Revision: 7112
http://playerstage.svn.sourceforge.net/playerstage/?rev=7112&view=rev
Author: natepak
Date: 2008-10-22 00:55:57 +0000 (Wed, 22 Oct 2008)
Log Message:
-----------
Updated the bandit.model
Modified Paths:
--------------
code/gazebo/trunk/worlds/models/bandit.model
Modified: code/gazebo/trunk/worlds/models/bandit.model
===================================================================
--- code/gazebo/trunk/worlds/models/bandit.model 2008-10-22 00:54:16 UTC
(rev 7111)
+++ code/gazebo/trunk/worlds/models/bandit.model 2008-10-22 00:55:57 UTC
(rev 7112)
@@ -32,6 +32,19 @@
</visual>
</geom:box>
+ <geom:sphere name="head_back">
+ <xyz> -0.06 0 0.01</xyz>
+ <size>0.020</size>
+ <mass>0</mass>
+
+ <visual>
+ <size>0.04 0.128 0.144</size>
+ <mesh>unit_sphere</mesh>
+ <material>Gazebo/test</material>
+ </visual>
+ </geom:sphere>
+
+
<geom:sphere name="left_eye">
<xyz> 0.01 -0.035 0.01</xyz>
<size>0.020</size>
@@ -61,7 +74,7 @@
<hfov>60</hfov>
<nearClip>0.1</nearClip>
<farClip>100</farClip>
- <saveFrames>false</saveFrames>
+ <saveFrames>true</saveFrames>
<saveFramePath>frames</saveFramePath>
<baseline>0.2</baseline>
@@ -107,7 +120,7 @@
<rpy>0 0 -90</rpy>
<geom:box name="torso_geom">
<size>0.196 0.145 0.299</size>
- <mass>.1</mass>
+ <mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
@@ -128,10 +141,10 @@
<erp>0.1</erp>
</joint:hinge>
- <body:box name="right_shoulder_mounting_body">
+ <body:box name="left_shoulder_mounting_body">
<xyz>-0.035 0.131 -0.168</xyz>
<rpy>180 0 0</rpy>
- <geom:box name="right_shoulder_mounting_geom">
+ <geom:box name="left_shoulder_mounting_geom">
<rpy>0 0 0</rpy>
<size>0.105 0.066 0.081</size>
<mass>0</mass>
@@ -144,46 +157,46 @@
</geom:box>
</body:box>
- <joint:hinge name="right_torso_shoulder_mounting_hinge">
+ <joint:hinge name="left_torso_shoulder_mounting_hinge">
<body1>torso_body</body1>
- <body2>right_shoulder_mounting_body</body2>
- <anchor>right_shoulder_mounting_body</anchor>
+ <body2>left_shoulder_mounting_body</body2>
+ <anchor>left_shoulder_mounting_body</anchor>
<anchorOffset>0 -0.03 0</anchorOffset>
<axis>0 1 0</axis>
<lowStop>-30</lowStop>
<highStop>179</highStop>
</joint:hinge>
- <body:box name="right_shoulder_body">
+ <body:box name="left_shoulder_body">
<xyz>-0.030 0.160 -0.197</xyz>
<rpy>0 180 0</rpy>
- <geom:box name="right_shoulder_geom">
+ <geom:box name="left_shoulder_geom">
<rpy>0 0 0</rpy>
<size>0.078 0.083 0.111</size>
<mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
- <mesh>bandit/right_shoulder.mesh</mesh>
+ <mesh>bandit/left_shoulder.mesh</mesh>
<material>Gazebo/test</material>
</visual>
</geom:box>
</body:box>
- <joint:hinge name="right_shoulder_mounting_shoulder_hinge">
- <body1>right_shoulder_mounting_body</body1>
- <body2>right_shoulder_body</body2>
- <anchor>right_shoulder_mounting_body</anchor>
+ <joint:hinge name="left_shoulder_mounting_shoulder_hinge">
+ <body1>left_shoulder_mounting_body</body1>
+ <body2>left_shoulder_body</body2>
+ <anchor>left_shoulder_mounting_body</anchor>
<anchorOffset>0 -0.005 0</anchorOffset>
<axis>1 0 0</axis>
<lowStop>-80</lowStop>
<highStop>5</highStop>
</joint:hinge>
- <body:box name="right_bicep_body">
+ <body:box name="left_bicep_body">
<xyz>-0.030 0.163 -0.288</xyz>
<rpy>0 0 90</rpy>
- <geom:box name="right_bicep_geom">
+ <geom:box name="left_bicep_geom">
<size>0.075 0.070 0.075</size>
<mass>0</mass>
@@ -195,45 +208,45 @@
</geom:box>
</body:box>
- <joint:hinge name="right_shoulder_bicep_hinge">
- <body1>right_shoulder_body</body1>
- <body2>right_bicep_body</body2>
- <anchor>right_shoulder_body</anchor>
+ <joint:hinge name="left_shoulder_bicep_hinge">
+ <body1>left_shoulder_body</body1>
+ <body2>left_bicep_body</body2>
+ <anchor>left_shoulder_body</anchor>
<anchorOffset>0 0.0 -0.052</anchorOffset>
<axis>0 0 1</axis>
<lowStop>-90</lowStop>
<highStop>90</highStop>
</joint:hinge>
- <body:box name="right_forearm_body">
+ <body:box name="left_forearm_body">
<xyz>-0.028 0.163 -0.372</xyz>
<rpy>0 180 180</rpy>
- <geom:box name="right_forearm_geom">
+ <geom:box name="left_forearm_geom">
<size>0.068 0.065 0.095</size>
<mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
- <mesh>bandit/right_forearm.mesh</mesh>
+ <mesh>bandit/left_forearm.mesh</mesh>
<material>Gazebo/test</material>
</visual>
</geom:box>
</body:box>
- <joint:hinge name="right_bicep_forearm_hinge">
- <body1>right_bicep_body</body1>
- <body2>right_forearm_body</body2>
- <anchor>right_bicep_body</anchor>
+ <joint:hinge name="left_bicep_forearm_hinge">
+ <body1>left_bicep_body</body1>
+ <body2>left_forearm_body</body2>
+ <anchor>left_bicep_body</anchor>
<axis>0 1 0</axis>
<anchorOffset>0.01 0 -0.03</anchorOffset>
<lowStop>-1</lowStop>
<highStop>110</highStop>
</joint:hinge>
- <body:box name="right_wrist_body">
+ <body:box name="left_wrist_body">
<xyz>-0.026 0.163 -0.434</xyz>
<rpy>0 0 0</rpy>
- <geom:box name="right_wrist_geom">
+ <geom:box name="left_wrist_geom">
<size>0.054 0.054 0.025</size>
<mass>0</mass>
@@ -245,45 +258,53 @@
</geom:box>
</body:box>
- <joint:hinge name="right_forearm_wrist_hinge">
- <body1>right_forearm_body</body1>
- <body2>right_wrist_body</body2>
- <anchor>right_forearm_body</anchor>
+ <joint:hinge name="left_forearm_wrist_hinge">
+ <body1>left_forearm_body</body1>
+ <body2>left_wrist_body</body2>
+ <anchor>left_forearm_body</anchor>
<anchorOffset>0 0 -0.05</anchorOffset>
<axis>0 0 1</axis>
<lowStop>-90</lowStop>
<highStop>1</highStop>
</joint:hinge>
- <body:box name="right_hand_body">
+ <body:box name="left_hand_body">
<xyz>-0.015 0.163 -0.486</xyz>
<rpy>57 0 90</rpy>
- <geom:box name="right_hand_geom">
+ <geom:box name="left_hand_geom">
<size>0.057 0.098 0.054</size>
<mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
- <mesh>bandit/right_hand.mesh</mesh>
+ <mesh>bandit/left_hand.mesh</mesh>
<material>Gazebo/test</material>
</visual>
</geom:box>
+
+ <sensor:contact name="bandit_lhand_contact">
+ <geom>left_hand_geom</geom>
+ <controller:bumper name="bandit_lhand_bump_controller">
+ <interface:bumper name="bandit_lhand_iface"/>
+ </controller:bumper>
+ </sensor:contact>
+
</body:box>
- <joint:hinge name="right_wrist_hand_hinge">
- <body1>right_wrist_body</body1>
- <body2>right_hand_body</body2>
- <anchor>right_wrist_body</anchor>
+ <joint:hinge name="left_wrist_hand_hinge">
+ <body1>left_wrist_body</body1>
+ <body2>left_hand_body</body2>
+ <anchor>left_wrist_body</anchor>
<anchorOffset>0 0 -0.02</anchorOffset>
<axis>0 1 0</axis>
<lowStop>-10</lowStop>
<highStop>90</highStop>
</joint:hinge>
- <body:box name="right_thumb_body">
+ <body:box name="left_thumb_body">
<xyz>-0.037 0.163 -0.484</xyz>
<rpy>90 0 90</rpy>
- <geom:box name="right_thumb_geom">
+ <geom:box name="left_thumb_geom">
<size>0.038 0.072 0.028</size>
<mass>0</mass>
@@ -293,12 +314,19 @@
<material>Gazebo/test</material>
</visual>
</geom:box>
+
+ <sensor:contact name="bandit_lthumb_contact">
+ <geom>left_thumb_geom</geom>
+ <controller:bumper name="bandit_lthumb_bump_controller">
+ <interface:bumper name="bandit_lthumb_iface"/>
+ </controller:bumper>
+ </sensor:contact>
</body:box>
- <joint:hinge name="right_hand_thumb_hinge">
- <body1>right_hand_body</body1>
- <body2>right_thumb_body</body2>
- <anchor>right_hand_body</anchor>
+ <joint:hinge name="left_hand_thumb_hinge">
+ <body1>left_hand_body</body1>
+ <body2>left_thumb_body</body2>
+ <anchor>left_hand_body</anchor>
<anchorOffset>-0.025 0 0.025</anchorOffset>
<axis>0 1 0</axis>
<lowStop>-20</lowStop>
@@ -307,10 +335,10 @@
- <body:box name="left_shoulder_mounting_body">
+ <body:box name="right_shoulder_mounting_body">
<xyz>-0.035 -0.131 -0.168</xyz>
<rpy>0 0 0</rpy>
- <geom:box name="left_shoulder_mounting_geom">
+ <geom:box name="right_shoulder_mounting_geom">
<rpy>0 0 0</rpy>
<size>0.105 0.066 0.081</size>
<mass>0</mass>
@@ -323,46 +351,46 @@
</geom:box>
</body:box>
- <joint:hinge name="left_torso_shoulder_mounting_hinge">
+ <joint:hinge name="right_torso_shoulder_mounting_hinge">
<body1>torso_body</body1>
- <body2>left_shoulder_mounting_body</body2>
- <anchor>left_shoulder_mounting_body</anchor>
+ <body2>right_shoulder_mounting_body</body2>
+ <anchor>right_shoulder_mounting_body</anchor>
<anchorOffset>0 0.03 0</anchorOffset>
<axis>0 1 0</axis>
<lowStop>-30</lowStop>
<highStop>179</highStop>
</joint:hinge>
- <body:box name="left_shoulder_body">
+ <body:box name="right_shoulder_body">
<xyz>-0.030 -0.160 -0.197</xyz>
<rpy>0 180 0</rpy>
- <geom:box name="left_shoulder_geom">
+ <geom:box name="right_shoulder_geom">
<rpy>0 0 0</rpy>
<size>0.078 0.083 0.111</size>
<mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
- <mesh>bandit/left_shoulder.mesh</mesh>
+ <mesh>bandit/right_shoulder.mesh</mesh>
<material>Gazebo/test</material>
</visual>
</geom:box>
</body:box>
- <joint:hinge name="left_shoulder_mounting_shoulder_hinge">
- <body1>left_shoulder_mounting_body</body1>
- <body2>left_shoulder_body</body2>
- <anchor>left_shoulder_mounting_body</anchor>
+ <joint:hinge name="right_shoulder_mounting_shoulder_hinge">
+ <body1>right_shoulder_mounting_body</body1>
+ <body2>right_shoulder_body</body2>
+ <anchor>right_shoulder_mounting_body</anchor>
<anchorOffset>0 0.005 0</anchorOffset>
<axis>1 0 0</axis>
<lowStop>-5</lowStop>
<highStop>80</highStop>
</joint:hinge>
- <body:box name="left_bicep_body">
+ <body:box name="right_bicep_body">
<xyz>-0.030 -0.163 -0.288</xyz>
<rpy>0 0 90</rpy>
- <geom:box name="left_bicep_geom">
+ <geom:box name="right_bicep_geom">
<size>0.075 0.070 0.075</size>
<mass>0</mass>
@@ -374,45 +402,45 @@
</geom:box>
</body:box>
- <joint:hinge name="left_shoulder_bicep_hinge">
- <body1>left_shoulder_body</body1>
- <body2>left_bicep_body</body2>
- <anchor>left_shoulder_body</anchor>
+ <joint:hinge name="right_shoulder_bicep_hinge">
+ <body1>right_shoulder_body</body1>
+ <body2>right_bicep_body</body2>
+ <anchor>right_shoulder_body</anchor>
<anchorOffset>0 0 -0.052</anchorOffset>
<axis>0 0 1</axis>
<lowStop>-90</lowStop>
<highStop>90</highStop>
</joint:hinge>
- <body:box name="left_forearm_body">
+ <body:box name="right_forearm_body">
<xyz>-0.028 -0.163 -0.372</xyz>
<rpy>0 180 180</rpy>
- <geom:box name="left_forearm_geom">
+ <geom:box name="right_forearm_geom">
<size>0.068 0.065 0.095</size>
<mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
- <mesh>bandit/left_forearm.mesh</mesh>
+ <mesh>bandit/right_forearm.mesh</mesh>
<material>Gazebo/test</material>
</visual>
</geom:box>
</body:box>
- <joint:hinge name="left_bicep_forearm_hinge">
- <body1>left_bicep_body</body1>
- <body2>left_forearm_body</body2>
- <anchor>left_bicep_body</anchor>
+ <joint:hinge name="right_bicep_forearm_hinge">
+ <body1>right_bicep_body</body1>
+ <body2>right_forearm_body</body2>
+ <anchor>right_bicep_body</anchor>
<axis>0 1 0</axis>
<anchorOffset>0 0 -0.02</anchorOffset>
<lowStop>-1</lowStop>
<highStop>110</highStop>
</joint:hinge>
- <body:box name="left_wrist_body">
+ <body:box name="right_wrist_body">
<xyz>-0.026 -0.163 -0.434</xyz>
<rpy>0 0 0</rpy>
- <geom:box name="left_wrist_geom">
+ <geom:box name="right_wrist_geom">
<size>0.054 0.054 0.025</size>
<mass>0</mass>
@@ -424,45 +452,52 @@
</geom:box>
</body:box>
- <joint:hinge name="left_forearm_wrist_hinge">
- <body1>left_forearm_body</body1>
- <body2>left_wrist_body</body2>
- <anchor>left_forearm_body</anchor>
+ <joint:hinge name="right_forearm_wrist_hinge">
+ <body1>right_forearm_body</body1>
+ <body2>right_wrist_body</body2>
+ <anchor>right_forearm_body</anchor>
<anchorOffset>0 0 -0.05</anchorOffset>
<axis>0 0 1</axis>
<lowStop>-1</lowStop>
<highStop>90</highStop>
</joint:hinge>
- <body:box name="left_hand_body">
+ <body:box name="right_hand_body">
<xyz>-0.015 -0.163 -0.486</xyz>
<rpy>57 0 90</rpy>
- <geom:box name="left_hand_geom">
+ <geom:box name="right_hand_geom">
<size>0.057 0.098 0.054</size>
<mass>0</mass>
<visual>
<rpy>90 0 90</rpy>
- <mesh>bandit/left_hand.mesh</mesh>
+ <mesh>bandit/right_hand.mesh</mesh>
<material>Gazebo/test</material>
</visual>
</geom:box>
+
+ <sensor:contact name="bandit_rhand_contact">
+ <geom>right_hand_geom</geom>
+ <controller:bumper name="bandit_rhand_bump">
+ <interface:bumper name="bandit_rhand_iface"/>
+ </controller:bumper>
+ </sensor:contact>
</body:box>
- <joint:hinge name="left_wrist_hand_hinge">
- <body1>left_wrist_body</body1>
- <body2>left_hand_body</body2>
- <anchor>left_wrist_body</anchor>
+ <joint:hinge name="right_wrist_hand_hinge">
+ <body1>right_wrist_body</body1>
+ <body2>right_hand_body</body2>
+ <anchor>right_wrist_body</anchor>
<anchorOffset>0 0 -0.02</anchorOffset>
<axis>0 1 0</axis>
<lowStop>-10</lowStop>
<highStop>90</highStop>
</joint:hinge>
- <body:box name="left_thumb_body">
+ <body:box name="right_thumb_body">
<xyz>-0.037 -0.163 -0.484</xyz>
<rpy>90 0 90</rpy>
- <geom:box name="left_thumb_geom">
+ <geom:box name="right_thumb_geom">
<size>0.038 0.072 0.028</size>
<mass>0</mass>
@@ -472,12 +507,19 @@
<material>Gazebo/test</material>
</visual>
</geom:box>
+
+ <sensor:contact name="bandit_rthumb_contact">
+ <geom>right_thumb_geom</geom>
+ <controller:bumper name="bandit_rthumb_bump_controller">
+ <interface:bumper name="bandit_rthumb_iface"/>
+ </controller:bumper>
+ </sensor:contact>
</body:box>
- <joint:hinge name="left_hand_thumb_hinge">
- <body1>left_hand_body</body1>
- <body2>left_thumb_body</body2>
- <anchor>left_hand_body</anchor>
+ <joint:hinge name="right_hand_thumb_hinge">
+ <body1>right_hand_body</body1>
+ <body2>right_thumb_body</body2>
+ <anchor>right_hand_body</anchor>
<anchorOffset>-0.025 0 0.025</anchorOffset>
<axis>0 1 0</axis>
<lowStop>-20</lowStop>
@@ -494,7 +536,7 @@
<visual>
<size>0.045 0.02 0.002</size>
- <mesh>bandit/right_eyebrow.mesh</mesh>
+ <mesh>bandit/eyebrow.mesh</mesh>
<material>Gazebo/Black</material>
</visual>
</geom:box>
@@ -519,7 +561,7 @@
<mass>0</mass>
<visual>
<size>0.045 0.02 0.002</size>
- <mesh>bandit/right_eyebrow.mesh</mesh>
+ <mesh>bandit/eyebrow.mesh</mesh>
<material>Gazebo/Black</material>
</visual>
</geom:box>
@@ -558,8 +600,8 @@
<anchor>upperlip_body</anchor>
<anchorOffset>0 -0.042 0.0</anchorOffset>
<axis>0 1 0</axis>
- <lowStop>-30</lowStop>
- <highStop>30</highStop>
+ <lowStop>-20</lowStop>
+ <highStop>20</highStop>
</joint:hinge>
<body name="lowerlip_body">
@@ -586,111 +628,110 @@
<anchor>lowerlip_body</anchor>
<anchorOffset>0.0 -0.042 0</anchorOffset>
<axis>0 1 0</axis>
- <lowStop>-30</lowStop>
- <highStop>30</highStop>
+ <lowStop>-20</lowStop>
+ <highStop>20</highStop>
</joint:hinge>
-
<controller:bandit_actarray name="bandit_controller">
<joint name="head_neck_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="neck_torso_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_torso_shoulder_mounting_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_shoulder_mounting_shoulder_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_shoulder_bicep_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_bicep_forearm_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_forearm_wrist_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_wrist_hand_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_hand_thumb_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_torso_shoulder_mounting_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_shoulder_mounting_shoulder_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_shoulder_bicep_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_bicep_forearm_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_forearm_wrist_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_wrist_hand_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_hand_thumb_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="left_eyebrow_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="right_eyebrow_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="lowerlip_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<joint name="upperlip_hinge">
<force>1</force>
- <gain>2</gain>
+ <gain>1</gain>
</joint>
<interface:actarray name="bandit_actarray_iface"/>
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