Commit 238ddb1a authored by Carlos Mastalli's avatar 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
......@@ -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()
from .robots_loader import (loadTalosLegs, getModelPath, loadHyQ, loadSolo, loadICub, loadTalos, loadTalosArm,
loadTiago, loadTiagoNoHand, readParamsFromSrdf)
from .robots_loader import (getModelPath, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm, loadTalosLegs,
loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
......@@ -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)
......@@ -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])
......@@ -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,
......
<?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>
<?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>
<?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>
<?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 $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(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 $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(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>
<?xml version="1.0" encoding="utf-8"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Blender User</author>
<authoring_tool>Blender 2.70.0 commit date:2014-04-10, commit time:11:49, hash:f93bc76</authoring_tool>
</contributor>
<created>2014-08-06T15:40:22</created>
<modified>2014-08-06T15:40:22</modified>
<unit name="meter" meter="1"/>
<up_axis>Z_UP</up_axis>
</asset>
<library_images/>
<library_effects>
<effect id="SWMaterial-2_001-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.5 0.5 0.5 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.371451 0.371451 0.371451 1</color>
</diffuse>
<specular>
<color sid="specular">0.25 0.25 0.25 1</color>
</specular>
<shininess>
<float sid="shininess">0</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
<effect id="SWMaterial-0_001-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.5 0.5 0.5 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.1781961 0.1781961 0.1781961 1</color>
</diffuse>
<specular>
<color sid="specular">0.25 0.25 0.25 1</color>
</specular>
<shininess>
<float sid="shininess">0</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
<effect id="SWMaterial-1_001-effect">
<profile_COMMON>
<technique sid="common">
<phong>
<emission>
<color sid="emission">0 0 0 1</color>
</emission>
<ambient>
<color sid="ambient">0.5 0.5 0.5 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.3137255 0.4341961 0.512 1</color>
</diffuse>
<specular>
<color sid="specular">0.25 0.25 0.25 1</color>
</specular>
<shininess>
<float sid="shininess">0</float>
</shininess>
<index_of_refraction>
<float sid="index_of_refraction">1</float>
</index_of_refraction>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="SWMaterial-2_001-material" name="SWMaterial-2_001">
<instance_effect url="#SWMaterial-2_001-effect"/>
</material>
<material id="SWMaterial-0_001-material" name="SWMaterial-0_001">
<instance_effect url="#SWMaterial-0_001-effect"/>
</material>
<material id="SWMaterial-1_001-material" name="SWMaterial-1_001">
<instance_effect url="#SWMaterial-1_001-effect"/>
</material>
</library_materials>
<library_geometries>
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<mesh>
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1961 876 1962 736 1962 738 1962 966 1963 701 1963 781 1963 970 1964 738 1964 969 1964 781 1965 701 1965 782 1965 701 1966 967 1966 782 1966 867 1967 724 1967 968 1967 189 1968 170 1968 971 1968 170 1969 286 1969 971 1969 970 1970 969 1970 741 1970 867 1971 968 1971 973 1971 971 1972 286 1972 972 1972 869 1973 867 1973 722 1973 867 1974 973 1974 722 1974 286 1975 866 1975 974 1975 972 1976 286 1976 974 1976 869 1977 722 1977 975 1977 983 1978 799 1978 985 1978 860 1979 921 1979 976 1979 826 1980 676 1980 976 1980 676 1981 860 1981 976 1981 850 1982 980 1982 977 1982 980 1983 889 1983 977 1983 274 1984 710 1984 978 1984 957 1985 274 1985 978 1985 979 1986 957 1986 978 1986 891 1987 980 1987 850 1987 676 1988 826 1988 981 1988 985 1989 799 1989 177 1989 673 1990 676 1990 981 1990 799 1991 982 1991 177 1991 710 1992 274 1992 895 1992 274 1993 163 1993 895 1993 984 1994 983 1994 985 1994 892 1995 984 1995 985 1995 974 1996 866 1996 986 1996 866 1997 865 1997 986 1997 989 1998 987 1998 988 1998 988 1999 987 1999 989 1999</p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers/>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="node-shape0-name" name="node-shape0-name" type="NODE">
<matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#shape0_001-mesh">
<bind_material>
<technique_common>
<instance_material symbol="SWMaterial-2_001-material" target="#SWMaterial-2_001-material"/>
<instance_material symbol="SWMaterial-0_001-material" target="#SWMaterial-0_001-material"/>
<instance_material symbol="SWMaterial-1_001-material" target="#SWMaterial-1_001-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
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