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feat: more urdf parser fixes + stl parser

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Sébastien Crozet
2024-05-26 18:18:38 +02:00
committed by Sébastien Crozet
parent 9865d5836a
commit 02cade0440
49 changed files with 6703 additions and 250 deletions
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These samples files originate from the repository
[gkjohnson/urdf-loaders](https://github.com/gkjohnson/urdf-loaders/tree/b67f5de98f6222e2d921ce24f46a6725dad9704e/urdf/T12)
(Apache 2.0 license).

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<robot name="robot">
<link name="root">
<inertial>
<origin xyz="0 0 0.5" rpy="0 0 0"/>
<mass value="1"/>
<inertia ixx="100" ixy="0" ixz="0" iyy="100" iyz="0" izz="100" />
</inertial>
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.2 0.2 0.4" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder radius="1" length="0.5"/>
</geometry>
</collision>
</link>
<link name="shoulder1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="0 1.0 1.0 1.0"/>
</material>
</visual>
</link>
<link name="shoulder2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 1.0 0.0 1.0"/>
</material>
</visual>
</link>
<link name="shoulder3">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.5 0.5 0.2 1.0"/>
</material>
</visual>
</link>
<link name="elbow1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.1 0.2" />
</geometry>
<material name="Cyan">
<color rgba="0.8 0.2 0.2 1.0"/>
</material>
</visual>
</link>
<link name="wrist1">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.1 0.15 0.1" />
</geometry>
<material name="Cyan">
<color rgba="1.0 0.0 0.0 1.0"/>
</material>
</visual>
</link>
<joint name="shoulder_yaw" type="revolute">
<origin xyz="0.0 0.2 0.2" />
<parent link="root" />
<child link="shoulder1" />
<axis xyz="0 0 1" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<link name="wrist2">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
<geometry>
<box size="0.05 0.08 0.15" />
</geometry>
<material name="Cyan">
<color rgba="0.0 0.0 1.0 1.0"/>
</material>
</visual>
</link>
<joint name="shoulder_pitch" type="revolute">
<origin xyz="0.0 0.1 0.0" />
<parent link="shoulder1" />
<child link="shoulder2" />
<axis xyz="0 1 0" />
<limit lower="-1" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="shoulder_roll" type="revolute">
<origin xyz="0.0 0.1 0.0" />
<parent link="shoulder2" />
<child link="shoulder3" />
<axis xyz="1 0 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="elbow_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="shoulder3" />
<child link="elbow1" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="wrist_yaw" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="elbow1" />
<child link="wrist1" />
<axis xyz="0 0 1" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
<joint name="wrist_pitch" type="revolute">
<origin xyz="0.0 0.0 -0.2" />
<parent link="wrist1" />
<child link="wrist2" />
<axis xyz="0 1 0" />
<limit lower="-2" upper="1.0" effort="0" velocity="1.0"/>
</joint>
</robot>