||||
"fileHash": "dcb1087e",
|
||||
"fileHash": "05327708",
|
||||
"needsInterop": false
|
||||
},
|
||||
"three/examples/jsm/loaders/STLLoader.js": {
|
||||
"src": "../../three/examples/jsm/loaders/STLLoader.js",
|
||||
"file": "three_examples_jsm_loaders_STLLoader__js.js",
|
||||
"fileHash": "618ff280",
|
||||
"fileHash": "99c8920d",
|
||||
"needsInterop": false
|
||||
},
|
||||
"three/examples/jsm/loaders/OBJLoader.js": {
|
||||
"src": "../../three/examples/jsm/loaders/OBJLoader.js",
|
||||
"file": "three_examples_jsm_loaders_OBJLoader__js.js",
|
||||
"fileHash": "88fd3969",
|
||||
"needsInterop": false
|
||||
},
|
||||
"three/examples/jsm/loaders/MTLLoader.js": {
|
||||
"src": "../../three/examples/jsm/loaders/MTLLoader.js",
|
||||
"file": "three_examples_jsm_loaders_MTLLoader__js.js",
|
||||
"fileHash": "880a49cf",
|
||||
"needsInterop": false
|
||||
},
|
||||
"three/examples/jsm/loaders/GLTFLoader.js": {
|
||||
"src": "../../three/examples/jsm/loaders/GLTFLoader.js",
|
||||
"file": "three_examples_jsm_loaders_GLTFLoader__js.js",
|
||||
"fileHash": "16bba6e6",
|
||||
"needsInterop": false
|
||||
}
|
||||
},
|
||||
|
|
|
|||
2695
node_modules/.vite/deps/three_examples_jsm_loaders_GLTFLoader__js.js
generated
vendored
Normal file
2695
node_modules/.vite/deps/three_examples_jsm_loaders_GLTFLoader__js.js
generated
vendored
Normal file
File diff suppressed because it is too large
Load Diff
7
node_modules/.vite/deps/three_examples_jsm_loaders_GLTFLoader__js.js.map
generated
vendored
Normal file
7
node_modules/.vite/deps/three_examples_jsm_loaders_GLTFLoader__js.js.map
generated
vendored
Normal file
File diff suppressed because one or more lines are too long
319
node_modules/.vite/deps/three_examples_jsm_loaders_MTLLoader__js.js
generated
vendored
Normal file
319
node_modules/.vite/deps/three_examples_jsm_loaders_MTLLoader__js.js
generated
vendored
Normal file
|
|
@ -0,0 +1,319 @@
|
|||
import {
|
||||
Color,
|
||||
ColorManagement,
|
||||
DefaultLoadingManager,
|
||||
FileLoader,
|
||||
FrontSide,
|
||||
Loader,
|
||||
LoaderUtils,
|
||||
MeshPhongMaterial,
|
||||
RepeatWrapping,
|
||||
SRGBColorSpace,
|
||||
TextureLoader,
|
||||
Vector2
|
||||
} from "./chunk-5P7KF7VS.js";
|
||||
|
||||
// node_modules/three/examples/jsm/loaders/MTLLoader.js
|
||||
var MTLLoader = class extends Loader {
|
||||
constructor(manager) {
|
||||
super(manager);
|
||||
}
|
||||
/**
|
||||
* Starts loading from the given URL and passes the loaded MTL asset
|
||||
* to the `onLoad()` callback.
|
||||
*
|
||||
* @param {string} url - The path/URL of the file to be loaded. This can also be a data URI.
|
||||
* @param {function(MaterialCreator)} onLoad - Executed when the loading process has been finished.
|
||||
* @param {onProgressCallback} onProgress - Executed while the loading is in progress.
|
||||
* @param {onErrorCallback} onError - Executed when errors occur.
|
||||
*/
|
||||
load(url, onLoad, onProgress, onError) {
|
||||
const scope = this;
|
||||
const path = this.path === "" ? LoaderUtils.extractUrlBase(url) : this.path;
|
||||
const loader = new FileLoader(this.manager);
|
||||
loader.setPath(this.path);
|
||||
loader.setRequestHeader(this.requestHeader);
|
||||
loader.setWithCredentials(this.withCredentials);
|
||||
loader.load(url, function(text) {
|
||||
try {
|
||||
onLoad(scope.parse(text, path));
|
||||
} catch (e) {
|
||||
if (onError) {
|
||||
onError(e);
|
||||
} else {
|
||||
console.error(e);
|
||||
}
|
||||
scope.manager.itemError(url);
|
||||
}
|
||||
}, onProgress, onError);
|
||||
}
|
||||
/**
|
||||
* Sets the material options.
|
||||
*
|
||||
* @param {MTLLoader~MaterialOptions} value - The material options.
|
||||
* @return {MTLLoader} A reference to this loader.
|
||||
*/
|
||||
setMaterialOptions(value) {
|
||||
this.materialOptions = value;
|
||||
return this;
|
||||
}
|
||||
/**
|
||||
* Parses the given MTL data and returns the resulting material creator.
|
||||
*
|
||||
* @param {string} text - The raw MTL data as a string.
|
||||
* @param {string} path - The URL base path.
|
||||
* @return {MaterialCreator} The material creator.
|
||||
*/
|
||||
parse(text, path) {
|
||||
const lines = text.split("\n");
|
||||
let info = {};
|
||||
const delimiter_pattern = /\s+/;
|
||||
const materialsInfo = {};
|
||||
for (let i = 0; i < lines.length; i++) {
|
||||
let line = lines[i];
|
||||
line = line.trim();
|
||||
if (line.length === 0 || line.charAt(0) === "#") {
|
||||
continue;
|
||||
}
|
||||
const pos = line.indexOf(" ");
|
||||
let key = pos >= 0 ? line.substring(0, pos) : line;
|
||||
key = key.toLowerCase();
|
||||
let value = pos >= 0 ? line.substring(pos + 1) : "";
|
||||
value = value.trim();
|
||||
if (key === "newmtl") {
|
||||
info = { name: value };
|
||||
materialsInfo[value] = info;
|
||||
} else {
|
||||
if (key === "ka" || key === "kd" || key === "ks" || key === "ke") {
|
||||
const ss = value.split(delimiter_pattern, 3);
|
||||
info[key] = [parseFloat(ss[0]), parseFloat(ss[1]), parseFloat(ss[2])];
|
||||
} else {
|
||||
info[key] = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
const materialCreator = new MaterialCreator(this.resourcePath || path, this.materialOptions);
|
||||
materialCreator.setCrossOrigin(this.crossOrigin);
|
||||
materialCreator.setManager(this.manager);
|
||||
materialCreator.setMaterials(materialsInfo);
|
||||
return materialCreator;
|
||||
}
|
||||
};
|
||||
var MaterialCreator = class {
|
||||
constructor(baseUrl = "", options = {}) {
|
||||
this.baseUrl = baseUrl;
|
||||
this.options = options;
|
||||
this.materialsInfo = {};
|
||||
this.materials = {};
|
||||
this.materialsArray = [];
|
||||
this.nameLookup = {};
|
||||
this.crossOrigin = "anonymous";
|
||||
this.side = this.options.side !== void 0 ? this.options.side : FrontSide;
|
||||
this.wrap = this.options.wrap !== void 0 ? this.options.wrap : RepeatWrapping;
|
||||
}
|
||||
setCrossOrigin(value) {
|
||||
this.crossOrigin = value;
|
||||
return this;
|
||||
}
|
||||
setManager(value) {
|
||||
this.manager = value;
|
||||
}
|
||||
setMaterials(materialsInfo) {
|
||||
this.materialsInfo = this.convert(materialsInfo);
|
||||
this.materials = {};
|
||||
this.materialsArray = [];
|
||||
this.nameLookup = {};
|
||||
}
|
||||
convert(materialsInfo) {
|
||||
if (!this.options) return materialsInfo;
|
||||
const converted = {};
|
||||
for (const mn in materialsInfo) {
|
||||
const mat = materialsInfo[mn];
|
||||
const covmat = {};
|
||||
converted[mn] = covmat;
|
||||
for (const prop in mat) {
|
||||
let save = true;
|
||||
let value = mat[prop];
|
||||
const lprop = prop.toLowerCase();
|
||||
switch (lprop) {
|
||||
case "kd":
|
||||
case "ka":
|
||||
case "ks":
|
||||
if (this.options && this.options.normalizeRGB) {
|
||||
value = [value[0] / 255, value[1] / 255, value[2] / 255];
|
||||
}
|
||||
if (this.options && this.options.ignoreZeroRGBs) {
|
||||
if (value[0] === 0 && value[1] === 0 && value[2] === 0) {
|
||||
save = false;
|
||||
}
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
if (save) {
|
||||
covmat[lprop] = value;
|
||||
}
|
||||
}
|
||||
}
|
||||
return converted;
|
||||
}
|
||||
preload() {
|
||||
for (const mn in this.materialsInfo) {
|
||||
this.create(mn);
|
||||
}
|
||||
}
|
||||
getIndex(materialName) {
|
||||
return this.nameLookup[materialName];
|
||||
}
|
||||
getAsArray() {
|
||||
let index = 0;
|
||||
for (const mn in this.materialsInfo) {
|
||||
this.materialsArray[index] = this.create(mn);
|
||||
this.nameLookup[mn] = index;
|
||||
index++;
|
||||
}
|
||||
return this.materialsArray;
|
||||
}
|
||||
create(materialName) {
|
||||
if (this.materials[materialName] === void 0) {
|
||||
this.createMaterial_(materialName);
|
||||
}
|
||||
return this.materials[materialName];
|
||||
}
|
||||
createMaterial_(materialName) {
|
||||
const scope = this;
|
||||
const mat = this.materialsInfo[materialName];
|
||||
const params = {
|
||||
name: materialName,
|
||||
side: this.side
|
||||
};
|
||||
function resolveURL(baseUrl, url) {
|
||||
if (typeof url !== "string" || url === "")
|
||||
return "";
|
||||
if (/^https?:\/\//i.test(url)) return url;
|
||||
return baseUrl + url;
|
||||
}
|
||||
function setMapForType(mapType, value) {
|
||||
if (params[mapType]) return;
|
||||
const texParams = scope.getTextureParams(value, params);
|
||||
const map = scope.loadTexture(resolveURL(scope.baseUrl, texParams.url));
|
||||
map.repeat.copy(texParams.scale);
|
||||
map.offset.copy(texParams.offset);
|
||||
map.wrapS = scope.wrap;
|
||||
map.wrapT = scope.wrap;
|
||||
if (mapType === "map" || mapType === "emissiveMap") {
|
||||
map.colorSpace = SRGBColorSpace;
|
||||
}
|
||||
params[mapType] = map;
|
||||
}
|
||||
for (const prop in mat) {
|
||||
const value = mat[prop];
|
||||
let n;
|
||||
if (value === "") continue;
|
||||
switch (prop.toLowerCase()) {
|
||||
// Ns is material specular exponent
|
||||
case "kd":
|
||||
params.color = ColorManagement.colorSpaceToWorking(new Color().fromArray(value), SRGBColorSpace);
|
||||
break;
|
||||
case "ks":
|
||||
params.specular = ColorManagement.colorSpaceToWorking(new Color().fromArray(value), SRGBColorSpace);
|
||||
break;
|
||||
case "ke":
|
||||
params.emissive = ColorManagement.colorSpaceToWorking(new Color().fromArray(value), SRGBColorSpace);
|
||||
break;
|
||||
case "map_kd":
|
||||
setMapForType("map", value);
|
||||
break;
|
||||
case "map_ks":
|
||||
setMapForType("specularMap", value);
|
||||
break;
|
||||
case "map_ke":
|
||||
setMapForType("emissiveMap", value);
|
||||
break;
|
||||
case "norm":
|
||||
setMapForType("normalMap", value);
|
||||
break;
|
||||
case "map_bump":
|
||||
case "bump":
|
||||
setMapForType("bumpMap", value);
|
||||
break;
|
||||
case "disp":
|
||||
setMapForType("displacementMap", value);
|
||||
break;
|
||||
case "map_d":
|
||||
setMapForType("alphaMap", value);
|
||||
params.transparent = true;
|
||||
break;
|
||||
case "ns":
|
||||
params.shininess = parseFloat(value);
|
||||
break;
|
||||
case "d":
|
||||
n = parseFloat(value);
|
||||
if (n < 1) {
|
||||
params.opacity = n;
|
||||
params.transparent = true;
|
||||
}
|
||||
break;
|
||||
case "tr":
|
||||
n = parseFloat(value);
|
||||
if (this.options && this.options.invertTrProperty) n = 1 - n;
|
||||
if (n > 0) {
|
||||
params.opacity = 1 - n;
|
||||
params.transparent = true;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
this.materials[materialName] = new MeshPhongMaterial(params);
|
||||
return this.materials[materialName];
|
||||
}
|
||||
getTextureParams(value, matParams) {
|
||||
const texParams = {
|
||||
scale: new Vector2(1, 1),
|
||||
offset: new Vector2(0, 0)
|
||||
};
|
||||
const items = value.split(/\s+/);
|
||||
let pos;
|
||||
pos = items.indexOf("-bm");
|
||||
if (pos >= 0) {
|
||||
matParams.bumpScale = parseFloat(items[pos + 1]);
|
||||
items.splice(pos, 2);
|
||||
}
|
||||
pos = items.indexOf("-mm");
|
||||
if (pos >= 0) {
|
||||
matParams.displacementBias = parseFloat(items[pos + 1]);
|
||||
matParams.displacementScale = parseFloat(items[pos + 2]);
|
||||
items.splice(pos, 3);
|
||||
}
|
||||
pos = items.indexOf("-s");
|
||||
if (pos >= 0) {
|
||||
texParams.scale.set(parseFloat(items[pos + 1]), parseFloat(items[pos + 2]));
|
||||
items.splice(pos, 4);
|
||||
}
|
||||
pos = items.indexOf("-o");
|
||||
if (pos >= 0) {
|
||||
texParams.offset.set(parseFloat(items[pos + 1]), parseFloat(items[pos + 2]));
|
||||
items.splice(pos, 4);
|
||||
}
|
||||
texParams.url = items.join(" ").trim();
|
||||
return texParams;
|
||||
}
|
||||
loadTexture(url, mapping, onLoad, onProgress, onError) {
|
||||
const manager = this.manager !== void 0 ? this.manager : DefaultLoadingManager;
|
||||
let loader = manager.getHandler(url);
|
||||
if (loader === null) {
|
||||
loader = new TextureLoader(manager);
|
||||
}
|
||||
if (loader.setCrossOrigin) loader.setCrossOrigin(this.crossOrigin);
|
||||
const texture = loader.load(url, onLoad, onProgress, onError);
|
||||
if (mapping !== void 0) texture.mapping = mapping;
|
||||
return texture;
|
||||
}
|
||||
};
|
||||
export {
|
||||
MTLLoader
|
||||
};
|
||||
//# sourceMappingURL=three_examples_jsm_loaders_MTLLoader__js.js.map
|
||||
7
node_modules/.vite/deps/three_examples_jsm_loaders_MTLLoader__js.js.map
generated
vendored
Normal file
7
node_modules/.vite/deps/three_examples_jsm_loaders_MTLLoader__js.js.map
generated
vendored
Normal file
File diff suppressed because one or more lines are too long
539
node_modules/.vite/deps/three_examples_jsm_loaders_OBJLoader__js.js
generated
vendored
Normal file
539
node_modules/.vite/deps/three_examples_jsm_loaders_OBJLoader__js.js
generated
vendored
Normal file
|
|
@ -0,0 +1,539 @@
|
|||
import {
|
||||
BufferGeometry,
|
||||
Color,
|
||||
FileLoader,
|
||||
Float32BufferAttribute,
|
||||
Group,
|
||||
LineBasicMaterial,
|
||||
LineSegments,
|
||||
Loader,
|
||||
Material,
|
||||
Mesh,
|
||||
MeshPhongMaterial,
|
||||
Points,
|
||||
PointsMaterial,
|
||||
SRGBColorSpace,
|
||||
Vector3
|
||||
} from "./chunk-5P7KF7VS.js";
|
||||
|
||||
// node_modules/three/examples/jsm/loaders/OBJLoader.js
|
||||
var _object_pattern = /^[og]\s*(.+)?/;
|
||||
var _material_library_pattern = /^mtllib /;
|
||||
var _material_use_pattern = /^usemtl /;
|
||||
var _map_use_pattern = /^usemap /;
|
||||
var _face_vertex_data_separator_pattern = /\s+/;
|
||||
var _vA = new Vector3();
|
||||
var _vB = new Vector3();
|
||||
var _vC = new Vector3();
|
||||
var _ab = new Vector3();
|
||||
var _cb = new Vector3();
|
||||
var _color = new Color();
|
||||
function ParserState() {
|
||||
const state = {
|
||||
objects: [],
|
||||
object: {},
|
||||
vertices: [],
|
||||
normals: [],
|
||||
colors: [],
|
||||
uvs: [],
|
||||
materials: {},
|
||||
materialLibraries: [],
|
||||
startObject: function(name, fromDeclaration) {
|
||||
if (this.object && this.object.fromDeclaration === false) {
|
||||
this.object.name = name;
|
||||
this.object.fromDeclaration = fromDeclaration !== false;
|
||||
return;
|
||||
}
|
||||
const previousMaterial = this.object && typeof this.object.currentMaterial === "function" ? this.object.currentMaterial() : void 0;
|
||||
if (this.object && typeof this.object._finalize === "function") {
|
||||
this.object._finalize(true);
|
||||
}
|
||||
this.object = {
|
||||
name: name || "",
|
||||
fromDeclaration: fromDeclaration !== false,
|
||||
geometry: {
|
||||
vertices: [],
|
||||
normals: [],
|
||||
colors: [],
|
||||
uvs: [],
|
||||
hasUVIndices: false
|
||||
},
|
||||
materials: [],
|
||||
smooth: true,
|
||||
startMaterial: function(name2, libraries) {
|
||||
const previous = this._finalize(false);
|
||||
if (previous && (previous.inherited || previous.groupCount <= 0)) {
|
||||
this.materials.splice(previous.index, 1);
|
||||
}
|
||||
const material = {
|
||||
index: this.materials.length,
|
||||
name: name2 || "",
|
||||
mtllib: Array.isArray(libraries) && libraries.length > 0 ? libraries[libraries.length - 1] : "",
|
||||
smooth: previous !== void 0 ? previous.smooth : this.smooth,
|
||||
groupStart: previous !== void 0 ? previous.groupEnd : 0,
|
||||
groupEnd: -1,
|
||||
groupCount: -1,
|
||||
inherited: false,
|
||||
clone: function(index) {
|
||||
const cloned = {
|
||||
index: typeof index === "number" ? index : this.index,
|
||||
name: this.name,
|
||||
mtllib: this.mtllib,
|
||||
smooth: this.smooth,
|
||||
groupStart: 0,
|
||||
groupEnd: -1,
|
||||
groupCount: -1,
|
||||
inherited: false
|
||||
};
|
||||
cloned.clone = this.clone.bind(cloned);
|
||||
return cloned;
|
||||
}
|
||||
};
|
||||
this.materials.push(material);
|
||||
return material;
|
||||
},
|
||||
currentMaterial: function() {
|
||||
if (this.materials.length > 0) {
|
||||
return this.materials[this.materials.length - 1];
|
||||
}
|
||||
return void 0;
|
||||
},
|
||||
_finalize: function(end) {
|
||||
const lastMultiMaterial = this.currentMaterial();
|
||||
if (lastMultiMaterial && lastMultiMaterial.groupEnd === -1) {
|
||||
lastMultiMaterial.groupEnd = this.geometry.vertices.length / 3;
|
||||
lastMultiMaterial.groupCount = lastMultiMaterial.groupEnd - lastMultiMaterial.groupStart;
|
||||
lastMultiMaterial.inherited = false;
|
||||
}
|
||||
if (end && this.materials.length > 1) {
|
||||
for (let mi = this.materials.length - 1; mi >= 0; mi--) {
|
||||
if (this.materials[mi].groupCount <= 0) {
|
||||
this.materials.splice(mi, 1);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (end && this.materials.length === 0) {
|
||||
this.materials.push({
|
||||
name: "",
|
||||
smooth: this.smooth
|
||||
});
|
||||
}
|
||||
return lastMultiMaterial;
|
||||
}
|
||||
};
|
||||
if (previousMaterial && previousMaterial.name && typeof previousMaterial.clone === "function") {
|
||||
const declared = previousMaterial.clone(0);
|
||||
declared.inherited = true;
|
||||
this.object.materials.push(declared);
|
||||
}
|
||||
this.objects.push(this.object);
|
||||
},
|
||||
finalize: function() {
|
||||
if (this.object && typeof this.object._finalize === "function") {
|
||||
this.object._finalize(true);
|
||||
}
|
||||
},
|
||||
parseVertexIndex: function(value, len) {
|
||||
const index = parseInt(value, 10);
|
||||
return (index >= 0 ? index - 1 : index + len / 3) * 3;
|
||||
},
|
||||
parseNormalIndex: function(value, len) {
|
||||
const index = parseInt(value, 10);
|
||||
return (index >= 0 ? index - 1 : index + len / 3) * 3;
|
||||
},
|
||||
parseUVIndex: function(value, len) {
|
||||
const index = parseInt(value, 10);
|
||||
return (index >= 0 ? index - 1 : index + len / 2) * 2;
|
||||
},
|
||||
addVertex: function(a, b, c) {
|
||||
const src = this.vertices;
|
||||
const dst = this.object.geometry.vertices;
|
||||
dst.push(src[a + 0], src[a + 1], src[a + 2]);
|
||||
dst.push(src[b + 0], src[b + 1], src[b + 2]);
|
||||
dst.push(src[c + 0], src[c + 1], src[c + 2]);
|
||||
},
|
||||
addVertexPoint: function(a) {
|
||||
const src = this.vertices;
|
||||
const dst = this.object.geometry.vertices;
|
||||
dst.push(src[a + 0], src[a + 1], src[a + 2]);
|
||||
},
|
||||
addVertexLine: function(a) {
|
||||
const src = this.vertices;
|
||||
const dst = this.object.geometry.vertices;
|
||||
dst.push(src[a + 0], src[a + 1], src[a + 2]);
|
||||
},
|
||||
addNormal: function(a, b, c) {
|
||||
const src = this.normals;
|
||||
const dst = this.object.geometry.normals;
|
||||
dst.push(src[a + 0], src[a + 1], src[a + 2]);
|
||||
dst.push(src[b + 0], src[b + 1], src[b + 2]);
|
||||
dst.push(src[c + 0], src[c + 1], src[c + 2]);
|
||||
},
|
||||
addFaceNormal: function(a, b, c) {
|
||||
const src = this.vertices;
|
||||
const dst = this.object.geometry.normals;
|
||||
_vA.fromArray(src, a);
|
||||
_vB.fromArray(src, b);
|
||||
_vC.fromArray(src, c);
|
||||
_cb.subVectors(_vC, _vB);
|
||||
_ab.subVectors(_vA, _vB);
|
||||
_cb.cross(_ab);
|
||||
_cb.normalize();
|
||||
dst.push(_cb.x, _cb.y, _cb.z);
|
||||
dst.push(_cb.x, _cb.y, _cb.z);
|
||||
dst.push(_cb.x, _cb.y, _cb.z);
|
||||
},
|
||||
addColor: function(a, b, c) {
|
||||
const src = this.colors;
|
||||
const dst = this.object.geometry.colors;
|
||||
if (src[a] !== void 0) dst.push(src[a + 0], src[a + 1], src[a + 2]);
|
||||
if (src[b] !== void 0) dst.push(src[b + 0], src[b + 1], src[b + 2]);
|
||||
if (src[c] !== void 0) dst.push(src[c + 0], src[c + 1], src[c + 2]);
|
||||
},
|
||||
addUV: function(a, b, c) {
|
||||
const src = this.uvs;
|
||||
const dst = this.object.geometry.uvs;
|
||||
dst.push(src[a + 0], src[a + 1]);
|
||||
dst.push(src[b + 0], src[b + 1]);
|
||||
dst.push(src[c + 0], src[c + 1]);
|
||||
},
|
||||
addDefaultUV: function() {
|
||||
const dst = this.object.geometry.uvs;
|
||||
dst.push(0, 0);
|
||||
dst.push(0, 0);
|
||||
dst.push(0, 0);
|
||||
},
|
||||
addUVLine: function(a) {
|
||||
const src = this.uvs;
|
||||
const dst = this.object.geometry.uvs;
|
||||
dst.push(src[a + 0], src[a + 1]);
|
||||
},
|
||||
addFace: function(a, b, c, ua, ub, uc, na, nb, nc) {
|
||||
const vLen = this.vertices.length;
|
||||
let ia = this.parseVertexIndex(a, vLen);
|
||||
let ib = this.parseVertexIndex(b, vLen);
|
||||
let ic = this.parseVertexIndex(c, vLen);
|
||||
this.addVertex(ia, ib, ic);
|
||||
this.addColor(ia, ib, ic);
|
||||
if (na !== void 0 && na !== "") {
|
||||
const nLen = this.normals.length;
|
||||
ia = this.parseNormalIndex(na, nLen);
|
||||
ib = this.parseNormalIndex(nb, nLen);
|
||||
ic = this.parseNormalIndex(nc, nLen);
|
||||
this.addNormal(ia, ib, ic);
|
||||
} else {
|
||||
this.addFaceNormal(ia, ib, ic);
|
||||
}
|
||||
if (ua !== void 0 && ua !== "") {
|
||||
const uvLen = this.uvs.length;
|
||||
ia = this.parseUVIndex(ua, uvLen);
|
||||
ib = this.parseUVIndex(ub, uvLen);
|
||||
ic = this.parseUVIndex(uc, uvLen);
|
||||
this.addUV(ia, ib, ic);
|
||||
this.object.geometry.hasUVIndices = true;
|
||||
} else {
|
||||
this.addDefaultUV();
|
||||
}
|
||||
},
|
||||
addPointGeometry: function(vertices) {
|
||||
this.object.geometry.type = "Points";
|
||||
const vLen = this.vertices.length;
|
||||
for (let vi = 0, l = vertices.length; vi < l; vi++) {
|
||||
const index = this.parseVertexIndex(vertices[vi], vLen);
|
||||
this.addVertexPoint(index);
|
||||
this.addColor(index);
|
||||
}
|
||||
},
|
||||
addLineGeometry: function(vertices, uvs) {
|
||||
this.object.geometry.type = "Line";
|
||||
const vLen = this.vertices.length;
|
||||
const uvLen = this.uvs.length;
|
||||
for (let vi = 0, l = vertices.length; vi < l; vi++) {
|
||||
this.addVertexLine(this.parseVertexIndex(vertices[vi], vLen));
|
||||
}
|
||||
for (let uvi = 0, l = uvs.length; uvi < l; uvi++) {
|
||||
this.addUVLine(this.parseUVIndex(uvs[uvi], uvLen));
|
||||
}
|
||||
}
|
||||
};
|
||||
state.startObject("", false);
|
||||
return state;
|
||||
}
|
||||
var OBJLoader = class extends Loader {
|
||||
/**
|
||||
* Constructs a new OBJ loader.
|
||||
*
|
||||
* @param {LoadingManager} [manager] - The loading manager.
|
||||
*/
|
||||
constructor(manager) {
|
||||
super(manager);
|
||||
this.materials = null;
|
||||
}
|
||||
/**
|
||||
* Starts loading from the given URL and passes the loaded OBJ asset
|
||||
* to the `onLoad()` callback.
|
||||
*
|
||||
* @param {string} url - The path/URL of the file to be loaded. This can also be a data URI.
|
||||
* @param {function(Group)} onLoad - Executed when the loading process has been finished.
|
||||
* @param {onProgressCallback} onProgress - Executed while the loading is in progress.
|
||||
* @param {onErrorCallback} onError - Executed when errors occur.
|
||||
*/
|
||||
load(url, onLoad, onProgress, onError) {
|
||||
const scope = this;
|
||||
const loader = new FileLoader(this.manager);
|
||||
loader.setPath(this.path);
|
||||
loader.setRequestHeader(this.requestHeader);
|
||||
loader.setWithCredentials(this.withCredentials);
|
||||
loader.load(url, function(text) {
|
||||
try {
|
||||
onLoad(scope.parse(text));
|
||||
} catch (e) {
|
||||
if (onError) {
|
||||
onError(e);
|
||||
} else {
|
||||
console.error(e);
|
||||
}
|
||||
scope.manager.itemError(url);
|
||||
}
|
||||
}, onProgress, onError);
|
||||
}
|
||||
/**
|
||||
* Sets the material creator for this OBJ. This object is loaded via {@link MTLLoader}.
|
||||
*
|
||||
* @param {MaterialCreator} materials - An object that creates the materials for this OBJ.
|
||||
* @return {OBJLoader} A reference to this loader.
|
||||
*/
|
||||
setMaterials(materials) {
|
||||
this.materials = materials;
|
||||
return this;
|
||||
}
|
||||
/**
|
||||
* Parses the given OBJ data and returns the resulting group.
|
||||
*
|
||||
* @param {string} text - The raw OBJ data as a string.
|
||||
* @return {Group} The parsed OBJ.
|
||||
*/
|
||||
parse(text) {
|
||||
const state = new ParserState();
|
||||
if (text.indexOf("\r\n") !== -1) {
|
||||
text = text.replace(/\r\n/g, "\n");
|
||||
}
|
||||
if (text.indexOf("\\\n") !== -1) {
|
||||
text = text.replace(/\\\n/g, "");
|
||||
}
|
||||
const lines = text.split("\n");
|
||||
let result = [];
|
||||
for (let i = 0, l = lines.length; i < l; i++) {
|
||||
const line = lines[i].trimStart();
|
||||
if (line.length === 0) continue;
|
||||
const lineFirstChar = line.charAt(0);
|
||||
if (lineFirstChar === "#") continue;
|
||||
if (lineFirstChar === "v") {
|
||||
const data = line.split(_face_vertex_data_separator_pattern);
|
||||
switch (data[0]) {
|
||||
case "v":
|
||||
state.vertices.push(
|
||||
parseFloat(data[1]),
|
||||
parseFloat(data[2]),
|
||||
parseFloat(data[3])
|
||||
);
|
||||
if (data.length >= 7) {
|
||||
_color.setRGB(
|
||||
parseFloat(data[4]),
|
||||
parseFloat(data[5]),
|
||||
parseFloat(data[6]),
|
||||
SRGBColorSpace
|
||||
);
|
||||
state.colors.push(_color.r, _color.g, _color.b);
|
||||
} else {
|
||||
state.colors.push(void 0, void 0, void 0);
|
||||
}
|
||||
break;
|
||||
case "vn":
|
||||
state.normals.push(
|
||||
parseFloat(data[1]),
|
||||
parseFloat(data[2]),
|
||||
parseFloat(data[3])
|
||||
);
|
||||
break;
|
||||
case "vt":
|
||||
state.uvs.push(
|
||||
parseFloat(data[1]),
|
||||
parseFloat(data[2])
|
||||
);
|
||||
break;
|
||||
}
|
||||
} else if (lineFirstChar === "f") {
|
||||
const lineData = line.slice(1).trim();
|
||||
const vertexData = lineData.split(_face_vertex_data_separator_pattern);
|
||||
const faceVertices = [];
|
||||
for (let j = 0, jl = vertexData.length; j < jl; j++) {
|
||||
const vertex = vertexData[j];
|
||||
if (vertex.length > 0) {
|
||||
const vertexParts = vertex.split("/");
|
||||
faceVertices.push(vertexParts);
|
||||
}
|
||||
}
|
||||
const v1 = faceVertices[0];
|
||||
for (let j = 1, jl = faceVertices.length - 1; j < jl; j++) {
|
||||
const v2 = faceVertices[j];
|
||||
const v3 = faceVertices[j + 1];
|
||||
state.addFace(
|
||||
v1[0],
|
||||
v2[0],
|
||||
v3[0],
|
||||
v1[1],
|
||||
v2[1],
|
||||
v3[1],
|
||||
v1[2],
|
||||
v2[2],
|
||||
v3[2]
|
||||
);
|
||||
}
|
||||
} else if (lineFirstChar === "l") {
|
||||
const lineParts = line.substring(1).trim().split(" ");
|
||||
let lineVertices = [];
|
||||
const lineUVs = [];
|
||||
if (line.indexOf("/") === -1) {
|
||||
lineVertices = lineParts;
|
||||
} else {
|
||||
for (let li = 0, llen = lineParts.length; li < llen; li++) {
|
||||
const parts = lineParts[li].split("/");
|
||||
if (parts[0] !== "") lineVertices.push(parts[0]);
|
||||
if (parts[1] !== "") lineUVs.push(parts[1]);
|
||||
}
|
||||
}
|
||||
state.addLineGeometry(lineVertices, lineUVs);
|
||||
} else if (lineFirstChar === "p") {
|
||||
const lineData = line.slice(1).trim();
|
||||
const pointData = lineData.split(" ");
|
||||
state.addPointGeometry(pointData);
|
||||
} else if ((result = _object_pattern.exec(line)) !== null) {
|
||||
const name = (" " + result[0].slice(1).trim()).slice(1);
|
||||
state.startObject(name);
|
||||
} else if (_material_use_pattern.test(line)) {
|
||||
state.object.startMaterial(line.substring(7).trim(), state.materialLibraries);
|
||||
} else if (_material_library_pattern.test(line)) {
|
||||
state.materialLibraries.push(line.substring(7).trim());
|
||||
} else if (_map_use_pattern.test(line)) {
|
||||
console.warn('THREE.OBJLoader: Rendering identifier "usemap" not supported. Textures must be defined in MTL files.');
|
||||
} else if (lineFirstChar === "s") {
|
||||
result = line.split(" ");
|
||||
if (result.length > 1) {
|
||||
const value = result[1].trim().toLowerCase();
|
||||
state.object.smooth = value !== "0" && value !== "off";
|
||||
} else {
|
||||
state.object.smooth = true;
|
||||
}
|
||||
const material = state.object.currentMaterial();
|
||||
if (material) material.smooth = state.object.smooth;
|
||||
} else {
|
||||
if (line === "\0") continue;
|
||||
console.warn('THREE.OBJLoader: Unexpected line: "' + line + '"');
|
||||
}
|
||||
}
|
||||
state.finalize();
|
||||
const container = new Group();
|
||||
container.materialLibraries = [].concat(state.materialLibraries);
|
||||
const hasPrimitives = !(state.objects.length === 1 && state.objects[0].geometry.vertices.length === 0);
|
||||
if (hasPrimitives === true) {
|
||||
for (let i = 0, l = state.objects.length; i < l; i++) {
|
||||
const object = state.objects[i];
|
||||
const geometry = object.geometry;
|
||||
const materials = object.materials;
|
||||
const isLine = geometry.type === "Line";
|
||||
const isPoints = geometry.type === "Points";
|
||||
let hasVertexColors = false;
|
||||
if (geometry.vertices.length === 0) continue;
|
||||
const buffergeometry = new BufferGeometry();
|
||||
buffergeometry.setAttribute("position", new Float32BufferAttribute(geometry.vertices, 3));
|
||||
if (geometry.normals.length > 0) {
|
||||
buffergeometry.setAttribute("normal", new Float32BufferAttribute(geometry.normals, 3));
|
||||
}
|
||||
if (geometry.colors.length > 0) {
|
||||
hasVertexColors = true;
|
||||
buffergeometry.setAttribute("color", new Float32BufferAttribute(geometry.colors, 3));
|
||||
}
|
||||
if (geometry.hasUVIndices === true) {
|
||||
buffergeometry.setAttribute("uv", new Float32BufferAttribute(geometry.uvs, 2));
|
||||
}
|
||||
const createdMaterials = [];
|
||||
for (let mi = 0, miLen = materials.length; mi < miLen; mi++) {
|
||||
const sourceMaterial = materials[mi];
|
||||
const materialHash = sourceMaterial.name + "_" + sourceMaterial.smooth + "_" + hasVertexColors;
|
||||
let material = state.materials[materialHash];
|
||||
if (this.materials !== null) {
|
||||
material = this.materials.create(sourceMaterial.name);
|
||||
if (isLine && material && !(material instanceof LineBasicMaterial)) {
|
||||
const materialLine = new LineBasicMaterial();
|
||||
Material.prototype.copy.call(materialLine, material);
|
||||
materialLine.color.copy(material.color);
|
||||
material = materialLine;
|
||||
} else if (isPoints && material && !(material instanceof PointsMaterial)) {
|
||||
const materialPoints = new PointsMaterial({ size: 10, sizeAttenuation: false });
|
||||
Material.prototype.copy.call(materialPoints, material);
|
||||
materialPoints.color.copy(material.color);
|
||||
materialPoints.map = material.map;
|
||||
material = materialPoints;
|
||||
}
|
||||
}
|
||||
if (material === void 0) {
|
||||
if (isLine) {
|
||||
material = new LineBasicMaterial();
|
||||
} else if (isPoints) {
|
||||
material = new PointsMaterial({ size: 1, sizeAttenuation: false });
|
||||
} else {
|
||||
material = new MeshPhongMaterial();
|
||||
}
|
||||
material.name = sourceMaterial.name;
|
||||
material.flatShading = sourceMaterial.smooth ? false : true;
|
||||
material.vertexColors = hasVertexColors;
|
||||
state.materials[materialHash] = material;
|
||||
}
|
||||
createdMaterials.push(material);
|
||||
}
|
||||
let mesh;
|
||||
if (createdMaterials.length > 1) {
|
||||
for (let mi = 0, miLen = materials.length; mi < miLen; mi++) {
|
||||
const sourceMaterial = materials[mi];
|
||||
buffergeometry.addGroup(sourceMaterial.groupStart, sourceMaterial.groupCount, mi);
|
||||
}
|
||||
if (isLine) {
|
||||
mesh = new LineSegments(buffergeometry, createdMaterials);
|
||||
} else if (isPoints) {
|
||||
mesh = new Points(buffergeometry, createdMaterials);
|
||||
} else {
|
||||
mesh = new Mesh(buffergeometry, createdMaterials);
|
||||
}
|
||||
} else {
|
||||
if (isLine) {
|
||||
mesh = new LineSegments(buffergeometry, createdMaterials[0]);
|
||||
} else if (isPoints) {
|
||||
mesh = new Points(buffergeometry, createdMaterials[0]);
|
||||
} else {
|
||||
mesh = new Mesh(buffergeometry, createdMaterials[0]);
|
||||
}
|
||||
}
|
||||
mesh.name = object.name;
|
||||
container.add(mesh);
|
||||
}
|
||||
} else {
|
||||
if (state.vertices.length > 0) {
|
||||
const material = new PointsMaterial({ size: 1, sizeAttenuation: false });
|
||||
const buffergeometry = new BufferGeometry();
|
||||
buffergeometry.setAttribute("position", new Float32BufferAttribute(state.vertices, 3));
|
||||
if (state.colors.length > 0 && state.colors[0] !== void 0) {
|
||||
buffergeometry.setAttribute("color", new Float32BufferAttribute(state.colors, 3));
|
||||
material.vertexColors = true;
|
||||
}
|
||||
const points = new Points(buffergeometry, material);
|
||||
container.add(points);
|
||||
}
|
||||
}
|
||||
return container;
|
||||
}
|
||||
};
|
||||
export {
|
||||
OBJLoader
|
||||
};
|
||||
//# sourceMappingURL=three_examples_jsm_loaders_OBJLoader__js.js.map
|
||||
7
node_modules/.vite/deps/three_examples_jsm_loaders_OBJLoader__js.js.map
generated
vendored
Normal file
7
node_modules/.vite/deps/three_examples_jsm_loaders_OBJLoader__js.js.map
generated
vendored
Normal file
File diff suppressed because one or more lines are too long
Binary file not shown.
|
|
@ -0,0 +1,732 @@
|
|||
<robot name="robot">
|
||||
<link name="base_footprint"></link>
|
||||
<joint name="base_joint" type="fixed">
|
||||
<parent link="base_footprint" />
|
||||
<child link="base_link" />
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<link name="base_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.1 0.05 0.05" />
|
||||
</geometry>
|
||||
<material name="base_link-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.1 0.05 0.05" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="base_link_to_spine_1" type="revolute">
|
||||
<parent link="base_link"/>
|
||||
<child link="spine_1"/>
|
||||
<origin xyz="0 0 0.0337" rpy="0 0 0"/>
|
||||
<axis xyz="-0.9997 -0.0114 0.0229"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<link name="spine_1">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.05" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.1 0.05 0.1" />
|
||||
</geometry>
|
||||
<material name="spine_1-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.05" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.1 0.05 0.1" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.05" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="spine_1_to_upper_arm_right" type="revolute">
|
||||
<parent link="spine_1"/>
|
||||
<child link="upper_arm_right"/>
|
||||
<origin xyz="0.0624 0 0.0973" rpy="-3.1416 -0.6587 0"/>
|
||||
<axis xyz="-0.9997 -0.0114 0.0229"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<link name="upper_arm_right">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.03" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.06" />
|
||||
</geometry>
|
||||
<material name="upper_arm_right-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.03" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.06" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.03" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="upper_arm_right_to_lower_arm_right" type="revolute">
|
||||
<parent link="upper_arm_right"/>
|
||||
<child link="lower_arm_right"/>
|
||||
<origin xyz="0.0 0 .065" rpy="0 0 0"/>
|
||||
<axis xyz="-0.9997 -0.0114 0.0229"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<link name="lower_arm_right">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.025" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.05" />
|
||||
</geometry>
|
||||
<material name="lower_arm_right-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.025" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.05" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.025" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
<joint name="lower_arm_right_to_hand_right" type="revolute">
|
||||
<parent link="lower_arm_right"/>
|
||||
<child link="hand_right"/>
|
||||
<origin xyz="0 0 0.055" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
<link name="hand_right">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.015" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.03" />
|
||||
</geometry>
|
||||
<material name="hand_right-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.015" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.015" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<!-- Left Upper Arm -->
|
||||
<joint name="spine_1_to_upper_arm_left" type="revolute">
|
||||
<parent link="spine_1"/>
|
||||
<child link="upper_arm_left"/>
|
||||
<origin xyz="-0.0624 0 0.0973" rpy="3.1416 0.6587 0"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_arm_left">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.06"/>
|
||||
</geometry>
|
||||
<material name="upper_arm_left-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.06"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.03" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<!-- Left Lower Arm -->
|
||||
<joint name="upper_arm_left_to_lower_arm_left" type="revolute">
|
||||
<parent link="upper_arm_left"/>
|
||||
<child link="lower_arm_left"/>
|
||||
<origin xyz="0.0 0 0.065" rpy="0 0 0"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_arm_left">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.025" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.05"/>
|
||||
</geometry>
|
||||
<material name="lower_arm_left-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.025" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.05"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.025" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<!-- Left Hand -->
|
||||
<joint name="lower_arm_left_to_hand_left" type="revolute">
|
||||
<parent link="lower_arm_left"/>
|
||||
<child link="hand_left"/>
|
||||
<origin xyz="0 0 0.055" rpy="0 0 0"/>
|
||||
<axis xyz="0 1 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="hand_left">
|
||||
<visual>
|
||||
<origin xyz="0 0 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.03"/>
|
||||
</geometry>
|
||||
<material name="hand_left-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0.015" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.03"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0.015" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
<joint name="base_link_to_upper_leg_right" type="revolute">
|
||||
<parent link="base_link" />
|
||||
<child link="upper_leg_right" />
|
||||
<origin xyz="0.035 0 -0.035" rpy="0 0 0" />
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/> </joint>
|
||||
|
||||
<link name="upper_leg_right">
|
||||
<visual>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
<material name="upper_leg_right-material">
|
||||
<color rgba="0.0021 0.0497 0.4851 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="upper_leg_right_to_lower_leg_right" type="revolute">
|
||||
<parent link="upper_leg_right"/>
|
||||
<child link="lower_leg_right"/>
|
||||
<origin xyz="0 0 -0.075" rpy="0 0 0"/>
|
||||
<axis xyz="-0.9997 -0.0114 0.0229"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
|
||||
<link name="lower_leg_right">
|
||||
<visual>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
<material name="lower_leg_right-material">
|
||||
<color rgba="0.0021 0.0497 0.4851 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="lower_leg_right_to_foot_right" type="revolute">
|
||||
<parent link="lower_leg_right"/>
|
||||
<child link="foot_right"/>
|
||||
<origin xyz="0 0 -0.075" rpy="0 0 0"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="foot_right">
|
||||
<visual>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.08 0.02"/>
|
||||
</geometry>
|
||||
<material name="foot_right-material">
|
||||
<color rgba="0.0021 0.0497 0.4851 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.08 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
|
||||
|
||||
<!-- Left Upper Leg -->
|
||||
<joint name="base_link_to_upper_leg_left" type="revolute">
|
||||
<parent link="base_link"/>
|
||||
<child link="upper_leg_left"/>
|
||||
<origin xyz="-0.035 0 -0.035" rpy="0 0 0"/>
|
||||
<axis xyz="1 0 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="upper_leg_left">
|
||||
<visual>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
<material name="upper_leg_left-material">
|
||||
<color rgba="0.0021 0.0497 0.4851 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<!-- Left Lower Leg -->
|
||||
<joint name="upper_leg_left_to_lower_leg_left" type="revolute">
|
||||
<parent link="upper_leg_left"/>
|
||||
<child link="lower_leg_left"/>
|
||||
<origin xyz="0 0 -0.075" rpy="0 0 0"/>
|
||||
<axis xyz="-0.9997 -0.0114 0.0229"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="lower_leg_left">
|
||||
<visual>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
<material name="lower_leg_left-material">
|
||||
<color rgba="0.0021 0.0497 0.4851 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.04 0.07"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 -0.035" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<!-- Left Foot -->
|
||||
<joint name="lower_leg_left_to_foot_left" type="revolute">
|
||||
<parent link="lower_leg_left"/>
|
||||
<child link="foot_left"/>
|
||||
<origin xyz="0 0 -0.075" rpy="0 0 0"/>
|
||||
<axis xyz="-1 0 0"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="foot_left">
|
||||
<visual>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0.5 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.08 0.02"/>
|
||||
</geometry>
|
||||
<material name="foot_left-material">
|
||||
<color rgba="0.0021 0.0497 0.4851 1"/>
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.08 0.02"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
||||
<mass value="1"/>
|
||||
<inertia ixx="0.1667" ixy="0" ixz="0" iyy="0.1667" iyz="0" izz="0.1667"/>
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<joint name="spine_1_to_neck" type="revolute">
|
||||
<parent link="spine_1"/>
|
||||
<child link="neck"/>
|
||||
<origin xyz="0 0 0.12" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="neck">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.03" />
|
||||
</geometry>
|
||||
<material name="neck-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.03 0.03" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
<joint name="neck_to_head" type="revolute">
|
||||
<parent link="neck"/>
|
||||
<child link="head"/>
|
||||
<origin xyz="0 0 0.04" rpy="0 0 0"/>
|
||||
<axis xyz="0 0 1"/>
|
||||
<limit effort="1000.0" lower="-1" upper="1" velocity="0.5"/>
|
||||
</joint>
|
||||
|
||||
<link name="head">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="-1.5745 3.149 0" />
|
||||
<geometry>
|
||||
<mesh filename="package://Little_Sophia_Face/meshes/Little_Sophia_Face.glb" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
<material name="head-material">
|
||||
<color rgba="0.0021246888847058823 0.04970656597728775 0.48514994004665124 1" />
|
||||
</material>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.06 0.06 0.06" />
|
||||
</geometry>
|
||||
</collision>
|
||||
<inertial>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<mass value="1" />
|
||||
<inertia ixx="0.16666666666666666" ixy="0" ixz="0" iyy="0.16666666666666666" iyz="0" izz="0.16666666666666666" />
|
||||
</inertial>
|
||||
</link>
|
||||
|
||||
|
||||
<transmission name="spine_1_trans">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="base_link_to_spine_1">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="upper_arm_left">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="spine_1_to_upper_arm_left">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="lower_arm_left">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="upper_arm_left_to_lower_arm_left">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="hand_left">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="lower_arm_left_to_hand_left">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="upper_arm_right">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="spine_1_to_upper_arm_right">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="lower_arm_right">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="upper_arm_right_to_lower_arm_right">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="hand_right">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="lower_arm_right_to_hand_right">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="spine_motor_1">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="upper_leg_right">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="base_link_to_upper_leg_right">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="upper_leg_motor_right">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="lower_leg_right">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="upper_leg_right_to_lower_leg_right">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="lower_leg_motor_right">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="foot_right">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="lower_leg_right_to_foot_right">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="foot_motor_right">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="upper_leg_left">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="base_link_to_upper_leg_left">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="upper_leg_motor_left">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="lower_leg_left">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="upper_leg_left_to_lower_leg_left">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="lower_leg_motor_left">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
<transmission name="foot_left">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="lower_leg_left_to_foot_left">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="foot_motor_left">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="neck_base">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="spine_1_to_neck">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="neck_motor_base">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>200</encoderValidMin>
|
||||
<encoderValidMax>3500</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
<transmission name="neck_tip">
|
||||
<type>transmission_interface/SimpleTransmission</type>
|
||||
<joint name="neck_to_head">
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
</joint>
|
||||
<actuator name="neck_motor_tip">
|
||||
<mechanicalReduction>1</mechanicalReduction>
|
||||
<hardwareInterface>PositionJointInterface</hardwareInterface>
|
||||
<encoderTicks>4096</encoderTicks>
|
||||
<encoderValidMin>500</encoderValidMin>
|
||||
<encoderValidMax>4095</encoderValidMax>
|
||||
<encoderRange>270</encoderRange>
|
||||
</actuator>
|
||||
</transmission>
|
||||
|
||||
</robot>
|
||||
|
|
@ -421,7 +421,7 @@
|
|||
|
||||
<link name="foot_left">
|
||||
<visual>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0 0 0"/>
|
||||
<origin xyz="0 0.02 -0.01" rpy="0.5 0 0"/>
|
||||
<geometry>
|
||||
<box size="0.04 0.08 0.02"/>
|
||||
</geometry>
|
||||
|
|
|
|||
Loading…
Reference in New Issue