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"/> This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit