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: Guilhem Saurel <guilhem.saurel@laas.fr>

* ci fixes: flake8 + unittest missing module

* fix test

Co-authored-by: Rohan Budhiraja <proyan@users.noreply.github.com>
Co-authored-by: Guilhem Saurel <guilhem.saurel@laas.fr>

.gitignore

@@ -2,3 +2,4 @@
 *.pyd
 *.pyo
 build*
+*~
\ No newline at end of file

cmake @ 0adbf010

-Subproject commit 094834088ad9de32f1abdc2d56d29bca2190772c
+Subproject commit 0adbf0109cf2cb4b19db9b71cce37131c17b1597

python/example_robot_data/robots_loader.py

@@ -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,

robots/cassie_description/robots/cassie.world

+<!-- *
+ * Copyright (c) 2018 Agility Robotics
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * 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
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ * -->
+
+<?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>