diff --git a/simulation_models/1_scissor_element1/model.config b/simulation_models/1_scissor_element1/model.config new file mode 100644 index 0000000..c4cbd94 --- /dev/null +++ b/simulation_models/1_scissor_element1/model.config @@ -0,0 +1,11 @@ + + + scissor1 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/1_scissor_element1/model.sdf b/simulation_models/1_scissor_element1/model.sdf new file mode 100644 index 0000000..c60dff2 --- /dev/null +++ b/simulation_models/1_scissor_element1/model.sdf @@ -0,0 +1,203 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.000209 -0.005 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 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b/simulation_models/2_scissor_element2/model.sdf @@ -0,0 +1,527 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.000209 -0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 0.01 0 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 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a/simulation_models/3_scissor_element3/model.sdf b/simulation_models/3_scissor_element3/model.sdf new file mode 100644 index 0000000..a298102 --- /dev/null +++ b/simulation_models/3_scissor_element3/model.sdf @@ -0,0 +1,530 @@ + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0.000209 -0 0 0 -0 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + + + 1 + 1 + 0 0 0 + 0 + 0 + + + 1 + 0 + 0 + 1 + + 0 + + + + + 0 + 1e+06 + + + 0 + 1 + 1 + + 0 + 0.2 + 1e+13 + 1 + 0.01 + 0 + + + 1 + -0.01 + 0 + 0.2 + 1e+13 + 1 + + + + + + + + 1 + + 0.166667 + 0 + 0 + 0.166667 + 0 + 0.166667 + + 0 0 0 0 -0 0 + + 0 0.01 0 0 1.5707 0 + 1 + 0 + 0 + 0 + + 0 0 0 0 -0 0 + + + 0.6 0.01 0.04 + + + + 1 + + + __default__ + + 0.3 0.3 0.3 1 + 0.7 0.7 0.7 1 + 0.01 0.01 0.01 1 + 0 0 0 1 + + 0 + 1 + + + 0 + 10 + 0 0 0 0 -0 0 + + + 0.6 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100644 index 0000000..2c81cb5 --- /dev/null +++ b/simulation_models/4_one_side_scissorjack/model.config @@ -0,0 +1,11 @@ + + + scissorfinal2 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/4_one_side_scissorjack/model.sdf b/simulation_models/4_one_side_scissorjack/model.sdf new file mode 100644 index 0000000..8adf44e --- /dev/null +++ b/simulation_models/4_one_side_scissorjack/model.sdf @@ -0,0 +1,82 @@ + + + + + model://scissor3 + 0 0 0 0 -0.78535 0 + + + + model://scissor9 + 0 0 0.791959 0 -0.78535 0 + + + + + scissor3::link_0_clone_0 + scissor9::link_0_clone + 0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + scissor3::link_0_clone_clone + scissor9::link_0 + -0.28 0 0 0 -0 0 + + 0 1 0 + 0 + + -1.79769e+308 + 1.79769e+308 + -1 + -1 + + + 0 + 0 + 0 + + + + + + 0 + 0.2 + + + 0 + 0.2 + + + + + + + + diff --git a/simulation_models/5_jointscissorjack/model.config b/simulation_models/5_jointscissorjack/model.config new file mode 100644 index 0000000..c13f604 --- /dev/null +++ b/simulation_models/5_jointscissorjack/model.config @@ -0,0 +1,11 @@ + + + jointscissor1 + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/5_jointscissorjack/model.sdf b/simulation_models/5_jointscissorjack/model.sdf new file mode 100644 index 0000000..b8df6e1 --- /dev/null +++ b/simulation_models/5_jointscissorjack/model.sdf @@ -0,0 +1,17 @@ + + + + + model://scissorfinal1 + 0 0 0.212132 0 0 0 + + + + model://scissorfinal2 + 0 0.32 0.212132 0 0 0 + + + + + + diff --git a/simulation_models/6_finaljointscissormodel/model.config b/simulation_models/6_finaljointscissormodel/model.config new file mode 100644 index 0000000..f91a34e --- /dev/null +++ b/simulation_models/6_finaljointscissormodel/model.config @@ -0,0 +1,11 @@ + + + finaljointscissormodel + 1.0 + model.sdf + + + + + + diff --git a/simulation_models/6_finaljointscissormodel/model.sdf 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