Commit 58548b83 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[icub] Added a basic SRDF for the icub robot

parent 4636ea08
<?xml version="1.0" ?>
<robot name="icub">
<group name="l_leg">
<joint name="l_hip_pitch" />
<joint name="l_hip_roll" />
<joint name="l_hip_yaw" />
<joint name="l_knee" />
<joint name="l_ankle_pitch" />
<joint name="l_ankle_roll" />
<chain base_link="chest" tip_link="l_foot_ft_sensor" />
</group>
<group name="r_leg">
<joint name="r_hip_pitch" />
<joint name="r_hip_roll" />
<joint name="r_hip_yaw" />
<joint name="r_knee" />
<joint name="r_ankle_pitch" />
<joint name="r_ankle_roll" />
<chain base_link="chest" tip_link="r_foot_ft_sensor" /> </group>
<group name="l_arm">
<joint name="l_shoulder_pitch" />
<joint name="l_shoulder_roll" />
<joint name="l_shoulder_yaw" />
<joint name="l_elbow" />
<joint name="l_wrist_prosup" />
<joint name="l_wrist_pitch" />
<joint name="l_wrist_yaw" />
<chain base_link="chest" tip_link="l_hand_dh_frame_fixed_joint" />
</group>
<group name="r_arm">
<joint name="r_shoulder_pitch" />
<joint name="r_shoulder_roll" />
<joint name="r_shoulder_yaw" />
<joint name="r_elbow" />
<joint name="r_wrist_prosup" />
<joint name="r_wrist_pitch" />
<joint name="r_wrist_yaw" />
<chain base_link="chest" tip_link="r_hand_dh_frame_fixed_joint" />
</group>
<group name="head">
<joint name="neck_pitch" />
<joint name="neck_roll" />
<joint name="neck_yaw" />
</group>
<group name="torso">
<joint name="torso_pitch" />
<joint name="torso_roll" />
<joint name="torso_yaw" />
</group>
<group name="all_legs">
<group name="l_leg" />
<group name="r_leg" />
</group>
<group name="all_arms">
<group name="l_arm" />
<group name="r_arm" />
</group>
<group name="all">
<group name="l_arm" />
<group name="r_arm" />
<group name="l_leg" />
<group name="r_leg" />
<group name="head" />
<group name="torso" />
</group>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="r_hand_dh_frame_fixed_joint" parent_group="right_arm" />
<end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="l_hand_dh_frame_fixed_joint" parent_group="left_arm" />
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.60 0. 0. 0. 1." />
<!-- legs -->
<joint name="l_hip_pitch" value="0." />
<joint name="l_hip_roll" value="0." />
<joint name="l_hip_yaw" value="0." />
<joint name="l_knee" value="0." />
<joint name="l_ankle_pitch" value="0." />
<joint name="l_ankle_roll" value="0." />
<joint name="r_hip_pitch" value="0." />
<joint name="r_hip_roll" value="0." />
<joint name="r_hip_yaw" value="0." />
<joint name="r_knee" value="0." />
<joint name="r_ankle_pitch" value="0." />
<joint name="r_ankle_roll" value="0." />
<!-- arms -->
<joint name="l_shoulder_pitch" value="0." />
<joint name="l_shoulder_roll" value="0.35" />
<joint name="l_shoulder_yaw" value="0.5" />
<joint name="l_elbow" value="0.5" />
<joint name="l_wrist_prosup" value="0." />
<joint name="l_wrist_pitch" value="0." />
<joint name="l_wrist_yaw" value="0." />
<joint name="r_shoulder_pitch" value="0." />
<joint name="r_shoulder_roll" value="0.35" />
<joint name="r_shoulder_yaw" value="0.5" />
<joint name="r_elbow" value="0.5" />
<joint name="r_wrist_prosup" value="0." />
<joint name="r_wrist_pitch" value="0." />
<joint name="r_wrist_yaw" value="0." />
<!-- torso -->
<joint name="torso_pitch" value="0." />
<joint name="torso_roll" value="0." />
<joint name="torso_yaw" value="0." />
<!-- neck -->
<joint name="neck_pitch" value="0." />
<joint name="neck_roll" value="0." />
<joint name="neck_yaw" value="0." />
</group_state>
<!--
<disable_collisions link1="lf_hipassembly" link2="lf_upperleg" reason="Adjacent" />
<disable_collisions link1="lf_hipassembly" link2="lf_lowerleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_lowerleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_lowerleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_lowerleg" reason="Never" />
-->
</robot>
......@@ -106,13 +106,13 @@ def loadTiagoNoHand():
def loadICub():
URDF_FILENAME = "icub.urdf"
# SRDF_FILENAME = "icub.srdf"
# SRDF_SUBPATH = "/icub_description/srdf/" + SRDF_FILENAME
SRDF_FILENAME = "icub.srdf"
SRDF_SUBPATH = "/icub_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer())
# Load SRDF file
# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
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