Unverified Commit 424a955b authored by Rohan Budhiraja's avatar Rohan Budhiraja Committed by GitHub
Browse files

Add cassie robot in example-robot-data (#100)



* [cassie_description] initial commit

* [cmake] update

* [cassie.sdf] change mesh path relative to example-robot-data

* [cassie_description] move meshes up folder

* [cassie-loader] create loadCassie function for load with sdf

* cassie srdf: standing pose

* [cassie_loader] use robotloader

* add unittest. won't yet work before pinocchio3

* Update unittest/test_load.py
Co-authored-by: default avatarGuilhem Saurel <guilhem.saurel@laas.fr>

* ci fixes: flake8 + unittest missing module

* fix test
Co-authored-by: default avatarRohan Budhiraja <proyan@users.noreply.github.com>
Co-authored-by: default avatarGuilhem Saurel <guilhem.saurel@laas.fr>
parent fad19825
Pipeline #16091 passed with stage
in 1 minute and 36 seconds
......@@ -2,3 +2,4 @@
*.pyd
*.pyo
build*
*~
\ No newline at end of file
Subproject commit 094834088ad9de32f1abdc2d56d29bca2190772c
Subproject commit 0adbf0109cf2cb4b19db9b71cce37131c17b1597
......@@ -150,6 +150,15 @@ def loadANYmal(withArm=None):
return loader().robot
class CassieLoader(RobotLoader):
path = 'cassie_description'
sdf_filename = "cassie_v2.sdf"
sdf_subpath = 'robots'
srdf_filename = "cassie_v2.srdf"
ref_posture = "standing"
free_flyer = True
class TalosLoader(RobotLoader):
path = 'talos_data'
urdf_filename = "talos_reduced.urdf"
......@@ -517,6 +526,7 @@ ROBOTS = {
'anymal': ANYmalLoader,
'anymal_kinova': ANYmalKinovaLoader,
'baxter': BaxterLoader,
'cassie': CassieLoader,
'double_pendulum': DoublePendulumLoader,
'hector': HectorLoader,
'hyq': HyQLoader,
......
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* Copyright (c) 2018 Agility Robotics
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* THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
* WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
* ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
* WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
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* -->
<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">
<physics type="ode">
<max_step_size>0.0005</max_step_size>
<real_time_update_rate>2000</real_time_update_rate>
</physics>
<include>
<uri>model://sun</uri>
</include>
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://cassie</uri>
</include>
</world>
</sdf>
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