[anymal] Added ANYmal b (this is now open-source and legally possible)

README.md

@@ -6,7 +6,7 @@ Example robot URDFs
 This repository includes a set of robot descriptions that are aimed to be used in benchmarking. These source files do not intend to substitute original their repositories.
 
 
-**Authors:**  [Carlos Mastalli](https://cmastalli.github.io/) <br />
+**Authors:**  [Carlos Mastalli](https://cmastalli.github.io/), Guilhem Saurel <br />
 **With additional support from the Gepetto team at LAAS-CNRS.**
 
 [![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
@@ -40,6 +40,6 @@ If you have never added robotpkg as a softwares repository, please follow first
 
 ## Show the robot
 
-(you will need pinocchio and its python bindings)
+(you will need pinocchio and its Python bindings)
 
-`python -m example_robot_data [hyq,talos,talos_arm,talos_legs,icub,solo,solo12,tiago,tiago_no_hand]`
+`python -m example_robot_data [hyq,anymal,talos,talos_arm,talos_legs,icub,solo,solo12,tiago,tiago_no_hand]`

anymal_b_simple_description/srdf/anymal.srdf

+<?xml version="1.0" ?>
+<robot name="anymal">
+
+    <group name="lf_leg">
+        <joint name="LF_HAA" />
+        <joint name="LF_HFE" />
+        <joint name="LF_KFE" />
+        <chain base_link="base" tip_link="LF_FOOT" />
+    </group>
+    <group name="lh_leg">
+        <joint name="LH_HAA" />
+        <joint name="LH_HFE" />
+        <joint name="LH_KFE" />
+        <chain base_link="base" tip_link="LH_FOOT" />
+    </group>
+    <group name="rf_leg">
+        <joint name="RF_HAA" />
+        <joint name="RF_HFE" />
+        <joint name="RF_KFE" />
+        <chain base_link="base" tip_link="RF_FOOT" />
+    </group>
+    <group name="rh_leg">
+        <joint name="RH_HAA" />
+        <joint name="RH_HFE" />
+        <joint name="RH_KFE" />
+        <chain base_link="base" tip_link="RH_FOOT" />
+    </group>
+    <group name="all_legs">
+        <group name="lf" />
+        <group name="rf" />
+        <group name="lh" />
+        <group name="rh" />
+    </group>
+    <group name="r_legs">
+        <group name="rf" />
+        <group name="rh" />
+    </group>
+    <group name="l_legs">
+        <group name="lf" />
+        <group name="lh" />
+    </group>
+    <group name="f_legs">
+        <group name="lf" />
+        <group name="rf" />
+    </group>
+    <group name="h_legs">
+        <group name="lh" />
+        <group name="rh" />
+    </group>
+    <group name="ld_legs">
+        <group name="lf" />
+        <group name="rh" />
+    </group>
+    <group name="rd_legs">
+        <group name="rf" />
+        <group name="lh" />
+    </group>
+
+    <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
+    <end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
+    <end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
+    <end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
+
+    <group_state name="half_sitting" group="all_legs">
+        <joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
+        <joint name="LF_HAA" value="-0.1" />
+        <joint name="LF_HFE" value="0.7" />
+        <joint name="LF_KFE" value="-1." />
+        <joint name="RF_HAA" value="0.1" />
+        <joint name="RF_HFE" value="0.7" />
+        <joint name="RF_KFE" value="-1." />
+        <joint name="LH_HAA" value="-0.1" />
+        <joint name="LH_HFE" value="-0.7" />
+        <joint name="LH_KFE" value="1." />
+        <joint name="RH_HAA" value="0.1" />
+        <joint name="RH_HFE" value="-0.7" />
+        <joint name="RH_KFE" value="1." />
+    </group_state>
+
+    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
+    <disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LF_FOOT" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_THIGH" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_FOOT" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
+
+</robot>

example_robot_data/__init__.py

-from .robots_loader import (getModelPath, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm, loadTalosLegs,
-                            loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
+                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)

example_robot_data/__main__.py

@@ -2,13 +2,20 @@ from argparse import ArgumentParser
 
 from . import robots_loader
 
-ROBOTS = ['hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5']
+ROBOTS = [
+    'anymal', '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)
 
 args = parser.parse_args()
 
+if args.robot == 'anymal':
+    anymal = robots_loader.loadANYmal()
+    anymal.initViewer(loadModel=True)
+    anymal.display(anymal.q0)
+
 if args.robot == 'hyq':
     hyq = robots_loader.loadHyQ()
     hyq.initViewer(loadModel=True)

example_robot_data/robots_loader.py

@@ -45,6 +45,21 @@ def addFreeFlyerJointLimits(robot):
     rmodel.lowerPositionLimit = lb
 
 
+def loadANYmal():
+    URDF_FILENAME = "anymal.urdf"
+    URDF_SUBPATH = "/anymal_b_simple_description/robots/" + URDF_FILENAME
+    SRDF_FILENAME = "anymal.srdf"
+    SRDF_SUBPATH = "/anymal_b_simple_description/srdf/" + SRDF_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, False)
+    # Add the free-flyer joint limits
+    addFreeFlyerJointLimits(robot)
+    return robot
+
+
 def loadTalosArm():
     URDF_FILENAME = "talos_left_arm.urdf"
     URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME

unittest/test_load.py

@@ -23,6 +23,12 @@ class RobotTestCase(unittest.TestCase):
         self.assertTrue(hasattr(self.ROBOT, "q0"), "It doesn't have q0")
 
 
+class ANYmalTest(RobotTestCase):
+    RobotTestCase.ROBOT = example_robot_data.loadANYmal()
+    RobotTestCase.NQ = 19
+    RobotTestCase.NV = 18
+
+
 class HyQTest(RobotTestCase):
     RobotTestCase.ROBOT = example_robot_data.loadHyQ()
     RobotTestCase.NQ = 19
@@ -91,8 +97,8 @@ class UR5Test(RobotTestCase):
 
 if __name__ == '__main__':
     test_classes_to_run = [
-        HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest, SoloTest, Solo12Test,
-        TiagoTest, TiagoNoHandTest
+        ANYmalTest, HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest, SoloTest,
+        Solo12Test, TiagoTest, TiagoNoHandTest
     ]
     loader = unittest.TestLoader()
     suites_list = []