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Gepetto
example-robot-data
Commits
238ddb1a
Commit
238ddb1a
authored
Sep 24, 2019
by
Carlos Mastalli
Browse files
Merge branch 'devel' into 'devel'
add ur_description, fix
#7
See merge request
!13
parents
a1ced670
f342b9a2
Pipeline
#5920
passed with stage
in 6 minutes and 31 seconds
Changes
60
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CMakeLists.txt
View file @
238ddb1a
...
...
@@ -43,6 +43,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL
(
DIRECTORY icub_description DESTINATION share/
${
PROJECT_NAME
}
)
INSTALL
(
DIRECTORY talos_data DESTINATION share/
${
PROJECT_NAME
}
)
INSTALL
(
DIRECTORY tiago_description DESTINATION share/
${
PROJECT_NAME
}
)
INSTALL
(
DIRECTORY ur_description DESTINATION share/
${
PROJECT_NAME
}
)
ENDIF
(
NOT INSTALL_PYTHON_INTERFACE_ONLY
)
SETUP_PROJECT_FINALIZE
()
example_robot_data/__init__.py
View file @
238ddb1a
from
.robots_loader
import
(
loadTalosLegs
,
getModelPath
,
loadHyQ
,
load
Solo
,
loadICub
,
loadTalos
,
loadTalosArm
,
loadTiago
,
loadTiagoNoHand
,
readParamsFromSrdf
)
from
.robots_loader
import
(
getModelPath
,
loadHyQ
,
load
ICub
,
loadSolo
,
loadTalos
,
loadTalosArm
,
loadTalosLegs
,
loadTiago
,
loadTiagoNoHand
,
loadUR
,
readParamsFromSrdf
)
example_robot_data/__main__.py
View file @
238ddb1a
...
...
@@ -2,7 +2,7 @@ from argparse import ArgumentParser
from
.
import
robots_loader
ROBOTS
=
[
'hyq'
,
'solo'
,
'solo12'
,
'talos'
,
'talos_arm'
,
'talos_legs'
,
'tiago'
,
'tiago_no_hand'
,
'icub'
]
ROBOTS
=
[
'hyq'
,
'solo'
,
'solo12'
,
'talos'
,
'talos_arm'
,
'talos_legs'
,
'tiago'
,
'tiago_no_hand'
,
'icub'
,
'ur5'
]
parser
=
ArgumentParser
()
parser
.
add_argument
(
'robot'
,
nargs
=
'?'
,
default
=
ROBOTS
[
0
],
choices
=
ROBOTS
)
...
...
@@ -53,3 +53,8 @@ elif args.robot == 'icub':
icub
=
robots_loader
.
loadICub
()
icub
.
initViewer
(
loadModel
=
True
)
icub
.
display
(
icub
.
q0
)
elif
args
.
robot
==
'ur5'
:
ur5
=
robots_loader
.
loadUR
()
ur5
.
initViewer
(
loadModel
=
True
)
ur5
.
display
(
ur5
.
q0
)
example_robot_data/robots_loader.py
View file @
238ddb1a
...
...
@@ -206,3 +206,10 @@ def loadICub(reduced=True):
# Add the free-flyer joint limits
addFreeFlyerJointLimits
(
robot
)
return
robot
def
loadUR
(
robot
=
5
,
limited
=
False
):
URDF_FILENAME
=
'ur%i%s_robot.urdf'
%
(
robot
,
'_joint_limited'
if
limited
else
''
)
URDF_SUBPATH
=
'/ur_description/urdf/'
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
return
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
unittest/test_load.py
View file @
238ddb1a
...
...
@@ -2,6 +2,7 @@
import
sys
import
unittest
import
example_robot_data
...
...
@@ -82,6 +83,12 @@ class TiagoNoHandTest(RobotTestCase):
RobotTestCase
.
NV
=
12
class
UR5Test
(
RobotTestCase
):
RobotTestCase
.
ROBOT
=
example_robot_data
.
loadUR
()
RobotTestCase
.
NQ
=
6
RobotTestCase
.
NV
=
6
if
__name__
==
'__main__'
:
test_classes_to_run
=
[
HyQTest
,
TalosTest
,
TalosArmTest
,
TalosArmFloatingTest
,
TalosLegsTest
,
ICubTest
,
SoloTest
,
Solo12Test
,
...
...
ur_description/launch/ur10_upload.launch
0 → 100644
View file @
238ddb1a
<?xml version="1.0"?>
<launch>
<arg
name=
"limited"
default=
"false"
doc=
"If true, limits joint range [-PI, PI] on all joints."
/>
<arg
name=
"transmission_hw_interface"
default=
"hardware_interface/PositionJointInterface"
/>
<param
unless=
"$(arg limited)"
name=
"robot_description"
command=
"$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"
/>
<param
if=
"$(arg limited)"
name=
"robot_description"
command=
"$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"
/>
</launch>
ur_description/launch/ur3_upload.launch
0 → 100644
View file @
238ddb1a
<?xml version="1.0"?>
<launch>
<arg
name=
"limited"
default=
"false"
doc=
"If true, limits joint range [-PI, PI] on all joints."
/>
<arg
name=
"transmission_hw_interface"
default=
"hardware_interface/PositionJointInterface"
/>
<param
unless=
"$(arg limited)"
name=
"robot_description"
command=
"$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"
/>
<param
if=
"$(arg limited)"
name=
"robot_description"
command=
"$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"
/>
</launch>
ur_description/launch/ur5_upload.launch
0 → 100644
View file @
238ddb1a
<?xml version="1.0"?>
<launch>
<arg
name=
"limited"
default=
"false"
doc=
"If true, limits joint range [-PI, PI] on all joints."
/>
<arg
name=
"transmission_hw_interface"
default=
"hardware_interface/PositionJointInterface"
/>
<param
unless=
"$(arg limited)"
name=
"robot_description"
command=
"$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"
/>
<param
if=
"$(arg limited)"
name=
"robot_description"
command=
"$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)"
/>
</launch>
ur_description/launch/view_ur10.launch
0 → 100644
View file @
238ddb1a
<?xml version="1.0"?>
<launch>
<include
file=
"$(find ur_description)/launch/ur10_upload.launch"
/>
<node
name=
"joint_state_publisher"
pkg=
"joint_state_publisher"
type=
"joint_state_publisher"
>
<param
name=
"use_gui"
value=
"true"
/>
</node>
<node
name=
"robot_state_publisher"
pkg=
"robot_state_publisher"
type=
"state_publisher"
/>
<node
name=
"rviz"
pkg=
"rviz"
type=
"rviz"
args=
"-d $(find ur_description)/cfg/view_robot.rviz"
required=
"true"
/>
</launch>
ur_description/launch/view_ur3.launch
0 → 100644
View file @
238ddb1a
<?xml version="1.0"?>
<launch>
<include
file=
"$(find ur_description)/launch/ur3_upload.launch"
/>
<node
name=
"joint_state_publisher"
pkg=
"joint_state_publisher"
type=
"joint_state_publisher"
>
<param
name=
"use_gui"
value=
"true"
/>
</node>
<node
name=
"robot_state_publisher"
pkg=
"robot_state_publisher"
type=
"state_publisher"
/>
<node
name=
"rviz"
pkg=
"rviz"
type=
"rviz"
args=
"-d $(find ur_description)/cfg/view_robot.rviz"
required=
"true"
/>
</launch>
ur_description/launch/view_ur5.launch
0 → 100644
View file @
238ddb1a
<?xml version="1.0"?>
<launch>
<include
file=
"$(find ur_description)/launch/ur5_upload.launch"
/>
<node
name=
"joint_state_publisher"
pkg=
"joint_state_publisher"
type=
"joint_state_publisher"
>
<param
name=
"use_gui"
value=
"true"
/>
</node>
<node
name=
"robot_state_publisher"
pkg=
"robot_state_publisher"
type=
"state_publisher"
/>
<node
name=
"rviz"
pkg=
"rviz"
type=
"rviz"
args=
"-d $(find ur_description)/cfg/view_robot.rviz"
required=
"true"
/>
</launch>
ur_description/meshes/ur10/collision/base.stl
0 → 100644
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238ddb1a
File added
ur_description/meshes/ur10/collision/forearm.stl
0 → 100644
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238ddb1a
File added
ur_description/meshes/ur10/collision/shoulder.stl
0 → 100644
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File added
ur_description/meshes/ur10/collision/upperarm.stl
0 → 100644
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238ddb1a
File added
ur_description/meshes/ur10/collision/wrist1.stl
0 → 100644
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238ddb1a
File added
ur_description/meshes/ur10/collision/wrist2.stl
0 → 100644
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238ddb1a
File added
ur_description/meshes/ur10/collision/wrist3.stl
0 → 100644
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238ddb1a
File added
ur_description/meshes/ur10/visual/base.dae
0 → 100644
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238ddb1a
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ur_description/meshes/ur10/visual/forearm.dae
0 → 100644
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