updated racecar files
mcarfagno
parent
6d3f0005ad
commit
f7a46f2ead
File diff suppressed because one or more lines are too long
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@ -11,7 +11,7 @@
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 1,
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"execution_count": 2,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [
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{
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{
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@ -28,7 +28,7 @@
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"[0, 0, 0, v*cos(psi), 0]])"
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"[0, 0, 0, v*cos(psi), 0]])"
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]
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]
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},
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},
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"execution_count": 1,
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"execution_count": 2,
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"metadata": {},
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"metadata": {},
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"output_type": "execute_result"
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"output_type": "execute_result"
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}
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}
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@ -52,7 +52,7 @@
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 2,
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"execution_count": 3,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [
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{
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{
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@ -69,7 +69,7 @@
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"[ sin(psi), 0]])"
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"[ sin(psi), 0]])"
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]
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]
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},
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},
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"execution_count": 2,
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"execution_count": 3,
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"metadata": {},
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"metadata": {},
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"output_type": "execute_result"
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"output_type": "execute_result"
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}
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}
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@ -83,7 +83,7 @@
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": 4,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [
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{
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{
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@ -98,7 +98,7 @@
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"[0, 0, 1]])"
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"[0, 0, 1]])"
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]
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]
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},
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},
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"execution_count": 3,
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"execution_count": 4,
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"metadata": {},
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"metadata": {},
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"output_type": "execute_result"
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"output_type": "execute_result"
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}
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}
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@ -120,7 +120,7 @@
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 4,
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"execution_count": 5,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [
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{
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{
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@ -135,7 +135,7 @@
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"[ 0, dt]])"
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"[ 0, dt]])"
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]
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]
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},
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},
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"execution_count": 4,
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"execution_count": 5,
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"metadata": {},
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"metadata": {},
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"output_type": "execute_result"
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"output_type": "execute_result"
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}
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}
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@ -156,27 +156,9 @@
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 8,
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"execution_count": 6,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [],
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{
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"data": {
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"text/latex": [
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"$\\displaystyle \\left[\\begin{matrix}0 & 0 & \\cos{\\left(\\theta \\right)} & - v \\sin{\\left(\\theta \\right)}\\\\0 & 0 & \\sin{\\left(\\theta \\right)} & v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 0 & 0\\\\0 & 0 & \\frac{\\tan{\\left(\\delta \\right)}}{L} & 0\\end{matrix}\\right]$"
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],
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"text/plain": [
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"Matrix([\n",
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"[0, 0, cos(theta), -v*sin(theta)],\n",
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"[0, 0, sin(theta), v*cos(theta)],\n",
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"[0, 0, 0, 0],\n",
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"[0, 0, tan(delta)/L, 0]])"
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]
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},
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"execution_count": 8,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"source": [
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"x,y,theta,v,delta,L,a = sp.symbols(\"x y theta v delta L a\")\n",
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"x,y,theta,v,delta,L,a = sp.symbols(\"x y theta v delta L a\")\n",
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"\n",
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"\n",
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@ -185,15 +167,20 @@
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" [a],\n",
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" [a],\n",
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" [ v*sp.tan(delta)/L]])\n",
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" [ v*sp.tan(delta)/L]])\n",
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"\n",
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"\n",
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"state = sp.Matrix([x,y,v,theta])\n",
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"X = sp.Matrix([x,y,v,theta])\n",
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"\n",
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"\n",
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"#A\n",
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"#A\n",
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"gs.jacobian(state)"
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"A=gs.jacobian(X)\n",
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"\n",
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"U = sp.Matrix([a,delta])\n",
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"\n",
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"#B\n",
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"B=gs.jacobian(U)#.subs({x:0,y:0,theta:0})B="
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]
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]
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},
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},
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{
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{
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"cell_type": "code",
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"cell_type": "code",
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"execution_count": 7,
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"execution_count": 15,
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"metadata": {},
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"metadata": {},
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"outputs": [
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"outputs": [
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{
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{
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@ -209,16 +196,96 @@
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"[0, v*(tan(delta)**2 + 1)/L]])"
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"[0, v*(tan(delta)**2 + 1)/L]])"
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]
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]
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},
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},
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"execution_count": 7,
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"execution_count": 15,
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"metadata": {},
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"metadata": {},
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"output_type": "execute_result"
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"output_type": "execute_result"
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}
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}
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],
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],
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"source": [
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"source": [
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"state = sp.Matrix([a,delta])\n",
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"B"
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"\n",
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]
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"#B\n",
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},
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"gs.jacobian(state)#.subs({x:0,y:0,theta:0})"
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{
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"cell_type": "code",
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"execution_count": 10,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/latex": [
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"$\\displaystyle \\left[\\begin{matrix}1 & 0 & dt \\cos{\\left(\\theta \\right)} & - dt v \\sin{\\left(\\theta \\right)}\\\\0 & 1 & dt \\sin{\\left(\\theta \\right)} & dt v \\cos{\\left(\\theta \\right)}\\\\0 & 0 & 1 & 0\\\\0 & 0 & \\frac{dt \\tan{\\left(\\delta \\right)}}{L} & 1\\end{matrix}\\right]$"
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],
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"text/plain": [
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"Matrix([\n",
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"[1, 0, dt*cos(theta), -dt*v*sin(theta)],\n",
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"[0, 1, dt*sin(theta), dt*v*cos(theta)],\n",
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"[0, 0, 1, 0],\n",
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"[0, 0, dt*tan(delta)/L, 1]])"
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]
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},
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"execution_count": 10,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"#A LIN\n",
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"DT = sp.symbols(\"dt\")\n",
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"sp.eye(4)+A*DT"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 11,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/latex": [
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"$\\displaystyle \\left[\\begin{matrix}0 & 0\\\\0 & 0\\\\dt & 0\\\\0 & \\frac{dt v \\left(\\tan^{2}{\\left(\\delta \\right)} + 1\\right)}{L}\\end{matrix}\\right]$"
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],
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"text/plain": [
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"Matrix([\n",
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"[ 0, 0],\n",
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"[ 0, 0],\n",
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"[dt, 0],\n",
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"[ 0, dt*v*(tan(delta)**2 + 1)/L]])"
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]
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},
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"execution_count": 11,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"B*DT"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 13,
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"metadata": {},
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"outputs": [
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{
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"data": {
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"text/latex": [
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"$\\displaystyle \\left[\\begin{matrix}dt \\theta v \\sin{\\left(\\theta \\right)}\\\\- dt \\theta v \\cos{\\left(\\theta \\right)}\\\\0\\\\- \\frac{\\delta dt v \\left(\\tan^{2}{\\left(\\delta \\right)} + 1\\right)}{L}\\end{matrix}\\right]$"
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],
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"text/plain": [
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"Matrix([\n",
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"[ dt*theta*v*sin(theta)],\n",
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"[ -dt*theta*v*cos(theta)],\n",
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"[ 0],\n",
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"[-delta*dt*v*(tan(delta)**2 + 1)/L]])"
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]
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},
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"execution_count": 13,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"DT*(gs - A*X - B*U)"
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]
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]
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},
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},
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{
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{
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@ -422,6 +489,8 @@
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"source": [
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"source": [
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"It is necessary to take *actuation latency* into account: so instead of using the actual state as estimated, the delay factored in using the kinematic model\n",
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"It is necessary to take *actuation latency* into account: so instead of using the actual state as estimated, the delay factored in using the kinematic model\n",
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"\n",
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"\n",
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"Starting State is :\n",
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"\n",
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"* $x_{delay} = 0.0 + v * dt$\n",
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"* $x_{delay} = 0.0 + v * dt$\n",
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"* $y_{delay} = 0.0$\n",
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"* $y_{delay} = 0.0$\n",
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"* $psi_{delay} = 0.0 + w * dt$\n",
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"* $psi_{delay} = 0.0 + w * dt$\n",
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52
racecar.py
52
racecar.py
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@ -1,52 +0,0 @@
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import pybullet as p
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import pybullet_data
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import time
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import os
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p.connect(p.GUI)
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p.resetSimulation()
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p.setGravity(0, 0, -10)
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useRealTimeSim = 1
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#for video recording (works best on Mac and Linux, not well on Windows)
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#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
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p.setRealTimeSimulation(useRealTimeSim) # either this
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p.loadURDF(os.path.join(pybullet_data.getDataPath(), "plane.urdf"))
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car = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "racecar/racecar.urdf"))
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for i in range(p.getNumJoints(car)):
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print(p.getJointInfo(car, i))
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inactive_wheels = [3, 5, 7]
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wheels = [2]
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for wheel in inactive_wheels:
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p.setJointMotorControl2(car, wheel, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
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steering = [4, 6]
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targetVelocitySlider = p.addUserDebugParameter("wheelVelocity", -10, 10, 0)
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maxForceSlider = p.addUserDebugParameter("maxForce", 0, 10, 10)
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steeringSlider = p.addUserDebugParameter("steering", -0.5, 0.5, 0)
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while (True):
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maxForce = p.readUserDebugParameter(maxForceSlider)
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targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
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steeringAngle = p.readUserDebugParameter(steeringSlider)
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for wheel in wheels:
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p.setJointMotorControl2(car,
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wheel,
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p.VELOCITY_CONTROL,
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targetVelocity=targetVelocity,
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force=maxForce)
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for steer in steering:
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p.setJointMotorControl2(car, steer, p.POSITION_CONTROL, targetPosition=steeringAngle)
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if (useRealTimeSim == 0):
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p.stepSimulation()
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time.sleep(0.01)
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@ -0,0 +1,198 @@
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<?xml version="1.0" ?>
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<robot name="husky_robot" xmlns:xacro="http://ros.org/wiki/xacro">
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<link name="world"/>
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<link name="diff_ring">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_ring.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
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<collision>
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<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
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<geometry>
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<cylinder length="0.01" radius="0.05"/>
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</geometry>
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</collision>
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</link>
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<joint name="diff_ring_world" type="continuous">
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<parent link="world"/>
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<child link="diff_ring"/>
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<origin rpy="0 0 0" xyz="0.256 0.2854 0.03282"/>
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<axis rpy="0 0 0" xyz="0 1 0"/>
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</joint>
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<link name="diff_spiderA">
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<contact>
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<lateral_friction value="1.0"/>
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<rolling_friction value="0.0"/>
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<stiffness value="30000"/>
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<damping value="1000"/>
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</contact>
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<inertial>
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<mass value="2.637"/>
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<origin xyz="0 0 0"/>
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<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
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</inertial>
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<visual>
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<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
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</geometry>
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<material name="DarkGrey"/>
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</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_spiderA_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_spiderA"/>
|
||||||
|
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff_spiderB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="2.637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="DarkGrey"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_spiderB_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_spiderB"/>
|
||||||
|
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<link name="diff_sideA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="2.637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="DarkGrey"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_sideA_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_sideA"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff_sideB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="2.637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="DarkGrey"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_sideB_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_sideB"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
Binary file not shown.
Binary file not shown.
Binary file not shown.
Binary file not shown.
|
|
@ -0,0 +1,2 @@
|
||||||
|
stl files were copied from http://www.otvinta.com/download09.html
|
||||||
|
URDF file was manually created, along with mimicJointConstraint.py
|
||||||
|
|
@ -0,0 +1,65 @@
|
||||||
|
# Blender MTL File: 'None'
|
||||||
|
# Material Count: 7
|
||||||
|
|
||||||
|
newmtl Grass
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.034510 0.131765 0.028235
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl Road
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.172549 0.172549 0.172549
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl Text
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.608627 0.445490 0.163138
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl Wall-top
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.040784 0.087843 0.235294
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl Walls
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.288627 0.649412 0.652549
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl Water
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.131765 0.250981 0.495686
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl water-wall
|
||||||
|
Ns 1.960784
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.564706 0.125490 0.125490
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni -1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,279 @@
|
||||||
|
<sdf version='1.6'>
|
||||||
|
<world name='default'>
|
||||||
|
<gravity>0 0 -9.8</gravity>
|
||||||
|
<model name='part0.obj'>
|
||||||
|
<static>1</static>
|
||||||
|
<pose frame=''>0 0 0 0 0 0</pose>
|
||||||
|
<link name='link_d0'>
|
||||||
|
<inertial>
|
||||||
|
<mass>0</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.166667</ixx>
|
||||||
|
<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.166667</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
|
<izz>0.166667</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision concave='yes' name='collision_0'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part0.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name='visual'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part0.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>1 1 1 1</ambient>
|
||||||
|
<diffuse>1 1 1 1</diffuse>
|
||||||
|
|
||||||
|
<specular>0.1 0.1 0.1 1</specular>
|
||||||
|
<emissive>0 0 0 0</emissive>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
<model name='part1.obj'>
|
||||||
|
<static>1</static>
|
||||||
|
<pose frame=''>0 0 0 0 0 0</pose>
|
||||||
|
<link name='link_d1'>
|
||||||
|
<inertial>
|
||||||
|
<mass>0</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.166667</ixx>
|
||||||
|
<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.166667</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
|
<izz>0.166667</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision concave='yes' name='collision_1'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part1.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name='visual'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part1.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>1 1 1 1</ambient>
|
||||||
|
<diffuse>0.2 0.6 0.2 1</diffuse>
|
||||||
|
<specular>0.1 0.1 0.1 1</specular>
|
||||||
|
<emissive>0 0 0 0</emissive>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
<model name='part2.obj'>
|
||||||
|
<static>1</static>
|
||||||
|
<pose frame=''>0 0 0 0 0 0</pose>
|
||||||
|
<link name='link_d2'>
|
||||||
|
<inertial>
|
||||||
|
<mass>0</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.166667</ixx>
|
||||||
|
<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.166667</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
|
<izz>0.166667</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision concave='yes' name='collision_2'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part2.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name='visual'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part2.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>1 1 1 1</ambient>
|
||||||
|
<diffuse>1 1 0 1</diffuse>
|
||||||
|
<specular>0.1 0.1 0.1 1</specular>
|
||||||
|
<emissive>0 0 0 0</emissive>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
<model name='part3.obj'>
|
||||||
|
<static>1</static>
|
||||||
|
<pose frame=''>0 0 0 0 0 0</pose>
|
||||||
|
<link name='link_d3'>
|
||||||
|
<inertial>
|
||||||
|
<mass>0</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.166667</ixx>
|
||||||
|
<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.166667</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
|
<izz>0.166667</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision concave='yes' name='collision_3'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part3.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name='visual'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part3.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>1 1 1 1</ambient>
|
||||||
|
<diffuse>1 1 0 1</diffuse>
|
||||||
|
<specular>0.1 0.1 0.1 1</specular>
|
||||||
|
<emissive>0 0 0 0</emissive>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
<model name='part4.obj'>
|
||||||
|
<static>1</static>
|
||||||
|
<pose frame=''>0 0 0 0 0 0</pose>
|
||||||
|
<link name='link_d4'>
|
||||||
|
<inertial>
|
||||||
|
<mass>0</mass>
|
||||||
|
<inertia>
|
||||||
|
<ixx>0.166667</ixx>
|
||||||
|
<ixy>0</ixy>
|
||||||
|
<ixz>0</ixz>
|
||||||
|
<iyy>0.166667</iyy>
|
||||||
|
<iyz>0</iyz>
|
||||||
|
<izz>0.166667</izz>
|
||||||
|
</inertia>
|
||||||
|
</inertial>
|
||||||
|
<collision concave='yes' name='collision_4'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part4.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name='visual'>
|
||||||
|
<geometry>
|
||||||
|
<mesh>
|
||||||
|
<scale>1 1 1</scale>
|
||||||
|
<uri>part4.obj</uri>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>1 1 1 1</ambient>
|
||||||
|
<diffuse>0.5 0.5 1 1.000000</diffuse>
|
||||||
|
<specular>0.1 0.1 0.1 1</specular>
|
||||||
|
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|
v 0.075000 -0.075000 0.005000
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|
v 0.030000 -0.051962 0.005000
|
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|
v 0.051962 -0.030000 0.005000
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|
v 0.060000 0.000000 0.005000
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|
v 0.000000 0.060000 0.005000
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|
v 0.075000 0.075000 0.005000
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|
v -0.030000 0.051962 0.005000
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|
v -0.051962 0.030000 0.005000
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v 0.030000 0.051962 0.005000
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|
vn 0.000000 1.000000 0.000000
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|
vn 1.000000 0.000000 0.000000
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|
vn 0.000000 -1.000000 0.000000
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|
vn -1.000000 0.000000 0.000000
|
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|
vn 0.000000 0.000000 1.000000
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|
usemtl material_1
|
||||||
|
s 1
|
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|
f 25//13 26//13 27//13
|
||||||
|
f 26//13 25//13 28//13
|
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|
f 29//14 30//14 31//14
|
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|
f 30//14 29//14 32//14
|
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|
f 33//15 34//15 35//15
|
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|
f 34//15 33//15 36//15
|
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|
f 37//16 38//16 39//16
|
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|
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|
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|
f 41//17 42//17 43//17
|
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|
f 42//17 41//17 44//17
|
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|
f 45//18 46//18 47//18
|
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|
f 46//18 45//18 48//18
|
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|
f 48//18 45//18 49//18
|
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|
f 49//18 45//18 50//18
|
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|
f 50//18 45//18 51//18
|
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|
f 50//18 51//18 52//18
|
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|
f 52//18 51//18 53//18
|
||||||
|
f 53//18 51//18 54//18
|
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|
f 47//18 55//18 56//18
|
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|
f 55//18 47//18 57//18
|
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|
f 57//18 47//18 58//18
|
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|
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|
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|
f 56//18 55//18 59//18
|
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|
f 56//18 59//18 60//18
|
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|
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|
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@ -0,0 +1,20 @@
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# Blender MTL File: 'None'
|
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|
# Material Count: 2
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|
|
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|
newmtl black-material
|
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|
Ns 21.568627
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|
Ka 0.000000 0.000000 0.000000
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|
Kd 0.016250 0.016250 0.016250
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|
Ks 0.125000 0.125000 0.125000
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|
Ni 1.000000
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|
d 1.000000
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illum 2
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|
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|
newmtl white_001-material
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|
Ns -1.960784
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|
Ka 0.000000 0.000000 0.000000
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|
Kd 0.556090 0.556090 0.556090
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|
Ks 0.031250 0.031250 0.031250
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Ni 1.000000
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d 1.000000
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illum 2
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Load Diff
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# Blender MTL File: 'None'
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# Material Count: 1
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newmtl None
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|
Ns 0
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|
Ka 0.000000 0.000000 0.000000
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|
Kd 0.8 0.8 0.8
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|
Ks 0.8 0.8 0.8
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d 1
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illum 2
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map_Kd wheel.jpg
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# Blender MTL File: 'None'
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# Material Count: 1
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newmtl None
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|
Ns 0
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|
Ka 0.000000 0.000000 0.000000
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|
Kd 0.8 0.8 0.8
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|
Ks 0.8 0.8 0.8
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|
d 1
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|
illum 2
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map_Kd wheel.jpg
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<?xml version="1.0" encoding="utf-8"?>
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|
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|
<asset>
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|
<contributor>
|
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|
<author>Blender User</author>
|
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|
<authoring_tool>Blender 2.78.0</authoring_tool>
|
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|
</contributor>
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|
<created>2017-04-24T15:08:21</created>
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|
<modified>2017-04-24T15:08:21</modified>
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|
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|
<up_axis>Z_UP</up_axis>
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</asset>
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|
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|
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|
<perspective>
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|
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<aspect_ratio>1.777778</aspect_ratio>
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<znear sid="znear">0.1</znear>
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<zfar sid="zfar">100</zfar>
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|
</perspective>
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|
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|
</optics>
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<YF_dofdist>0</YF_dofdist>
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|
<shiftx>0</shiftx>
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<shifty>0</shifty>
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<ray_samp_type>0</ray_samp_type>
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|
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|
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||||||
|
<float_array id="Cube-mesh-positions-array" count="24">-1 -1 -1 -1 -1 1 -1 1 -1 -1 1 1 1 -1 -1 1 -1 1 1 1 -1 1 1 1</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor source="#Cube-mesh-positions-array" count="8" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<source id="Cube-mesh-normals">
|
||||||
|
<float_array id="Cube-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
|
||||||
|
<technique_common>
|
||||||
|
<accessor source="#Cube-mesh-normals-array" count="6" stride="3">
|
||||||
|
<param name="X" type="float"/>
|
||||||
|
<param name="Y" type="float"/>
|
||||||
|
<param name="Z" type="float"/>
|
||||||
|
</accessor>
|
||||||
|
</technique_common>
|
||||||
|
</source>
|
||||||
|
<vertices id="Cube-mesh-vertices">
|
||||||
|
<input semantic="POSITION" source="#Cube-mesh-positions"/>
|
||||||
|
</vertices>
|
||||||
|
<polylist material="Material_001-material" count="12">
|
||||||
|
<input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
|
||||||
|
<input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
|
||||||
|
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
|
||||||
|
<p>1 0 2 0 0 0 3 1 6 1 2 1 7 2 4 2 6 2 5 3 0 3 4 3 6 4 0 4 2 4 3 5 5 5 7 5 1 0 3 0 2 0 3 1 7 1 6 1 7 2 5 2 4 2 5 3 1 3 0 3 6 4 4 4 0 4 3 5 1 5 5 5</p>
|
||||||
|
</polylist>
|
||||||
|
</mesh>
|
||||||
|
</geometry>
|
||||||
|
</library_geometries>
|
||||||
|
<library_controllers/>
|
||||||
|
<library_visual_scenes>
|
||||||
|
<visual_scene id="Scene" name="Scene">
|
||||||
|
<node id="Cube_002" name="Cube_002" type="NODE">
|
||||||
|
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 3.623344 0 0 0.15 0.1530263 0 0 0 1</matrix>
|
||||||
|
<instance_geometry url="#Cube_004-mesh" name="Cube_002"/>
|
||||||
|
</node>
|
||||||
|
<node id="Camera" name="Camera" type="NODE">
|
||||||
|
<matrix sid="transform">0.6858805 -0.3173701 0.6548619 7.481132 0.7276338 0.3124686 -0.6106656 -6.50764 -0.01081678 0.8953432 0.4452454 5.343665 0 0 0 1</matrix>
|
||||||
|
<instance_camera url="#Camera-camera"/>
|
||||||
|
</node>
|
||||||
|
<node id="Lamp" name="Lamp" type="NODE">
|
||||||
|
<matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
|
||||||
|
<instance_light url="#Lamp-light"/>
|
||||||
|
</node>
|
||||||
|
<node id="Cube" name="Cube" type="NODE">
|
||||||
|
<matrix sid="transform">0.173696 0 0 -4.197643 0 5.482737 0 4.50726 0 0 1 1.015023 0 0 0 1</matrix>
|
||||||
|
<instance_geometry url="#Cube_002-mesh" name="Cube"/>
|
||||||
|
</node>
|
||||||
|
<node id="Cube_001" name="Cube_001" type="NODE">
|
||||||
|
<matrix sid="transform">0.1354637 0 0 -3.735135 0 0.3 0 5.201571 0 0 0.15 0.1727542 0 0 0 1</matrix>
|
||||||
|
<instance_geometry url="#Cube_003-mesh" name="Cube_001"/>
|
||||||
|
</node>
|
||||||
|
<node id="Cube_003" name="Cube_003" type="NODE">
|
||||||
|
<matrix sid="transform">0.225 0 0 -3.795233 0 0.38 0 4.425851 0 0 0.005 0.01 0 0 0 1</matrix>
|
||||||
|
<instance_geometry url="#Cube-mesh" name="Cube_003">
|
||||||
|
<bind_material>
|
||||||
|
<technique_common>
|
||||||
|
<instance_material symbol="Material_001-material" target="#Material_001-material"/>
|
||||||
|
</technique_common>
|
||||||
|
</bind_material>
|
||||||
|
</instance_geometry>
|
||||||
|
</node>
|
||||||
|
</visual_scene>
|
||||||
|
</library_visual_scenes>
|
||||||
|
<scene>
|
||||||
|
<instance_visual_scene url="#Scene"/>
|
||||||
|
</scene>
|
||||||
|
</COLLADA>
|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,60 @@
|
||||||
|
# Exported using automatic converter by Erwin Coumans
|
||||||
|
mtllib barca_track.mtl
|
||||||
|
#object Box001_Box001Mesh
|
||||||
|
|
||||||
|
v -29.086922 9.944676 0.000000
|
||||||
|
v 40.913078 9.944676 0.000000
|
||||||
|
v -29.086922 -15.055324 0.000000
|
||||||
|
v 40.913078 -15.055324 0.000000
|
||||||
|
v 40.913078 9.944676 0.020000
|
||||||
|
v -29.086922 9.944676 0.020000
|
||||||
|
v -29.086922 -15.055324 0.020000
|
||||||
|
v 40.913078 -15.055324 0.020000
|
||||||
|
v 40.913078 -15.055324 0.020000
|
||||||
|
v -29.086922 -15.055324 0.020000
|
||||||
|
v -29.086922 -15.055324 0.000000
|
||||||
|
v 40.913078 -15.055324 0.000000
|
||||||
|
v 40.913078 -15.055324 0.020000
|
||||||
|
v 40.913078 9.944676 0.000000
|
||||||
|
v -29.086922 9.944676 0.020000
|
||||||
|
v 40.913078 9.944676 0.020000
|
||||||
|
v 40.913078 9.944676 0.000000
|
||||||
|
v -29.086922 9.944676 0.000000
|
||||||
|
v -29.086922 -15.055324 0.020000
|
||||||
|
v -29.086922 9.944676 0.000000
|
||||||
|
usemtl Grass
|
||||||
|
|
||||||
|
|
||||||
|
vt 1.000000 1.000000
|
||||||
|
vt 0.000000 1.000000
|
||||||
|
vt 1.000000 0.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
vt 1.000000 1.000000
|
||||||
|
vt 0.000000 1.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
vt 1.000000 0.000000
|
||||||
|
vt 1.000000 1.000000
|
||||||
|
vt 0.000000 1.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
vt 1.000000 0.000000
|
||||||
|
vt 0.000000 1.000000
|
||||||
|
vt 1.000000 0.000000
|
||||||
|
vt 1.000000 1.000000
|
||||||
|
vt 0.000000 1.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
vt 1.000000 0.000000
|
||||||
|
vt 1.000000 1.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
s off
|
||||||
|
f 1/1/1 2/2/2 3/3/3
|
||||||
|
f 4/4/4 3/3/3 2/2/2
|
||||||
|
f 5/5/5 6/6/6 7/7/7
|
||||||
|
f 5/5/5 7/7/7 8/8/8
|
||||||
|
f 9/9/9 10/10/10 11/11/11
|
||||||
|
f 9/9/9 11/11/11 12/12/12
|
||||||
|
f 5/5/5 13/13/13 4/4/4
|
||||||
|
f 5/5/5 4/4/4 14/14/14
|
||||||
|
f 15/15/15 16/16/16 17/17/17
|
||||||
|
f 15/15/15 17/17/17 18/18/18
|
||||||
|
f 19/19/19 6/6/6 20/20/20
|
||||||
|
f 19/19/19 20/20/20 3/3/3
|
||||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,596 @@
|
||||||
|
# Exported using automatic converter by Erwin Coumans
|
||||||
|
mtllib barca_track.mtl
|
||||||
|
#object Line003_Line003Mesh
|
||||||
|
|
||||||
|
v 2.421222 -0.056734 0.000000
|
||||||
|
v 2.016600 -0.915003 0.000000
|
||||||
|
v 2.016600 -0.915003 0.050000
|
||||||
|
v 2.421222 -0.056734 0.050000
|
||||||
|
v 25.725058 -7.755845 0.000000
|
||||||
|
v 25.943077 -6.713602 0.000000
|
||||||
|
v 26.076797 -7.281773 0.000000
|
||||||
|
v 24.768164 -8.115381 0.000000
|
||||||
|
v 25.443592 -6.071772 0.000000
|
||||||
|
v 24.698034 -5.376718 0.000000
|
||||||
|
v 22.918129 -8.349623 0.000000
|
||||||
|
v 23.826099 -4.648877 0.000000
|
||||||
|
v 20.185341 -8.473146 0.000000
|
||||||
|
v 22.947475 -3.908688 0.000000
|
||||||
|
v 21.930237 -3.090331 0.000000
|
||||||
|
v 20.624008 -2.153702 0.000000
|
||||||
|
v 16.897701 -8.503529 0.000000
|
||||||
|
v 19.120823 -1.157807 0.000000
|
||||||
|
v 17.512718 -0.161649 0.000000
|
||||||
|
v 13.383091 -8.458340 0.000000
|
||||||
|
v 15.891727 0.775766 0.000000
|
||||||
|
v 14.349886 1.595434 0.000000
|
||||||
|
v 9.969400 -8.355156 0.000000
|
||||||
|
v 12.979229 2.238349 0.000000
|
||||||
|
v 11.736139 2.739689 0.000000
|
||||||
|
v 6.984523 -8.211549 0.000000
|
||||||
|
v 10.524273 3.163628 0.000000
|
||||||
|
v 9.356565 3.494656 0.000000
|
||||||
|
v 8.245951 3.717267 0.000000
|
||||||
|
v 7.205369 3.815950 0.000000
|
||||||
|
v 6.247754 3.775198 0.000000
|
||||||
|
v 5.386044 3.579500 0.000000
|
||||||
|
v 4.627831 3.166082 0.000000
|
||||||
|
v 3.964148 2.527806 0.000000
|
||||||
|
v 3.383090 1.732615 0.000000
|
||||||
|
v 2.872750 0.848454 0.000000
|
||||||
|
v 2.421222 -0.056734 0.000000
|
||||||
|
v 2.016600 -0.915003 0.000000
|
||||||
|
v 4.756348 -8.045094 0.000000
|
||||||
|
v 1.646977 -1.658409 0.000000
|
||||||
|
v 1.289131 -2.314162 0.000000
|
||||||
|
v 3.263519 -7.845060 0.000000
|
||||||
|
v 0.945906 -2.951725 0.000000
|
||||||
|
v 2.207457 -7.592249 0.000000
|
||||||
|
v 0.644491 -3.566539 0.000000
|
||||||
|
v 0.412079 -4.154041 0.000000
|
||||||
|
v 1.500222 -7.291535 0.000000
|
||||||
|
v 0.275862 -4.709673 0.000000
|
||||||
|
v 0.263029 -5.228873 0.000000
|
||||||
|
v 0.400775 -5.707081 0.000000
|
||||||
|
v 0.592093 -6.150689 0.000000
|
||||||
|
v 1.053878 -6.947789 0.000000
|
||||||
|
v 0.780479 -6.565883 0.000000
|
||||||
|
v 25.725058 -7.755845 0.050000
|
||||||
|
v 26.076797 -7.281773 0.050000
|
||||||
|
v 25.943077 -6.713602 0.050000
|
||||||
|
v 24.768164 -8.115381 0.050000
|
||||||
|
v 25.443592 -6.071772 0.050000
|
||||||
|
v 24.698034 -5.376718 0.050000
|
||||||
|
v 22.918129 -8.349623 0.050000
|
||||||
|
v 23.826099 -4.648877 0.050000
|
||||||
|
v 20.185341 -8.473146 0.050000
|
||||||
|
v 22.947475 -3.908688 0.050000
|
||||||
|
v 21.930237 -3.090331 0.050000
|
||||||
|
v 20.624008 -2.153702 0.050000
|
||||||
|
v 16.897701 -8.503529 0.050000
|
||||||
|
v 19.120823 -1.157807 0.050000
|
||||||
|
v 17.512718 -0.161649 0.050000
|
||||||
|
v 13.383091 -8.458340 0.050000
|
||||||
|
v 15.891727 0.775766 0.050000
|
||||||
|
v 14.349886 1.595434 0.050000
|
||||||
|
v 9.969400 -8.355156 0.050000
|
||||||
|
v 12.979229 2.238349 0.050000
|
||||||
|
v 11.736139 2.739689 0.050000
|
||||||
|
v 6.984523 -8.211549 0.050000
|
||||||
|
v 10.524273 3.163628 0.050000
|
||||||
|
v 9.356565 3.494656 0.050000
|
||||||
|
v 8.245951 3.717267 0.050000
|
||||||
|
v 7.205369 3.815950 0.050000
|
||||||
|
v 6.247754 3.775198 0.050000
|
||||||
|
v 5.386044 3.579500 0.050000
|
||||||
|
v 4.627831 3.166082 0.050000
|
||||||
|
v 3.964148 2.527806 0.050000
|
||||||
|
v 3.383090 1.732615 0.050000
|
||||||
|
v 2.872750 0.848454 0.050000
|
||||||
|
v 2.421222 -0.056734 0.050000
|
||||||
|
v 2.016600 -0.915003 0.050000
|
||||||
|
v 4.756348 -8.045094 0.050000
|
||||||
|
v 1.646977 -1.658409 0.050000
|
||||||
|
v 1.289131 -2.314162 0.050000
|
||||||
|
v 3.263519 -7.845060 0.050000
|
||||||
|
v 0.945906 -2.951725 0.050000
|
||||||
|
v 2.207457 -7.592249 0.050000
|
||||||
|
v 0.644491 -3.566539 0.050000
|
||||||
|
v 0.412079 -4.154041 0.050000
|
||||||
|
v 1.500222 -7.291535 0.050000
|
||||||
|
v 0.275862 -4.709673 0.050000
|
||||||
|
v 0.263029 -5.228873 0.050000
|
||||||
|
v 0.400775 -5.707081 0.050000
|
||||||
|
v 0.592093 -6.150689 0.050000
|
||||||
|
v 1.053878 -6.947789 0.050000
|
||||||
|
v 0.780479 -6.565883 0.050000
|
||||||
|
v 5.386044 3.579500 0.000000
|
||||||
|
v 4.627831 3.166082 0.000000
|
||||||
|
v 4.627831 3.166082 0.050000
|
||||||
|
v 5.386044 3.579500 0.050000
|
||||||
|
v 3.964148 2.527806 0.000000
|
||||||
|
v 3.964148 2.527806 0.050000
|
||||||
|
v 3.383090 1.732615 0.000000
|
||||||
|
v 3.383090 1.732615 0.050000
|
||||||
|
v 2.872750 0.848454 0.000000
|
||||||
|
v 2.872750 0.848454 0.050000
|
||||||
|
v 1.646977 -1.658409 0.000000
|
||||||
|
v 1.646977 -1.658409 0.050000
|
||||||
|
v 1.289131 -2.314162 0.000000
|
||||||
|
v 1.289131 -2.314162 0.050000
|
||||||
|
v 0.945906 -2.951725 0.000000
|
||||||
|
v 0.945906 -2.951725 0.050000
|
||||||
|
v 0.644491 -3.566539 0.000000
|
||||||
|
v 0.644491 -3.566539 0.050000
|
||||||
|
v 0.412079 -4.154041 0.000000
|
||||||
|
v 0.412079 -4.154041 0.050000
|
||||||
|
v 0.275862 -4.709673 0.000000
|
||||||
|
v 0.275862 -4.709673 0.050000
|
||||||
|
v 0.263029 -5.228873 0.000000
|
||||||
|
v 0.263029 -5.228873 0.050000
|
||||||
|
v 0.400775 -5.707081 0.000000
|
||||||
|
v 0.400775 -5.707081 0.050000
|
||||||
|
v 0.592093 -6.150689 0.000000
|
||||||
|
v 0.592093 -6.150689 0.050000
|
||||||
|
v 0.780479 -6.565883 0.000000
|
||||||
|
v 0.780479 -6.565883 0.050000
|
||||||
|
v 1.053878 -6.947789 0.000000
|
||||||
|
v 1.053878 -6.947789 0.050000
|
||||||
|
v 1.500222 -7.291535 0.000000
|
||||||
|
v 1.500222 -7.291535 0.050000
|
||||||
|
v 2.207457 -7.592249 0.000000
|
||||||
|
v 2.207457 -7.592249 0.050000
|
||||||
|
v 3.263519 -7.845060 0.000000
|
||||||
|
v 3.263519 -7.845060 0.050000
|
||||||
|
v 4.756348 -8.045094 0.000000
|
||||||
|
v 4.756348 -8.045094 0.050000
|
||||||
|
v 6.984523 -8.211549 0.000000
|
||||||
|
v 6.984523 -8.211549 0.050000
|
||||||
|
v 9.969400 -8.355156 0.000000
|
||||||
|
v 9.969400 -8.355156 0.050000
|
||||||
|
v 13.383091 -8.458340 0.000000
|
||||||
|
v 13.383091 -8.458340 0.050000
|
||||||
|
v 16.897701 -8.503529 0.000000
|
||||||
|
v 16.897701 -8.503529 0.050000
|
||||||
|
v 20.185341 -8.473146 0.000000
|
||||||
|
v 20.185341 -8.473146 0.050000
|
||||||
|
v 22.918129 -8.349623 0.000000
|
||||||
|
v 22.918129 -8.349623 0.050000
|
||||||
|
v 24.768164 -8.115381 0.000000
|
||||||
|
v 24.768164 -8.115381 0.050000
|
||||||
|
v 25.725058 -7.755845 0.000000
|
||||||
|
v 25.725058 -7.755845 0.050000
|
||||||
|
v 26.076797 -7.281773 0.000000
|
||||||
|
v 26.076797 -7.281773 0.050000
|
||||||
|
v 25.943077 -6.713602 0.000000
|
||||||
|
v 25.943077 -6.713602 0.050000
|
||||||
|
v 25.443592 -6.071772 0.000000
|
||||||
|
v 25.443592 -6.071772 0.050000
|
||||||
|
v 24.698034 -5.376718 0.000000
|
||||||
|
v 24.698034 -5.376718 0.050000
|
||||||
|
v 23.826099 -4.648877 0.000000
|
||||||
|
v 23.826099 -4.648877 0.050000
|
||||||
|
v 22.947475 -3.908688 0.000000
|
||||||
|
v 22.947475 -3.908688 0.050000
|
||||||
|
v 21.930237 -3.090331 0.000000
|
||||||
|
v 21.930237 -3.090331 0.050000
|
||||||
|
v 20.624008 -2.153702 0.000000
|
||||||
|
v 20.624008 -2.153702 0.050000
|
||||||
|
v 19.120823 -1.157807 0.000000
|
||||||
|
v 19.120823 -1.157807 0.050000
|
||||||
|
v 17.512718 -0.161649 0.000000
|
||||||
|
v 17.512718 -0.161649 0.050000
|
||||||
|
v 15.891727 0.775766 0.000000
|
||||||
|
v 15.891727 0.775766 0.050000
|
||||||
|
v 14.349886 1.595434 0.000000
|
||||||
|
v 14.349886 1.595434 0.050000
|
||||||
|
v 12.979229 2.238349 0.000000
|
||||||
|
v 12.979229 2.238349 0.050000
|
||||||
|
v 11.736139 2.739689 0.000000
|
||||||
|
v 11.736139 2.739689 0.050000
|
||||||
|
v 10.524273 3.163628 0.000000
|
||||||
|
v 10.524273 3.163628 0.050000
|
||||||
|
v 9.356565 3.494656 0.000000
|
||||||
|
v 9.356565 3.494656 0.050000
|
||||||
|
v 8.245951 3.717267 0.000000
|
||||||
|
v 8.245951 3.717267 0.050000
|
||||||
|
v 7.205369 3.815950 0.000000
|
||||||
|
v 7.205369 3.815950 0.050000
|
||||||
|
v 6.247754 3.775198 0.000000
|
||||||
|
v 6.247754 3.775198 0.050000
|
||||||
|
v 5.386044 3.579500 0.000000
|
||||||
|
v 5.386044 3.579500 0.050000
|
||||||
|
usemtl Water
|
||||||
|
|
||||||
|
|
||||||
|
vt 0.077144 0.000000
|
||||||
|
vt 0.092389 0.000000
|
||||||
|
vt 0.092389 1.000000
|
||||||
|
vt 0.077144 1.000000
|
||||||
|
vt 0.986374 0.060691
|
||||||
|
vt 0.994820 0.145292
|
||||||
|
vt 1.000000 0.099173
|
||||||
|
vt 0.949305 0.031507
|
||||||
|
vt 0.975470 0.197391
|
||||||
|
vt 0.946588 0.253810
|
||||||
|
vt 0.877636 0.012493
|
||||||
|
vt 0.912810 0.312891
|
||||||
|
vt 0.771771 0.002466
|
||||||
|
vt 0.878773 0.372974
|
||||||
|
vt 0.839366 0.439402
|
||||||
|
vt 0.788764 0.515430
|
||||||
|
vt 0.644411 0.000000
|
||||||
|
vt 0.730532 0.596269
|
||||||
|
vt 0.668236 0.677129
|
||||||
|
vt 0.508258 0.003668
|
||||||
|
vt 0.605440 0.753221
|
||||||
|
vt 0.545711 0.819756
|
||||||
|
vt 0.376015 0.012044
|
||||||
|
vt 0.492613 0.871943
|
||||||
|
vt 0.444457 0.912637
|
||||||
|
vt 0.260384 0.023701
|
||||||
|
vt 0.397510 0.947049
|
||||||
|
vt 0.352275 0.973920
|
||||||
|
vt 0.309251 0.991990
|
||||||
|
vt 0.268939 1.000000
|
||||||
|
vt 0.231842 0.996692
|
||||||
|
vt 0.198461 0.980807
|
||||||
|
vt 0.169088 0.947249
|
||||||
|
vt 0.143378 0.895438
|
||||||
|
vt 0.120868 0.830891
|
||||||
|
vt 0.101098 0.759122
|
||||||
|
vt 0.083606 0.685645
|
||||||
|
vt 0.067932 0.615978
|
||||||
|
vt 0.174067 0.037212
|
||||||
|
vt 0.053613 0.555634
|
||||||
|
vt 0.039750 0.502405
|
||||||
|
vt 0.116236 0.053449
|
||||||
|
vt 0.026454 0.450652
|
||||||
|
vt 0.075325 0.073971
|
||||||
|
vt 0.014777 0.400747
|
||||||
|
vt 0.005774 0.353058
|
||||||
|
vt 0.047928 0.098380
|
||||||
|
vt 0.000497 0.307956
|
||||||
|
vt 0.000000 0.265811
|
||||||
|
vt 0.005336 0.226994
|
||||||
|
vt 0.012748 0.190985
|
||||||
|
vt 0.030637 0.126283
|
||||||
|
vt 0.020046 0.157283
|
||||||
|
vt 0.986374 0.060691
|
||||||
|
vt 1.000000 0.099173
|
||||||
|
vt 0.994820 0.145292
|
||||||
|
vt 0.949305 0.031507
|
||||||
|
vt 0.975470 0.197391
|
||||||
|
vt 0.946588 0.253810
|
||||||
|
vt 0.877636 0.012493
|
||||||
|
vt 0.912810 0.312891
|
||||||
|
vt 0.771771 0.002466
|
||||||
|
vt 0.878773 0.372974
|
||||||
|
vt 0.839366 0.439402
|
||||||
|
vt 0.788764 0.515430
|
||||||
|
vt 0.644411 0.000000
|
||||||
|
vt 0.730532 0.596269
|
||||||
|
vt 0.668236 0.677129
|
||||||
|
vt 0.508258 0.003668
|
||||||
|
vt 0.605440 0.753221
|
||||||
|
vt 0.545711 0.819756
|
||||||
|
vt 0.376015 0.012044
|
||||||
|
vt 0.492613 0.871943
|
||||||
|
vt 0.444457 0.912637
|
||||||
|
vt 0.260384 0.023701
|
||||||
|
vt 0.397510 0.947049
|
||||||
|
vt 0.352275 0.973920
|
||||||
|
vt 0.309251 0.991990
|
||||||
|
vt 0.268939 1.000000
|
||||||
|
vt 0.231842 0.996692
|
||||||
|
vt 0.198461 0.980807
|
||||||
|
vt 0.169088 0.947249
|
||||||
|
vt 0.143378 0.895438
|
||||||
|
vt 0.120868 0.830891
|
||||||
|
vt 0.101098 0.759122
|
||||||
|
vt 0.083606 0.685645
|
||||||
|
vt 0.067932 0.615978
|
||||||
|
vt 0.174067 0.037212
|
||||||
|
vt 0.053613 0.555634
|
||||||
|
vt 0.039750 0.502405
|
||||||
|
vt 0.116236 0.053449
|
||||||
|
vt 0.026454 0.450652
|
||||||
|
vt 0.075325 0.073971
|
||||||
|
vt 0.014777 0.400747
|
||||||
|
vt 0.005774 0.353058
|
||||||
|
vt 0.047928 0.098380
|
||||||
|
vt 0.000497 0.307956
|
||||||
|
vt 0.000000 0.265811
|
||||||
|
vt 0.005336 0.226994
|
||||||
|
vt 0.012748 0.190985
|
||||||
|
vt 0.030637 0.126283
|
||||||
|
vt 0.020046 0.157283
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
vt 0.013875 0.000000
|
||||||
|
vt 0.013875 1.000000
|
||||||
|
vt 0.000000 1.000000
|
||||||
|
vt 0.028668 0.000000
|
||||||
|
vt 0.028668 1.000000
|
||||||
|
vt 0.044491 0.000000
|
||||||
|
vt 0.044491 1.000000
|
||||||
|
vt 0.060893 0.000000
|
||||||
|
vt 0.060893 1.000000
|
||||||
|
vt 0.105727 0.000000
|
||||||
|
vt 0.105727 1.000000
|
||||||
|
vt 0.117729 0.000000
|
||||||
|
vt 0.117729 1.000000
|
||||||
|
vt 0.129362 0.000000
|
||||||
|
vt 0.129362 1.000000
|
||||||
|
vt 0.140363 0.000000
|
||||||
|
vt 0.140363 1.000000
|
||||||
|
vt 0.150514 0.000000
|
||||||
|
vt 0.150514 1.000000
|
||||||
|
vt 0.159705 0.000000
|
||||||
|
vt 0.159705 1.000000
|
||||||
|
vt 0.168049 0.000000
|
||||||
|
vt 0.168049 1.000000
|
||||||
|
vt 0.176044 0.000000
|
||||||
|
vt 0.176044 1.000000
|
||||||
|
vt 0.183806 0.000000
|
||||||
|
vt 0.183806 1.000000
|
||||||
|
vt 0.191131 0.000000
|
||||||
|
vt 0.191131 1.000000
|
||||||
|
vt 0.198677 0.000000
|
||||||
|
vt 0.198677 1.000000
|
||||||
|
vt 0.207728 0.000000
|
||||||
|
vt 0.207728 1.000000
|
||||||
|
vt 0.220075 0.000000
|
||||||
|
vt 0.220075 1.000000
|
||||||
|
vt 0.237521 0.000000
|
||||||
|
vt 0.237521 1.000000
|
||||||
|
vt 0.261719 0.000000
|
||||||
|
vt 0.261719 1.000000
|
||||||
|
vt 0.297617 0.000000
|
||||||
|
vt 0.297617 1.000000
|
||||||
|
vt 0.345627 0.000000
|
||||||
|
vt 0.345627 1.000000
|
||||||
|
vt 0.400497 0.000000
|
||||||
|
vt 0.400497 1.000000
|
||||||
|
vt 0.456967 0.000000
|
||||||
|
vt 0.456967 1.000000
|
||||||
|
vt 0.509789 0.000000
|
||||||
|
vt 0.509789 1.000000
|
||||||
|
vt 0.553739 0.000000
|
||||||
|
vt 0.553739 1.000000
|
||||||
|
vt 0.583699 0.000000
|
||||||
|
vt 0.583699 1.000000
|
||||||
|
vt 0.600122 0.000000
|
||||||
|
vt 0.600122 1.000000
|
||||||
|
vt 0.609606 0.000000
|
||||||
|
vt 0.609606 1.000000
|
||||||
|
vt 0.618984 0.000000
|
||||||
|
vt 0.618984 1.000000
|
||||||
|
vt 0.632050 0.000000
|
||||||
|
vt 0.632050 1.000000
|
||||||
|
vt 0.648426 0.000000
|
||||||
|
vt 0.648426 1.000000
|
||||||
|
vt 0.666673 0.000000
|
||||||
|
vt 0.666673 1.000000
|
||||||
|
vt 0.685131 0.000000
|
||||||
|
vt 0.685131 1.000000
|
||||||
|
vt 0.706106 0.000000
|
||||||
|
vt 0.706106 1.000000
|
||||||
|
vt 0.731929 0.000000
|
||||||
|
vt 0.731929 1.000000
|
||||||
|
vt 0.760899 0.000000
|
||||||
|
vt 0.760899 1.000000
|
||||||
|
vt 0.791290 0.000000
|
||||||
|
vt 0.791290 1.000000
|
||||||
|
vt 0.821375 0.000000
|
||||||
|
vt 0.821375 1.000000
|
||||||
|
vt 0.849429 0.000000
|
||||||
|
vt 0.849429 1.000000
|
||||||
|
vt 0.873752 0.000000
|
||||||
|
vt 0.873752 1.000000
|
||||||
|
vt 0.895286 0.000000
|
||||||
|
vt 0.895286 1.000000
|
||||||
|
vt 0.915913 0.000000
|
||||||
|
vt 0.915913 1.000000
|
||||||
|
vt 0.935413 0.000000
|
||||||
|
vt 0.935413 1.000000
|
||||||
|
vt 0.953611 0.000000
|
||||||
|
vt 0.953611 1.000000
|
||||||
|
vt 0.970404 0.000000
|
||||||
|
vt 0.970404 1.000000
|
||||||
|
vt 0.985803 0.000000
|
||||||
|
vt 0.985803 1.000000
|
||||||
|
vt 1.000000 0.000000
|
||||||
|
vt 1.000000 1.000000
|
||||||
|
s off
|
||||||
|
f 1/1/1 2/2/2 3/3/3
|
||||||
|
f 1/1/1 3/3/3 4/4/4
|
||||||
|
f 5/5/5 6/6/6 7/7/7
|
||||||
|
f 8/8/8 6/6/6 5/5/5
|
||||||
|
f 8/8/8 9/9/9 6/6/6
|
||||||
|
f 8/8/8 10/10/10 9/9/9
|
||||||
|
f 11/11/11 10/10/10 8/8/8
|
||||||
|
f 11/11/11 12/12/12 10/10/10
|
||||||
|
f 13/13/13 12/12/12 11/11/11
|
||||||
|
f 13/13/13 14/14/14 12/12/12
|
||||||
|
f 13/13/13 15/15/15 14/14/14
|
||||||
|
f 13/13/13 16/16/16 15/15/15
|
||||||
|
f 17/17/17 16/16/16 13/13/13
|
||||||
|
f 17/17/17 18/18/18 16/16/16
|
||||||
|
f 17/17/17 19/19/19 18/18/18
|
||||||
|
f 20/20/20 19/19/19 17/17/17
|
||||||
|
f 20/20/20 21/21/21 19/19/19
|
||||||
|
f 20/20/20 22/22/22 21/21/21
|
||||||
|
f 23/23/23 22/22/22 20/20/20
|
||||||
|
f 23/23/23 24/24/24 22/22/22
|
||||||
|
f 23/23/23 25/25/25 24/24/24
|
||||||
|
f 26/26/26 25/25/25 23/23/23
|
||||||
|
f 26/26/26 27/27/27 25/25/25
|
||||||
|
f 26/26/26 28/28/28 27/27/27
|
||||||
|
f 26/26/26 29/29/29 28/28/28
|
||||||
|
f 26/26/26 30/30/30 29/29/29
|
||||||
|
f 26/26/26 31/31/31 30/30/30
|
||||||
|
f 26/26/26 32/32/32 31/31/31
|
||||||
|
f 26/26/26 33/33/33 32/32/32
|
||||||
|
f 26/26/26 34/34/34 33/33/33
|
||||||
|
f 26/26/26 35/35/35 34/34/34
|
||||||
|
f 26/26/26 36/36/36 35/35/35
|
||||||
|
f 26/26/26 37/37/37 36/36/36
|
||||||
|
f 26/26/26 38/38/38 37/37/37
|
||||||
|
f 39/39/39 38/38/38 26/26/26
|
||||||
|
f 39/39/39 40/40/40 38/38/38
|
||||||
|
f 39/39/39 41/41/41 40/40/40
|
||||||
|
f 42/42/42 41/41/41 39/39/39
|
||||||
|
f 42/42/42 43/43/43 41/41/41
|
||||||
|
f 44/44/44 43/43/43 42/42/42
|
||||||
|
f 44/44/44 45/45/45 43/43/43
|
||||||
|
f 44/44/44 46/46/46 45/45/45
|
||||||
|
f 47/47/47 46/46/46 44/44/44
|
||||||
|
f 47/47/47 48/48/48 46/46/46
|
||||||
|
f 47/47/47 49/49/49 48/48/48
|
||||||
|
f 47/47/47 50/50/50 49/49/49
|
||||||
|
f 47/47/47 51/51/51 50/50/50
|
||||||
|
f 52/52/52 51/51/51 47/47/47
|
||||||
|
f 53/53/53 51/51/51 52/52/52
|
||||||
|
f 54/54/54 55/55/55 56/56/56
|
||||||
|
f 57/57/57 54/54/54 56/56/56
|
||||||
|
f 57/57/57 56/56/56 58/58/58
|
||||||
|
f 57/57/57 58/58/58 59/59/59
|
||||||
|
f 60/60/60 57/57/57 59/59/59
|
||||||
|
f 60/60/60 59/59/59 61/61/61
|
||||||
|
f 62/62/62 60/60/60 61/61/61
|
||||||
|
f 62/62/62 61/61/61 63/63/63
|
||||||
|
f 62/62/62 63/63/63 64/64/64
|
||||||
|
f 62/62/62 64/64/64 65/65/65
|
||||||
|
f 66/66/66 62/62/62 65/65/65
|
||||||
|
f 66/66/66 65/65/65 67/67/67
|
||||||
|
f 66/66/66 67/67/67 68/68/68
|
||||||
|
f 69/69/69 66/66/66 68/68/68
|
||||||
|
f 69/69/69 68/68/68 70/70/70
|
||||||
|
f 69/69/69 70/70/70 71/71/71
|
||||||
|
f 72/72/72 69/69/69 71/71/71
|
||||||
|
f 72/72/72 71/71/71 73/73/73
|
||||||
|
f 72/72/72 73/73/73 74/74/74
|
||||||
|
f 75/75/75 72/72/72 74/74/74
|
||||||
|
f 75/75/75 74/74/74 76/76/76
|
||||||
|
f 75/75/75 76/76/76 77/77/77
|
||||||
|
f 75/75/75 77/77/77 78/78/78
|
||||||
|
f 75/75/75 78/78/78 79/79/79
|
||||||
|
f 75/75/75 79/79/79 80/80/80
|
||||||
|
f 75/75/75 80/80/80 81/81/81
|
||||||
|
f 75/75/75 81/81/81 82/82/82
|
||||||
|
f 75/75/75 82/82/82 83/83/83
|
||||||
|
f 75/75/75 83/83/83 84/84/84
|
||||||
|
f 75/75/75 84/84/84 85/85/85
|
||||||
|
f 75/75/75 85/85/85 86/86/86
|
||||||
|
f 75/75/75 86/86/86 87/87/87
|
||||||
|
f 88/88/88 75/75/75 87/87/87
|
||||||
|
f 88/88/88 87/87/87 89/89/89
|
||||||
|
f 88/88/88 89/89/89 90/90/90
|
||||||
|
f 91/91/91 88/88/88 90/90/90
|
||||||
|
f 91/91/91 90/90/90 92/92/92
|
||||||
|
f 93/93/93 91/91/91 92/92/92
|
||||||
|
f 93/93/93 92/92/92 94/94/94
|
||||||
|
f 93/93/93 94/94/94 95/95/95
|
||||||
|
f 96/96/96 93/93/93 95/95/95
|
||||||
|
f 96/96/96 95/95/95 97/97/97
|
||||||
|
f 96/96/96 97/97/97 98/98/98
|
||||||
|
f 96/96/96 98/98/98 99/99/99
|
||||||
|
f 96/96/96 99/99/99 100/100/100
|
||||||
|
f 101/101/101 96/96/96 100/100/100
|
||||||
|
f 102/102/102 101/101/101 100/100/100
|
||||||
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
||||||
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
|
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|
||||||
File diff suppressed because it is too large
Load Diff
|
|
@ -0,0 +1,21 @@
|
||||||
|
# Blender MTL File: 'None'
|
||||||
|
# Material Count: 2
|
||||||
|
|
||||||
|
newmtl Road.004
|
||||||
|
Ns 0.000000
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.138039 0.138039 0.138039
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni 1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
|
||||||
|
newmtl Road.005
|
||||||
|
Ns 0.000000
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.138039 0.138039 0.138039
|
||||||
|
Ks 0.000000 0.000000 0.000000
|
||||||
|
Ni 1.000000
|
||||||
|
d 1.000000
|
||||||
|
illum 2
|
||||||
|
map_Kd road.png
|
||||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because one or more lines are too long
Binary file not shown.
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,11 @@
|
||||||
|
# Blender MTL File: 'None'
|
||||||
|
# Material Count: 1
|
||||||
|
|
||||||
|
newmtl None
|
||||||
|
Ns 0
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.8 0.8 0.8
|
||||||
|
Ks 0.8 0.8 0.8
|
||||||
|
d 1
|
||||||
|
illum 2
|
||||||
|
map_Kd wheel.jpg
|
||||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
|
|
@ -0,0 +1,11 @@
|
||||||
|
# Blender MTL File: 'None'
|
||||||
|
# Material Count: 1
|
||||||
|
|
||||||
|
newmtl None
|
||||||
|
Ns 0
|
||||||
|
Ka 0.000000 0.000000 0.000000
|
||||||
|
Kd 0.8 0.8 0.8
|
||||||
|
Ks 0.8 0.8 0.8
|
||||||
|
d 1
|
||||||
|
illum 2
|
||||||
|
map_Kd wheel.jpg
|
||||||
File diff suppressed because it is too large
Load Diff
Binary file not shown.
File diff suppressed because one or more lines are too long
Binary file not shown.
|
After Width: | Height: | Size: 992 KiB |
File diff suppressed because one or more lines are too long
Binary file not shown.
|
After Width: | Height: | Size: 89 KiB |
|
|
@ -0,0 +1,493 @@
|
||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||||
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<!-- inertial parameter macros -->
|
||||||
|
<!-- geometry macros -->
|
||||||
|
<!-- transmission macros -->
|
||||||
|
<!-- Add chassis and it's inertia link -->
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value=".1"/>
|
||||||
|
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="chassis">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value=".1"/>
|
||||||
|
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/chassis.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="blue"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="base_link_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.05"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="chassis"/>
|
||||||
|
</joint>
|
||||||
|
<link name="chassis_inertia">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.1477 0 0"/>
|
||||||
|
<mass value="4.0"/>
|
||||||
|
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="chassis_inertia_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="chassis_inertia"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||||
|
<link name="left_rear_wheel">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
robot
|
||||||
|
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="left_rear_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="left_rear_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_rear_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_rear_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_rear_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||||
|
<link name="right_rear_wheel">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="right_rear_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="right_rear_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_rear_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_rear_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_rear_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||||
|
<link name="left_steering_hinge">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.100"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="left_steering_hinge_joint" type="revolute">
|
||||||
|
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="left_steering_hinge"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_steering_hinge_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_steering_hinge_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||||
|
<link name="right_steering_hinge">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.100"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="right_steering_hinge_joint" type="continuous">
|
||||||
|
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="right_steering_hinge"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_steering_hinge_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_steering_hinge_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||||
|
<link name="left_front_wheel">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="left_front_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="left_steering_hinge"/>
|
||||||
|
<child link="left_front_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_front_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_front_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||||
|
<link name="right_front_wheel">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="right_front_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="right_steering_hinge"/>
|
||||||
|
<child link="right_front_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_front_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_front_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add Hokuyo laser scanner -->
|
||||||
|
<link name="laser">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.130"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.1"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hokuyo.obj"/>
|
||||||
|
<material name="grey"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="hokuyo_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="laser"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<!-- zed camera -->
|
||||||
|
<link name="zed_camera_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1e-5"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.033 0.175 0.030"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.033 0.175 0.030"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="zed_camera_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="zed_camera_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||||
|
</joint>
|
||||||
|
<!-- zed camera lenses -->
|
||||||
|
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||||
|
<link name="camera_link">
|
||||||
|
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||||
|
<inertial>
|
||||||
|
<mass value="1e-5"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="zed_camera_right_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="1e-5"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="zed_camera_left_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||||
|
<parent link="zed_camera_link"/>
|
||||||
|
<child link="camera_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="zed_camera_right_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||||
|
<parent link="zed_camera_link"/>
|
||||||
|
<child link="zed_camera_right_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Add the remaining xacros -->
|
||||||
|
<!-- Gazebo references -->
|
||||||
|
<gazebo reference="chassis">
|
||||||
|
<mu1 value="0.0"/>
|
||||||
|
<mu2 value="0.0"/>
|
||||||
|
<kp value="10000000.0"/>
|
||||||
|
<kd value="1.0"/>
|
||||||
|
<material>Gazebo/Blue</material>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="left_rear_wheel">
|
||||||
|
<mu1 value="1.0"/>
|
||||||
|
<mu2 value="1.0"/>
|
||||||
|
<kp value="10000000.0"/>
|
||||||
|
<kd value="1.0"/>
|
||||||
|
<fdir1 value="1 0 0"/>
|
||||||
|
<material>Gazebo/Black</material>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="right_rear_wheel">
|
||||||
|
<mu1 value="1.0"/>
|
||||||
|
<mu2 value="1.0"/>
|
||||||
|
<kp value="10000000.0"/>
|
||||||
|
<kd value="1.0"/>
|
||||||
|
<fdir1 value="1 0 0"/>
|
||||||
|
<material>Gazebo/Black</material>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="left_front_wheel">
|
||||||
|
<mu1 value="1.0"/>
|
||||||
|
<mu2 value="1.0"/>
|
||||||
|
<kp value="10000000.0"/>
|
||||||
|
<kd value="1.0"/>
|
||||||
|
<fdir1 value="0 0 1"/>
|
||||||
|
<material>Gazebo/Black</material>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="right_front_wheel">
|
||||||
|
<mu1 value="1.0"/>
|
||||||
|
<mu2 value="1.0"/>
|
||||||
|
<kp value="10000000.0"/>
|
||||||
|
<kd value="1.0"/>
|
||||||
|
<fdir1 value="0 0 1"/>
|
||||||
|
<material>Gazebo/Black</material>
|
||||||
|
</gazebo>
|
||||||
|
<!-- Gazebo plugins -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
|
||||||
|
<robotNamespace>/racecar</robotNamespace>
|
||||||
|
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="laser">
|
||||||
|
<material>Gazebo/Grey</material>
|
||||||
|
<sensor name="hokuyo_sensor" type="ray">
|
||||||
|
<pose>0 0 0.0124 0 0 0</pose>
|
||||||
|
<visualize>true</visualize>
|
||||||
|
<update_rate>40</update_rate>
|
||||||
|
<ray>
|
||||||
|
<scan>
|
||||||
|
<horizontal>
|
||||||
|
<samples>1081</samples>
|
||||||
|
<resolution>1</resolution>
|
||||||
|
<min_angle>-2.3561944902</min_angle>
|
||||||
|
<max_angle>2.3561944902</max_angle>
|
||||||
|
</horizontal>
|
||||||
|
</scan>
|
||||||
|
<range>
|
||||||
|
<min>0.1</min>
|
||||||
|
<max>10.0</max>
|
||||||
|
<resolution>0.01</resolution>
|
||||||
|
</range>
|
||||||
|
<noise>
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>0.01</stddev>
|
||||||
|
</noise>
|
||||||
|
</ray>
|
||||||
|
<plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_hokuyo_controller">
|
||||||
|
<topicName>/scan</topicName>
|
||||||
|
<frameName>laser</frameName>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
<gazebo reference="camera_link">
|
||||||
|
<sensor name="zed_camera_left_sensor" type="camera">
|
||||||
|
<update_rate>30.0</update_rate>
|
||||||
|
<!-- math.atan(320 / 687.8065795898438) * 2 -->
|
||||||
|
<camera name="zed_camera_left_camera">
|
||||||
|
<horizontal_fov>0.8709216071359963</horizontal_fov>
|
||||||
|
<image>
|
||||||
|
<width>640</width>
|
||||||
|
<height>480</height>
|
||||||
|
<format>B8G8R8</format>
|
||||||
|
</image>
|
||||||
|
<clip>
|
||||||
|
<near>0.02</near>
|
||||||
|
<far>300</far>
|
||||||
|
</clip>
|
||||||
|
<noise>
|
||||||
|
<type>gaussian</type>
|
||||||
|
<mean>0.0</mean>
|
||||||
|
<stddev>0.007</stddev>
|
||||||
|
</noise>
|
||||||
|
</camera>
|
||||||
|
<plugin filename="libgazebo_ros_camera.so" name="camera_controller">
|
||||||
|
<alwaysOn>true</alwaysOn>
|
||||||
|
<updateRate>30.0</updateRate>
|
||||||
|
<cameraName>/camera/zed</cameraName>
|
||||||
|
<imageTopicName>rgb/image_rect_color</imageTopicName>
|
||||||
|
<cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
|
||||||
|
<frameName>camera_link</frameName>
|
||||||
|
<hackBaseline>0</hackBaseline>
|
||||||
|
<!-- set this to 0.12 for the second camera -->
|
||||||
|
<distortionK1>0.0</distortionK1>
|
||||||
|
<distortionK2>0.0</distortionK2>
|
||||||
|
<distortionK3>0.0</distortionK3>
|
||||||
|
<distortionT1>0.0</distortionT1>
|
||||||
|
<distortionT2>0.0</distortionT2>
|
||||||
|
</plugin>
|
||||||
|
</sensor>
|
||||||
|
</gazebo>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1. 1. 1. 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0. 0. 0. 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="green">
|
||||||
|
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="orange">
|
||||||
|
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="brown">
|
||||||
|
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="red">
|
||||||
|
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
</robot>
|
||||||
|
|
||||||
|
|
@ -0,0 +1,743 @@
|
||||||
|
<?xml version="1.0" ?>
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<!-- | This document was autogenerated by xacro from racecar.xacro | -->
|
||||||
|
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
|
||||||
|
<!-- =================================================================================== -->
|
||||||
|
<robot name="racecar" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<!-- inertial parameter macros -->
|
||||||
|
<!-- geometry macros -->
|
||||||
|
<!-- transmission macros -->
|
||||||
|
<!-- Add chassis and it's inertia link -->
|
||||||
|
|
||||||
|
<link name="chassis">
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="blue"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="1 1 1 1" filename="meshes/chassis_differential.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="blue"/>
|
||||||
|
</collision>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0.2 0 0."/>
|
||||||
|
<mass value="4.0"/>
|
||||||
|
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<!-- Add the left rear wheel with its joints and tranmissions -->
|
||||||
|
<link name="left_rear_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value=".5"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_rear_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="left_rear_wheel_joint" type="fixed">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0.1 0"/>
|
||||||
|
<parent link="diff_sideA"/>
|
||||||
|
<child link="left_rear_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Add the right rear wheel with its joints and tranmissions -->
|
||||||
|
<link name="right_rear_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value=".5"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_rear_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="right_rear_wheel_joint" type="fixed">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 -0.1 0"/>
|
||||||
|
<parent link="diff_sideB"/>
|
||||||
|
<child link="right_rear_wheel"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Add the left steering hinge with its joints and tranmissions -->
|
||||||
|
<link name="left_steering_hinge">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.100"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_steering_hinge.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="left_steering_hinge_joint" type="revolute">
|
||||||
|
<origin rpy="0 1.5708 0" xyz="0.325 0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="left_steering_hinge"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_steering_hinge_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_steering_hinge_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_steering_hinge_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the right steering hinge with its joints and tranmissions -->
|
||||||
|
<link name="right_steering_hinge">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.100"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_steering_hinge.STL"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="grey"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="right_steering_hinge_joint" type="continuous">
|
||||||
|
<origin rpy="0 1.5708 0" xyz="0.325 -0.1 0"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="right_steering_hinge"/>
|
||||||
|
<axis xyz="-1 0 0"/>
|
||||||
|
<limit effort="10" lower="-1.0" upper="1.0" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_steering_hinge_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_steering_hinge_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_steering_hinge_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||||
|
<link name="left_front_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value=".8"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/left_front_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 -0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="left_front_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="left_steering_hinge"/>
|
||||||
|
<child link="left_front_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="left_front_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="left_front_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="left_front_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add the left front wheel with its joints and tranmissions -->
|
||||||
|
<link name="right_front_wheel">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="0.8"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<mass value="0.34055"/>
|
||||||
|
<inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/right_front_wheel.obj"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0.0225"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.045" radius="0.05"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="right_front_wheel_joint" type="continuous">
|
||||||
|
<origin rpy="1.5708 0 0" xyz="0 0 0"/>
|
||||||
|
<parent link="right_steering_hinge"/>
|
||||||
|
<child link="right_front_wheel"/>
|
||||||
|
<axis xyz="0 0 -1"/>
|
||||||
|
<limit effort="10" velocity="100"/>
|
||||||
|
</joint>
|
||||||
|
<transmission name="right_front_wheel_transmission" type="SimpleTransmission">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint name="right_front_wheel_joint">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="right_front_wheel_motor">
|
||||||
|
<hardwareInterface>EffortJointInterface</hardwareInterface>
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<!-- Add Hokuyo laser scanner -->
|
||||||
|
<link name="laser">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value="0.130"/>
|
||||||
|
<inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.1 0.1 0.1"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="meshes/hokuyo.obj"/>
|
||||||
|
<material name="grey"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="hokuyo_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0.265 0.0 0.075"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="laser"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<!-- zed camera -->
|
||||||
|
<link name="zed_camera_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.1"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.033 0.175 0.030"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<box size="0.033 0.175 0.030"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
<joint name="zed_camera_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0.390 0 0.04"/>
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="zed_camera_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
<!-- <limit lower="0.0" upper="0.0" effort="0.0" velocity="0.0" /> -->
|
||||||
|
</joint>
|
||||||
|
<!-- zed camera lenses -->
|
||||||
|
<!-- It seems these have to have a non-zero mass to have a camera attached? -->
|
||||||
|
<link name="camera_link">
|
||||||
|
<!-- this needs to match the name in zed_wrapper/zed_tf.launch -->
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.01"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="zed_camera_right_link">
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.01"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<joint name="zed_camera_left_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 0.06 0"/>
|
||||||
|
<parent link="zed_camera_link"/>
|
||||||
|
<child link="camera_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="zed_camera_right_joint" type="fixed">
|
||||||
|
<origin rpy="0 0 0" xyz="0 -0.06 0"/>
|
||||||
|
<parent link="zed_camera_link"/>
|
||||||
|
<child link="zed_camera_right_link"/>
|
||||||
|
<axis xyz="0 0 1"/>
|
||||||
|
</joint>
|
||||||
|
<!-- Add the remaining xacros -->
|
||||||
|
<link name="diff_ring">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.0637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.025"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="diff_ring_chassis" type="continuous">
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="diff_ring"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0."/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="diff_spiderA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_spiderA_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_spiderA"/>
|
||||||
|
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff_spiderB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="brown"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_spiderB_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_spiderB"/>
|
||||||
|
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<link name="diff_sideA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_sideA_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_sideA"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff_sideB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff_sideB_ring" type="continuous">
|
||||||
|
<parent link="diff_ring"/>
|
||||||
|
<child link="diff_sideB"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff2_ring">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.0637"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.0005 0.0005 0.001" filename="differential/diff_ring.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_carrier.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="green"/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.025 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.025"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="diff2_ring_chassis" type="continuous">
|
||||||
|
<parent link="chassis"/>
|
||||||
|
<child link="diff2_ring"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.32 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
<link name="diff2_spiderA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="red"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_spiderA_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_spiderA"/>
|
||||||
|
<origin rpy="0 0 1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff2_spiderB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_spider.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="brown"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_spiderB_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_spiderB"/>
|
||||||
|
<origin rpy="0 0 -1.570795" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
|
||||||
|
<link name="diff2_sideA">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="1.570795 0 0" xyz="0 0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_sideA_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_sideA"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="diff2_sideB">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1.0"/>
|
||||||
|
<rolling_friction value="0.0"/>
|
||||||
|
<stiffness value="30000"/>
|
||||||
|
<damping value="1000"/>
|
||||||
|
</contact>
|
||||||
|
|
||||||
|
<inertial>
|
||||||
|
<mass value="0.056"/>
|
||||||
|
<origin xyz="0 0 0"/>
|
||||||
|
<inertia ixx="0.02467" ixy="0" ixz="0" iyy="0.02467" iyz="0" izz="0.04411"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh scale="0.001 0.001 0.001" filename="differential/diff_side.stl"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white"/>
|
||||||
|
</visual>
|
||||||
|
|
||||||
|
<collision>
|
||||||
|
<origin rpy="-1.570795 0 0" xyz="0 -0.01 0"/>
|
||||||
|
<geometry>
|
||||||
|
<cylinder length="0.01" radius="0.015"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="diff2_sideB_ring" type="continuous">
|
||||||
|
<parent link="diff2_ring"/>
|
||||||
|
<child link="diff2_sideB"/>
|
||||||
|
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
|
||||||
|
<axis rpy="0 0 0" xyz="0 1 0"/>
|
||||||
|
</joint>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1. 1. 1. 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="black">
|
||||||
|
<color rgba="0. 0. 0. 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="blue">
|
||||||
|
<color rgba="0.0 0.0 0.8 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="green">
|
||||||
|
<color rgba="0.0 0.8 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="grey">
|
||||||
|
<color rgba="0.2 0.2 0.2 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="orange">
|
||||||
|
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="brown">
|
||||||
|
<color rgba="0.870588235294 0.811764705882 0.764705882353 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="red">
|
||||||
|
<color rgba="0.8 0.0 0.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1.0 1.0 1.0 1.0"/>
|
||||||
|
</material>
|
||||||
|
</robot>
|
||||||
|
|
||||||
|
|
@ -0,0 +1,15 @@
|
||||||
|
newmtl Material
|
||||||
|
Ns 10.0000
|
||||||
|
Ni 1.5000
|
||||||
|
d 1.0000
|
||||||
|
Tr 0.0000
|
||||||
|
Tf 1.0000 1.0000 1.0000
|
||||||
|
illum 2
|
||||||
|
Ka 0.0000 0.0000 0.0000
|
||||||
|
Kd 0.5880 0.5880 0.5880
|
||||||
|
Ks 0.0000 0.0000 0.0000
|
||||||
|
Ke 0.0000 0.0000 0.0000
|
||||||
|
map_Ka cube.tga
|
||||||
|
map_Kd checker_blue.png
|
||||||
|
|
||||||
|
|
||||||
|
|
@ -0,0 +1,18 @@
|
||||||
|
# Blender v2.66 (sub 1) OBJ File: ''
|
||||||
|
# www.blender.org
|
||||||
|
mtllib plane.mtl
|
||||||
|
o Plane
|
||||||
|
v 15.000000 -15.000000 0.000000
|
||||||
|
v 15.000000 15.000000 0.000000
|
||||||
|
v -15.000000 15.000000 0.000000
|
||||||
|
v -15.000000 -15.000000 0.000000
|
||||||
|
|
||||||
|
vt 15.000000 0.000000
|
||||||
|
vt 15.000000 15.000000
|
||||||
|
vt 0.000000 15.000000
|
||||||
|
vt 0.000000 0.000000
|
||||||
|
|
||||||
|
usemtl Material
|
||||||
|
s off
|
||||||
|
f 1/1 2/2 3/3
|
||||||
|
f 1/1 3/3 4/4
|
||||||
|
|
@ -0,0 +1,29 @@
|
||||||
|
<?xml version="0.0" ?>
|
||||||
|
<robot name="plane">
|
||||||
|
<link name="planeLink">
|
||||||
|
<contact>
|
||||||
|
<lateral_friction value="1"/>
|
||||||
|
</contact>
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<mass value=".0"/>
|
||||||
|
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="plane.obj" scale="1 1 1"/>
|
||||||
|
</geometry>
|
||||||
|
<material name="white">
|
||||||
|
<color rgba="1 1 1 1"/>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0 0 0" xyz="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<plane normal="0 0 1"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
</robot>
|
||||||
|
|
||||||
|
|
@ -0,0 +1,198 @@
|
||||||
|
import pybullet as p
|
||||||
|
import time
|
||||||
|
import math
|
||||||
|
import os
|
||||||
|
import pybullet_data
|
||||||
|
|
||||||
|
p.connect(p.GUI)
|
||||||
|
|
||||||
|
p.resetSimulation()
|
||||||
|
|
||||||
|
p.setGravity(0,0,-10)
|
||||||
|
useRealTimeSim = 0
|
||||||
|
|
||||||
|
p.setTimeStep(1./120.)
|
||||||
|
p.setRealTimeSimulation(useRealTimeSim) # either this
|
||||||
|
|
||||||
|
track = p.loadURDF("plane.urdf")
|
||||||
|
#track = p.loadSDF("f10_racecar/meshes/barca_track.sdf", globalScaling=1)
|
||||||
|
#otherCar = p.loadURDF("f10_racecar/racecar_differential.urdf", [0,1,.3])
|
||||||
|
car = p.loadURDF("f10_racecar/racecar_differential.urdf", [0,0,.3])
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
for wheel in range(p.getNumJoints(car)):
|
||||||
|
print("joint[",wheel,"]=", p.getJointInfo(car,wheel))
|
||||||
|
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
|
||||||
|
p.getJointInfo(car,wheel)
|
||||||
|
|
||||||
|
wheels = [8,15]
|
||||||
|
print("----------------")
|
||||||
|
|
||||||
|
#p.setJointMotorControl2(car,10,p.VELOCITY_CONTROL,targetVelocity=1,force=10)
|
||||||
|
c = p.createConstraint(car,9,car,11,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,10,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,9,car,13,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,16,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=1, maxForce=10000)
|
||||||
|
|
||||||
|
|
||||||
|
c = p.createConstraint(car,16,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,17,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, maxForce=10000)
|
||||||
|
|
||||||
|
c = p.createConstraint(car,1,car,18,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
|
||||||
|
c = p.createConstraint(car,3,car,19,jointType=p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
|
||||||
|
p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
|
||||||
|
|
||||||
|
|
||||||
|
steering = [0,2]
|
||||||
|
|
||||||
|
hokuyo_joint=4
|
||||||
|
zed_camera_joint = 5
|
||||||
|
|
||||||
|
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-2,2,0)
|
||||||
|
maxForceSlider = p.addUserDebugParameter("maxForce",0,50,20)
|
||||||
|
steeringSlider = p.addUserDebugParameter("steering",-1,1,0)
|
||||||
|
|
||||||
|
# replaceLines=True
|
||||||
|
# numRays=100
|
||||||
|
# rayFrom=[]
|
||||||
|
# rayTo=[]
|
||||||
|
# rayIds=[]
|
||||||
|
# rayHitColor = [1,0,0]
|
||||||
|
# rayMissColor = [0,1,0]
|
||||||
|
# rayLen = 8
|
||||||
|
# rayStartLen=0.25
|
||||||
|
# for i in range (numRays):
|
||||||
|
# #rayFrom.append([0,0,0])
|
||||||
|
# rayFrom.append([rayStartLen*math.sin(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays), rayStartLen*math.cos(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays),0])
|
||||||
|
# rayTo.append([rayLen*math.sin(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays), rayLen*math.cos(-0.5*0.25*2.*math.pi+0.75*2.*math.pi*float(i)/numRays),0])
|
||||||
|
# if (replaceLines):
|
||||||
|
# rayIds.append(p.addUserDebugLine(rayFrom[i], rayTo[i], rayMissColor,parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint ))
|
||||||
|
# else:
|
||||||
|
# rayIds.append(-1)
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#def getCarYaw(car):
|
||||||
|
# carPos,carOrn = p.getBasePositionAndOrientation(car)
|
||||||
|
# carEuler = p.getEulerFromQuaternion(carOrn)
|
||||||
|
# carYaw = carEuler[2]*360/(2.*math.pi)-90
|
||||||
|
# return carYaw
|
||||||
|
|
||||||
|
#prevCarYaw = getCarYaw(car)
|
||||||
|
frame = 0
|
||||||
|
|
||||||
|
lineId = p.addUserDebugLine([0,0,0],[0,0,1],[1,0,0])
|
||||||
|
lineId2 = p.addUserDebugLine([0,0,0],[0,0,1],[1,0,0])
|
||||||
|
lineId3= p.addUserDebugLine([0,0,0],[0,0,1],[1,0,0])
|
||||||
|
print("lineId=",lineId)
|
||||||
|
|
||||||
|
#camInfo = p.getDebugVisualizerCamera()
|
||||||
|
lastTime = time.time()
|
||||||
|
lastControlTime = time.time()
|
||||||
|
#lastLidarTime = time.time()
|
||||||
|
|
||||||
|
def getCarVel(car):
|
||||||
|
linVel,angVel = p.getBaseVelocity(car)
|
||||||
|
return linVel[0]
|
||||||
|
|
||||||
|
#frame=0
|
||||||
|
while (True):
|
||||||
|
#print (getCarVel(car))
|
||||||
|
nowTime = time.time()
|
||||||
|
#render Camera at 10Hertz
|
||||||
|
# if (nowTime-lastTime>.1):
|
||||||
|
# ls = p.getLinkState(car,zed_camera_joint, computeForwardKinematics=True)
|
||||||
|
# camPos = ls[0]
|
||||||
|
# camOrn = ls[1]
|
||||||
|
# camMat = p.getMatrixFromQuaternion(camOrn)
|
||||||
|
# upVector = [0,0,1]
|
||||||
|
# forwardVec = [camMat[0],camMat[3],camMat[6]]
|
||||||
|
# #sideVec = [camMat[1],camMat[4],camMat[7]]
|
||||||
|
# camUpVec = [camMat[2],camMat[5],camMat[8]]
|
||||||
|
# camTarget = [camPos[0]+forwardVec[0]*10,camPos[1]+forwardVec[1]*10,camPos[2]+forwardVec[2]*10]
|
||||||
|
# camUpTarget = [camPos[0]+camUpVec[0],camPos[1]+camUpVec[1],camPos[2]+camUpVec[2]]
|
||||||
|
# viewMat = p.computeViewMatrix(camPos, camTarget, camUpVec)
|
||||||
|
# projMat = camInfo[3]
|
||||||
|
# #p.getCameraImage(320,200,viewMatrix=viewMat,projectionMatrix=projMat, flags=p.ER_NO_SEGMENTATION_MASK, renderer=p.ER_BULLET_HARDWARE_OPENGL)
|
||||||
|
# p.getCameraImage(320,200,viewMatrix=viewMat,projectionMatrix=projMat, renderer=p.ER_BULLET_HARDWARE_OPENGL)
|
||||||
|
# lastTime=nowTime
|
||||||
|
|
||||||
|
nowControlTime = time.time()
|
||||||
|
|
||||||
|
nowLidarTime = time.time()
|
||||||
|
#lidar at 20Hz
|
||||||
|
# if (nowLidarTime-lastLidarTime>.3):
|
||||||
|
# #print("Lidar!")
|
||||||
|
# numThreads=0
|
||||||
|
# results = p.rayTestBatch(rayFrom,rayTo,numThreads, parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint)
|
||||||
|
# for i in range (numRays):
|
||||||
|
# hitObjectUid=results[i][0]
|
||||||
|
# hitFraction = results[i][2]
|
||||||
|
# hitPosition = results[i][3]
|
||||||
|
# if (hitFraction==1.):
|
||||||
|
# p.addUserDebugLine(rayFrom[i],rayTo[i], rayMissColor,replaceItemUniqueId=rayIds[i],parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint)
|
||||||
|
# else:
|
||||||
|
# localHitTo = [rayFrom[i][0]+hitFraction*(rayTo[i][0]-rayFrom[i][0]),
|
||||||
|
# rayFrom[i][1]+hitFraction*(rayTo[i][1]-rayFrom[i][1]),
|
||||||
|
# rayFrom[i][2]+hitFraction*(rayTo[i][2]-rayFrom[i][2])]
|
||||||
|
# p.addUserDebugLine(rayFrom[i],localHitTo, rayHitColor,replaceItemUniqueId=rayIds[i],parentObjectUniqueId=car, parentLinkIndex=hokuyo_joint)
|
||||||
|
# lastLidarTime = nowLidarTime
|
||||||
|
|
||||||
|
#control at 100Hz
|
||||||
|
if (nowControlTime-lastControlTime>.01):
|
||||||
|
carPos,carOrn = p.getBasePositionAndOrientation(car)
|
||||||
|
|
||||||
|
# Keep the previous orientation of the camera set by the user.
|
||||||
|
|
||||||
|
# yaw = camInfo[8]
|
||||||
|
# pitch = camInfo[9]
|
||||||
|
# distance = camInfo[10]
|
||||||
|
# targetPos = camInfo[11]
|
||||||
|
# camFwd = camInfo[5]
|
||||||
|
# carYaw = getCarYaw(car)
|
||||||
|
#
|
||||||
|
# #the car yaw is clamped between -90 and 270, make sure to deal with angles that wrap around
|
||||||
|
# if (carYaw-prevCarYaw>45):
|
||||||
|
# yaw+=360
|
||||||
|
# if (carYaw-prevCarYaw<-45):
|
||||||
|
# yaw-=360
|
||||||
|
# prevCarYaw = carYaw
|
||||||
|
|
||||||
|
#print("carYaw=", carYaw)
|
||||||
|
#print("camYaw=", yaw)
|
||||||
|
|
||||||
|
#slowly rotate the camera behind the car
|
||||||
|
#diffYaw = (carYaw-yaw)*0.03
|
||||||
|
|
||||||
|
#track the position of the car as target
|
||||||
|
#p.resetDebugVisualizerCamera(distance, yaw+diffYaw, pitch, carPos)
|
||||||
|
|
||||||
|
maxForce = p.readUserDebugParameter(maxForceSlider)
|
||||||
|
targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
|
||||||
|
steeringAngle = p.readUserDebugParameter(steeringSlider)
|
||||||
|
#print(targetVelocity)
|
||||||
|
gearRatio=1./21
|
||||||
|
|
||||||
|
for wheel in wheels:
|
||||||
|
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=targetVelocity/gearRatio,force=maxForce)
|
||||||
|
|
||||||
|
for steer in steering:
|
||||||
|
p.setJointMotorControl2(car,steer,p.POSITION_CONTROL,targetPosition=steeringAngle)
|
||||||
|
|
||||||
|
if (useRealTimeSim==0):
|
||||||
|
frame+=1
|
||||||
|
p.stepSimulation()
|
||||||
|
lastControlTime=nowControlTime
|
||||||
Loading…
Reference in New Issue