Commit a920b253 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

Merge branch 'new_descriptions' into 'devel'

New descriptions

See merge request gepetto/example-robot-data!21
parents 8884b6b7 8a2da0df
......@@ -50,4 +50,6 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY romeo_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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rpy="0 0 0" />
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ixz="-2.3835E-06"
iyy="1.8042E-05"
iyz="-4.6617E-09"
izz="1.8795E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://2dof_description/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0.96078 1 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://2dof_description/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="link1">
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<origin
xyz="0.0086107 2.1727E-06 0.036012"
rpy="0 0 0" />
<mass
value="0.26703" />
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ixx="0.00040827"
ixy="1.2675E-09"
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izz="3.6421E-05" />
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<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
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<mesh
filename="package://2dof_description/meshes/link1.STL" />
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<material
name="">
<color
rgba="0.64706 0.61961 0.58824 1" />
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xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://2dof_description/meshes/link1.STL" />
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<joint
name="joint1"
type="revolute">
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xyz="0.0060872 0 0.035"
rpy="0 0 0" />
<parent
link="base_link" />
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velocity="0" />
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iyy="0.0011666"
iyz="-5.2365E-12"
izz="1.4553E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://2dof_description/meshes/link2.STL" />
</geometry>
<material
name="">
<color
rgba="0.64706 0.61961 0.58824 1" />
</material>
</visual>
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<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
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</geometry>
</collision>
</link>
<joint
name="joint2"
type="revolute">
<origin
xyz="0.023 0 0.1"
rpy="0 0 0" />
<parent
link="link1" />
<child
link="link2" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
<dynamics
damping="0.05" />
</joint>
</robot>
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<asset>
<contributor>
<author>Stefan Kohlbrecher</author>
<authoring_tool>Blender 2.61.4 r43829</authoring_tool>
</contributor>
<created>2012-02-03T14:20:49</created>
<modified>2012-02-03T14:20:49</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
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91 90 93 92 97 83 92 93 90 91 96 78 93 92 95 94 97 83 94 95 92 93 96 78 95 94 80 79 97 83 81 82 94 95 98 96 100 97 99 98 101 99 103 100 102 101 98 96 99 98 104 102 101 99 105 103 103 100 98 96 104 102 106 104 101 99 107 105 105 103 98 96 106 104 108 106 101 99 109 107 107 105 98 96 108 106 110 108 101 99 111 109 109 107 98 96 110 108 112 110 101 99 113 111 111 109 98 96 112 110 114 112 101 99 115 113 113 111 114 112 100 97 98 96 101 99 102 101 115 113 132 114 116 115 119 116 118 117 117 118 133 119 132 114 119 116 121 120 133 119 120 121 118 117 132 114 121 120 123 122 133 119 122 123 120 121 132 114 123 122 125 124 133 119 124 125 122 123 132 114 125 124 127 126 133 119 126 127 124 125 132 114 127 126 129 128 133 119 128 129 126 127 132 114 129 128 131 130 133 119 130 131 128 129 132 114 131 130 116 115 133 119 117 118 130 131 152 164 153 164 154 164 155 165 156 165 157 165 152 166 154 166 158 166 155 167 159 167 156 167 152 168 158 168 160 168 155 169 161 169 159 169 152 170 160 170 162 170 155 171 163 171 161 171 152 172 162 172 164 172 155 173 165 173 163 173 152 174 164 174 166 174 155 175 167 175 165 175 152 176 166 176 168 176 155 177 169 177 167 177 152 178 168 178 170 178 155 179 171 179 169 179 152 180 170 180 172 180 155 181 173 181 171 181 152 182 172 182 174 182 155 183 175 183 173 183 152 184 174 184 176 184 155 185 177 185 175 185 152 186 176 186 153 186 155 187 157 187 177 187 238 252 216 252 217 252 239 253 214 253 215 253 238 254 217 254 219 254 239 255 218 255 214 255 238 256 219 256 221 256 239 257 220 257 218 257 238 258 221 258 223 258 239 259 222 259 220 259 238 260 223 260 225 260 239 261 224 261 222 261 238 262 225 262 227 262 239 263 226 263 224 263 238 264 227 264 229 264 239 265 228 265 226 265 238 266 229 266 231 266 239 267 230 267 228 267 238 268 231 268 233 268 239 269 232 269 230 269 238 270 233 270 235 270 239 271 234 271 232 271 238 272 235 272 237 272 239 273 236 273 234 273 238 274 237 274 216 274 239 275 215 275 236 275 240 276 241 276 242 276 243 277 244 277 245 277 240 278 242 278 246 278 243 279 247 279 244 279 240 280 246 280 248 280 243 281 249 281 247 281 240 282 248 282 250 282 243 283 251 283 249 283 240 284 250 284 252 284 243 285 253 285 251 285 240 286 252 286 254 286 243 287 255 287 253 287 240 288 254 288 256 288 243 289 257 289 255 289 240 290 256 290 258 290 243 291 259 291 257 291 240 292 258 292 260 292 243 293 261 293 259 293 240 294 260 294 262 294 243 295 263 295 261 295 240 296 262 296 264 296 243 297 265 297 263 297 240 298 264 298 241 298 243 299 245 299 265 299 299 332 295 332 297 332 295 333 293 333 297 333 290 334 299 334 297 334 290 335 297 335 286 335 298 336 289 336 285 336 298 337 285 337 296 337 294 338 298 338 296 338 294 339 296 339 292 339 299 340 290 340 298 340 290 341 289 341 298 341 295 342 299 342 298 342 295 343 298 343 294 343 296 344 285 344 286 344 296 345 286 345 297 345 292 346 296 346 297 346 292 347 297 347 293 347 295 348 291 348 293 348 291 349 287 349 293 349 292 350 284 350 288 350 292 351 288 351 294 351 291 352 295 352 288 352 295 353 294 353 288 353 284 354 292 354 293 354 284 355 293 355 287 355 288 356 284 356 291 356 284 357 287 357 291 357 285 358 289 358 290 358 285 359 290 359 286 359 264 360 245 361 241 362 264 360 265 363 245 361 262 364 265 363 264 360 262 364 263 365 265 363 260 366 263 365 262 364 260 366 261 367 263 365 258 368 261 367 260 366 258 368 259 369 261 367 256 370 259 369 258 368 256 370 257 371 259 369 254 372 257 371 256 370 254 372 255 373 257 371 252 374 255 373 254 372 252 374 253 375 255 373 250 376 253 375 252 374 250 376 251 377 253 375 248 378 251 377 250 376 248 378 249 379 251 377 246 380 249 379 248 378 246 380 247 381 249 379 242 382 247 381 246 380 242 382 244 383 247 381 241 362 244 383 242 382 241 362 245 361 244 383 215 384 216 385 237 386 215 384 237 386 236 387 236 387 237 386 235 388 236 387 235 388 234 389 234 389 235 388 233 390 234 389 233 390 232 391 232 391 233 390 231 392 232 391 231 392 230 393 230 393 231 392 229 394 230 393 229 394 228 395 228 395 229 394 227 396 228 395 227 396 226 397 226 397 227 396 225 398 226 397 225 398 224 399 224 399 225 398 223 400 224 399 223 400 222 401 222 401 223 400 221 402 222 401 221 402 220 403 220 403 221 402 219 404 220 403 219 404 218 405 218 405 219 404 217 406 218 405 217 406 214 407 214 407 217 406 216 385 214 407 216 385 215 384 176 408 157 409 153 410 176 408 177 411 157 409 174 412 177 411 176 408 174 412 175 413 177 411 172 414 175 413 174 412 172 414 173 415 175 413 170 416 173 415 172 414 170 416 171 417 173 415 168 418 171 417 170 416 168 418 169 419 171 417 166 420 169 419 168 418 166 420 167 421 169 419 164 422 167 421 166 420 164 422 165 423 167 421 162 424 165 423 164 422 162 424 163 425 165 423 160 426 163 425 162 424 160 426 161 427 163 425 158 428 161 427 160 426 158 428 159 429 161 427 154 430 159 429 158 428 154 430 156 431 159 429 153 410 156 431 154 430 153 410 157 409 156 431 117 118 131 130 130 131 117 118 116 115 131 130 130 131 131 130 128 129 128 129 131 130 129 128 128 129 129 128 126 127 126 127 129 128 127 126 126 127 127 126 124 125 124 125 127 126 125 124 124 125 125 124 122 123 122 123 125 124 123 122 122 123 121 120 120 121 122 123 123 122 121 120 120 121 119 116 118 117 120 121 121 120 119 116 116 115 118 117 119 116 116 115 117 118 118 117 102 101 100 97 114 112 102 101 114 112 115 113 112 110 113 111 115 113 112 110 115 113 114 112 110 108 111 109 113 111 110 108 113 111 112 110 108 106 109 107 110 108 109 107 111 109 110 108 106 104 107 105 108 106 107 105 109 107 108 106 104 102 105 103 106 104 105 103 107 105 106 104 99 98 103 100 104 102 103 100 105 103 104 102 100 97 102 101 103 100 100 97 103 100 99 98 81 82 95 94 94 95 81 82 80 79 95 94 94 95 95 94 92 93 92 93 95 94 93 92 92 93 93 92 90 91 90 91 93 92 91 90 90 91 91 90 88 89 88 89 91 90 89 88 88 89 89 88 86 87 86 87 89 88 87 86 86 87 85 84 84 85 86 87 87 86 85 84 84 85 83 80 82 81 84 85 85 84 83 80 80 79 82 81 83 80 80 79 81 82 82 81 70 65 62 61 69 76 70 65 69 76 77 77 68 74 76 75 77 77 68 74 77 77 69 76 67 72 75 73 76 75 67 72 76 75 68 74 66 70 74 71 67 72 74 71 75 73 67 72 65 68 73 69 66 70 73 69 74 71 66 70 64 66 72 67 65 68 72 67 73 69 65 68 63 62 71 64 64 66 71 64 72 67 64 66 62 61 70 65 71 64 62 61 71 64 63 62 22 23 20 19 34 34 22 23 34 34 35 35 32 32 33 33 35 35 32 32 35 35 34 34 30 30 31 31 33 33 30 30 33 33 32 32 28 28 29 29 31 31 28 28 31 31 30 30 26 26 27 27 29 29 26 26 29 29 28 28 24 24 25 25 27 27 24 24 27 27 26 26 19 20 23 22 25 25 19 20 25 25 24 24 23 22 19 20 20 19 23 22 20 19 22 23 1 4 0 1 15 16 15 16 14 17 1 4 14 17 13 14 12 15 14 17 15 16 13 14 12 15 11 12 10 13 12 15 13 14 11 12 10 13 9 10 8 11 10 13 11 12 9 10 8 11 7 8 6 9 8 11 9 10 7 8 6 9 5 6 4 7 6 9 7 8 5 6 4 7 3 2 2 3 4 7 5 6 3 2 0 1 2 3 3 2 0 1 1 4 2 3</p>
</polylist>
<polylist material="RotorGrey24" count="64">
<input semantic="VERTEX" source="#Cube_002-mesh-vertices" offset="0"/>
<input semantic="NORMAL" source="#Cube_002-mesh-normals" offset="1"/>
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>137 134 136 134 135 134 135 135 136 135 134 135 137 138 139 138 138 138 138 139 139 139 134 139 137 142 141 142 140 142 140 143 141 143 134 143 137 146 143 146 142 146 142 147 143 147 134 147 137 150 145 150 144 150 144 151 145 151 134 151 137 154 147 154 146 154 146 155 147 155 134 155 137 158 149 158 148 158 148 159 149 159 134 159 137 162 151 162 150 162 150 163 151 163 134 163 178 188 180 188 179 188 181 189 180 189 178 189 183 192 182 192 179 192 181 193 182 193 183 193 185 196 184 196 179 196 181 197 184 197 185 197 187 200 186 200 179 200 181 201 186 201 187 201 189 204 188 204 179 204 181 205 188 205 189 205 191 208 190 208 179 208 181 209 190 209 191 209 193 212 192 212 179 212 181 213 192 213 193 213 195 216 194 216 179 216 181 217 194 217 195 217 199 222 200 222 197 222 197 223 200 223 198 223 199 226 202 226 201 226 201 227 202 227 198 227 199 230 204 230 203 230 203 231 204 231 198 231 199 234 206 234 205 234 205 235 206 235 198 235 199 238 208 238 207 238 207 239 208 239 198 239 199 242 210 242 209 242 209 243 210 243 198 243 199 246 212 246 211 246 211 247 212 247 198 247 199 250 196 250 213 250 213 251 196 251 198 251 266 300 268 300 267 300 269 301 268 301 266 301 271 304 270 304 267 304 269 305 270 305 271 305 273 308 272 308 267 308 269 309 272 309 273 309 275 312 274 312 267 312 269 313 274 313 275 313 277 316 276 316 267 316 269 317 276 317 277 317 279 320 278 320 267 320 269 321 278 321 279 321 281 324 280 324 267 324 269 325 280 325 281 325 283 328 282 328 267 328 269 329 282 329 283 329</p>
</polylist>
</mesh>
<extra><technique profile="MAYA"><double_sided>1</double_sided></technique></extra>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="MainBody_002" type="NODE">
<translate sid="location">0 0 0</translate>
<rotate sid="rotationZ">0 0 1 0</rotate>
<rotate sid="rotationY">0 1 0 0</rotate>
<rotate sid="rotationX">1 0 0 0</rotate>
<scale sid="scale">0.1335572 0.1335572 0.1335572</scale>
<instance_geometry url="#Cube_002-mesh">
<bind_material>
<technique_common>
<instance_material symbol="BodyDark_0011" target="#BodyDark_001-material"/>
<instance_material symbol="RotorGrey2" target="#RotorGrey-material"/>
<instance_material symbol="BodyDark3" target="#BodyDark-material"/>
<instance_material symbol="RotorGrey24" target="#RotorGrey2-material"/>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
</COLLADA>
\ No newline at end of file
<package>
<name>hector-description</name>
<version>0.3.5</version>
<description>hector-description provides an URDF model of a quadrotor UAV.</description>
<maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
<license>BSD</license>
<url type="website">http://ros.org/wiki/hector_quadrotor_description</url>
<url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
<author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
<author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
<!-- Dependencies which this package needs to build itself. -->
<buildtool_depend>catkin</buildtool_depend>
<!-- Dependencies needed to compile this package. -->
<!-- Dependencies needed after this package is compiled. -->
<run_depend>hector_sensors_description</run_depend>
<!-- Dependencies needed only for running tests. -->
</package>
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from quadrotor_base.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="base_link">
<inertial>
<mass value="1.477"/>
<origin xyz="0 0 0"/>
<inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.dae"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://hector_description/meshes/quadrotor/quadrotor_base.stl"/>
</geometry>
</collision>
</link>
</robot>
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="pi" value="3.1415926535897931" />
<!-- Main quadrotor link -->
<xacro:macro name="quadrotor_base_macro">
<link name="base_link">
<inertial>
<mass value="1.477" />
<origin xyz="0 0 0" />
<inertia ixx="0.01152" ixy="0.0" ixz="0.0" iyy="0.01152" iyz="0.0" izz="0.0218" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.dae"/>
</geometry>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hector-description/meshes/quadrotor/quadrotor_base.stl"/>
</geometry>
</collision>
</link>
</xacro:macro>
</robot>
<?xml version="1.0" ?>
<robot name="hector" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="package://hector-description/urdf/quadrotor_base.urdf.xacro"/>
<xacro:quadrotor_base_macro/>
</robot>
# flake8: noqa
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf, loadHector, loadDoublePendulum)
......@@ -3,8 +3,9 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
'tiago_no_hand', 'icub', 'ur5', 'romeo'
'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm',
'talos_legs', 'kinova', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'romeo',
'hector', 'double_pendulum'
]
parser = ArgumentParser()
......@@ -81,3 +82,13 @@ elif args.robot == 'romeo':
romeo = robots_loader.loadRomeo()
romeo.initViewer(loadModel=True)
romeo.display(romeo.q0)
if args.robot == 'hector':
hector = robots_loader.loadHector()
hector.initViewer(loadModel=True)
hector.display(hector.q0)
if args.robot == 'double_pendulum':
planar2dof = robots_loader.load2dof()
planar2dof.initViewer(loadModel=True)
planar2dof.display(planar2dof.q0)
......@@ -8,8 +8,10 @@ from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath, printmsg=False):
base = '../../../share/example-robot-data'
for path in [dirname(dirname(dirname(dirname(__file__)))),
dirname(dirname(dirname(__file__)))] + [join(p, base.strip('/')) for p in sys.path]:
for path in [
dirname(dirname(dirname(dirname(__file__)))),
dirname(dirname(dirname(__file__)))
] + [join(p, base.strip('/')) for p in sys.path]:
if exists(join(path, subpath.strip('/'))):
if printmsg:
print("using %s as modelPath" % path)
......@@ -17,12 +19,17 @@ def getModelPath(subpath, printmsg=False):
raise IOError('%s not found' % (subpath))
def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True, referencePose='half_sitting'):
def readParamsFromSrdf(robot,
SRDF_PATH,
verbose,
has_rotor_parameters=True,
referencePose='half_sitting'):
rmodel = robot.model
if has_rotor_parameters:
pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
rmodel.armature = np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat))
rmodel.armature = np.multiply(rmodel.rotorInertia.flat,
np.square(rmodel.rotorGearRatio.flat))
pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
robot.q0.flat[:] = rmodel.referenceConfigurations[referencePose].copy()
return
......@@ -52,9 +59,14 @@ def loadANYmal(withArm=None):
SRDF_SUBPATH = "/anymal_b_simple_description/srdf/" + SRDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file