diff options
49 files changed, 6703 insertions, 250 deletions
@@ -1,6 +1,6 @@ [workspace] members = ["crates/rapier2d", "crates/rapier2d-f64", "crates/rapier_testbed2d", "crates/rapier_testbed2d-f64", "examples2d", "benchmarks2d", - "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d", "crates/rapier-urdf"] + "crates/rapier3d", "crates/rapier3d-f64", "crates/rapier_testbed3d", "crates/rapier_testbed3d-f64", "examples3d", "examples3d-f64", "benchmarks3d", "crates/rapier-urdf", "crates/rapier-stl"] resolver = "2" [patch.crates-io] diff --git a/assets/3d/T12/README.md b/assets/3d/T12/README.md new file mode 100644 index 0000000..011d8e5 --- /dev/null +++ b/assets/3d/T12/README.md @@ -0,0 +1,3 @@ +These samples files originate from the repository +[gkjohnson/urdf-loaders](https://github.com/gkjohnson/urdf-loaders/tree/b67f5de98f6222e2d921ce24f46a6725dad9704e/urdf/T12) +(Apache 2.0 license).
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a/assets/3d/T12/meshes/Thigh1.STL b/assets/3d/T12/meshes/Thigh1.STL Binary files differnew file mode 100644 index 0000000..d134267 --- /dev/null +++ b/assets/3d/T12/meshes/Thigh1.STL diff --git a/assets/3d/T12/meshes/Thigh2.STL b/assets/3d/T12/meshes/Thigh2.STL Binary files differnew file mode 100644 index 0000000..d134267 --- /dev/null +++ b/assets/3d/T12/meshes/Thigh2.STL diff --git a/assets/3d/T12/meshes/Thigh3.STL b/assets/3d/T12/meshes/Thigh3.STL Binary files differnew file mode 100644 index 0000000..d134267 --- /dev/null +++ b/assets/3d/T12/meshes/Thigh3.STL diff --git a/assets/3d/T12/meshes/Thigh4.STL b/assets/3d/T12/meshes/Thigh4.STL Binary files differnew file mode 100644 index 0000000..d134267 --- /dev/null +++ b/assets/3d/T12/meshes/Thigh4.STL diff --git a/assets/3d/T12/meshes/Thigh5.STL b/assets/3d/T12/meshes/Thigh5.STL Binary files differnew file mode 100644 index 0000000..d134267 --- /dev/null +++ b/assets/3d/T12/meshes/Thigh5.STL diff --git a/assets/3d/T12/meshes/Thigh6.STL b/assets/3d/T12/meshes/Thigh6.STL Binary files differnew file mode 100644 index 0000000..d134267 --- /dev/null +++ b/assets/3d/T12/meshes/Thigh6.STL diff --git a/assets/3d/T12/urdf/T12.URDF b/assets/3d/T12/urdf/T12.URDF new file mode 100644 index 0000000..364b0cf --- /dev/null +++ b/assets/3d/T12/urdf/T12.URDF @@ -0,0 +1,2131 @@ +<robot + name="T12"> + <link + name="Body"> + <inertial> + <origin + xyz="0.015789 0.0084982 0.11668" + rpy="0 0 0" /> + <mass + value="266.06" /> + <inertia + ixx="225.36" + ixy="0.054583" + ixz="0.010358" + iyy="210.35" + iyz="-0.0001937" + izz="424.6" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Body.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Body.STL" /> + </geometry> + </collision> + </link> + <link + name="Hip1"> + <inertial> + <origin + xyz="0.12059 0.04703 -0.043975" + rpy="0 0 0" /> + <mass + value="10.161" /> + <inertia + ixx="0.69317" + ixy="0.0073762" + ixz="0.040711" + iyy="0.34376" + iyz="0.0014897" + izz="0.9152" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Hip1.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Hip1.STL" /> + </geometry> + </collision> + </link> + <joint + name="HY1" + type="revolute"> + <origin + xyz="1.7322 0.99572 0.41034" + rpy="-4.4608E-16 2.8513E-16 0.5236" /> + <parent + link="Body" /> + <child + link="Hip1" /> + <axis + xyz="0 0 1" /> + <limit + lower="-3.1416" + upper="3.1416" + effort="2700" + velocity="0" /> + </joint> + <link + name="Thigh1"> + <inertial> + <origin + xyz="0.37052 1.2567E-08 -0.0016621" + rpy="0 0 0" /> + <mass + value="14.238" /> + <inertia + ixx="1.0008" + ixy="7.0442E-08" + ixz="0.0087687" + iyy="2.0253" + iyz="-0.00024727" + izz="1.3252" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Thigh1.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Thigh1.STL" /> + </geometry> + </collision> + </link> + <joint + name="HP1" + type="revolute"> + <origin + xyz="0.36808 0 0" + rpy="-1.5708 1.2704E-14 -2.2204E-16" /> + <parent + link="Hip1" /> + <child + link="Thigh1" /> + <axis + xyz="0 0 1" /> + <limit + lower="-1.9199" + upper="1.5708" + effort="7500" + velocity="0" /> + </joint> + <link + name="Knee1"> + <inertial> + <origin + xyz="0.017762 -0.027385 0.0067752" + rpy="0 0 0" /> + <mass + value="5.7913" /> + <inertia + ixx="0.12768" + ixy="0.0042111" + ixz="-0.00069417" + iyy="0.12196" + iyz="0.0012334" + izz="0.079088" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Knee1.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Knee1.STL" /> + </geometry> + </collision> + </link> + <joint + name="KP1" + type="revolute"> + <origin + xyz="0.8627 0 0" + rpy="2.2204E-16 2.6822E-16 1.5708" /> + <parent + link="Thigh1" /> + <child + link="Knee1" /> + <axis + xyz="0 0 1" /> + <limit + lower="-1.9199" + upper="3.1416" + effort="2700" + velocity="0" /> + </joint> + <link + name="Shin1"> + <inertial> + <origin + xyz="-1.4482E-09 0.00011789 0.4127" + rpy="0 0 0" /> + <mass + value="10.201" /> + <inertia + ixx="0.7541" + ixy="-0.00016423" + ixz="3.2671E-09" + iyy="0.53994" + iyz="-0.00028063" + izz="0.35892" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Shin1.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Shin1.STL" /> + </geometry> + </collision> + </link> + <joint + name="KR1" + type="revolute"> + <origin + xyz="0 0 0" + rpy="1.5708 -2.7791E-17 8.7217E-15" /> + <parent + link="Knee1" /> + <child + link="Shin1" /> + <axis + xyz="0 0 1" /> + <limit + lower="-3.1416" + upper="3.1416" + effort="900" + velocity="0" /> + </joint> + <link + name="Ankle1"> + <inertial> + <origin + xyz="0.020168 -0.026001 0.0079686" + rpy="0 0 0" /> + <mass + value="5.108" /> + <inertia + ixx="0.094931" + ixy="0.0040571" + ixz="-0.00081815" + iyy="0.089357" + iyz="0.00089845" + izz="0.073015" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Ankle1.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Ankle1.STL" /> + </geometry> + </collision> + </link> + <joint + name="AP1" + type="revolute"> + <origin + xyz="0 0 0.79818" + rpy="-1.5708 -1.3823E-15 -9.3729E-17" /> + <parent + link="Shin1" /> + <child + link="Ankle1" /> + <axis + xyz="0 0 1" /> + <limit + lower="-2.0944" + upper="2.0944" + effort="1350" + velocity="0" /> + </joint> + <link + name="Foot1"> + <inertial> + <origin + xyz="-3.0189E-05 0.0041753 0.55175" + rpy="0 0 0" /> + <mass + value="27.416" /> + <inertia + ixx="2.0991" + ixy="-4.1499E-05" + ixz="6.0881E-05" + iyy="2.468" + iyz="0.023298" + izz="0.8501" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Foot1.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Foot1.STL" /> + </geometry> + </collision> + </link> + <joint + name="AR1" + type="revolute"> + <origin + xyz="0 0 0" + rpy="1.5708 4.5989E-16 1.2639E-15" /> + <parent + link="Ankle1" /> + <child + link="Foot1" /> + <axis + xyz="0 0 1" /> + <limit + lower="-3.1416" + upper="3.1416" + effort="900" + velocity="0" /> + </joint> + <link + name="Hip2"> + <inertial> + <origin + xyz="0.11841 0.050794 -0.043975" + rpy="0 0 0" /> + <mass + value="10.161" /> + <inertia + ixx="0.69317" + ixy="0.0073791" + ixz="0.040711" + iyy="0.34375" + iyz="0.0014908" + izz="0.91521" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Hip2.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Hip2.STL" /> + </geometry> + </collision> + </link> + <joint + name="HY2" + type="revolute"> + <origin + xyz="0.0037717 1.998 0.41034" + rpy="-4.4608E-16 2.8513E-16 1.5708" /> + <parent + link="Body" /> + <child + link="Hip2" /> + <axis + xyz="0 0 1" /> + <limit + lower="-3.1416" + upper="3.1416" + effort="2700" + velocity="0" /> + </joint> + <link + name="Thigh2"> + <inertial> + <origin + xyz="0.36835 1.2571E-08 0.0020978" + rpy="0 0 0" /> + <mass + value="14.238" /> + <inertia + ixx="1.0008" + ixy="7.0776E-08" + ixz="0.0088078" + iyy="2.0253" + iyz="-0.00024727" + izz="1.3252" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Thigh2.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Thigh2.STL" /> + </geometry> + </collision> + </link> + <joint + name="HP2" + type="revolute"> + <origin + xyz="0.36808 0 0" + rpy="-1.5708 1.2704E-14 -2.1472E-16" /> + <parent + link="Hip2" /> + <child + link="Thigh2" /> + <axis + xyz="0 0 1" /> + <limit + lower="-1.9199" + upper="1.5708" + effort="7500" + velocity="0" /> + </joint> + <link + name="Knee2"> + <inertial> + <origin + xyz="0.017762 -0.025217 0.010531" + rpy="0 0 0" /> + <mass + value="5.7913" /> + <inertia + ixx="0.12768" + ixy="0.0042106" + ixz="-0.00069509" + iyy="0.12197" + iyz="0.0012317" + izz="0.079085" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Knee2.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Knee2.STL" /> + </geometry> + </collision> + </link> + <joint + name="KP2" + type="revolute"> + <origin + xyz="0.8627 0 0" + rpy="2.2937E-16 2.3338E-16 1.5708" /> + <parent + link="Thigh2" /> + <child + link="Knee2" /> + <axis + xyz="0 0 1" /> + <limit + lower="-1.9199" + upper="3.1416" + effort="2700" + velocity="0" /> + </joint> + <link + name="Shin2"> + <inertial> + <origin + xyz="-1.3842E-09 0.0038981 0.41085" + rpy="0 0 0" /> + <mass + value="10.201" /> + <inertia + ixx="0.75448" + ixy="-0.00016423" + ixz="3.1853E-09" + iyy="0.54028" + iyz="3.2414E-05" + izz="0.35896" /> + </inertial> + <visual> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Shin2.STL" /> + </geometry> + <material + name=""> + <color + rgba="0.75294 0.75294 0.75294 1" /> + </material> + </visual> + <collision> + <origin + xyz="0 0 0" + rpy="0 0 0" /> + <geometry> + <mesh + filename="../meshes/Shin2.STL" /> + </geometry> + </collision> + </link> + <joint + name="KR2" + type="revolute"> + <origin + xyz="0 0 0" + rpy="1.5708 -2.7791E-17 8.7217E-15" /> + <parent + link="Knee2" /> + 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