Unverified Commit 7fe3792e authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
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Merge pull request #32 from jcarpent/master

Add Panda robot
parents ea2d6af2 6a180774
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<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from /opt/ros/kinetic/share/moveit_resources/panda_description/urdf/panda.urdf | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
<link name="panda_link0">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link0.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link0.stl" />
</geometry>
</collision>
</link>
<link name="panda_link1">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link1.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link1.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint1" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<origin rpy="0 0 0" xyz="0 0 0.333" />
<parent link="panda_link0" />
<child link="panda_link1" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<link name="panda_link2">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link2.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link2.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint2" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628" />
<origin rpy="-1.57079632679 0 0" xyz="0 0 0" />
<parent link="panda_link1" />
<child link="panda_link2" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.3925" />
</joint>
<link name="panda_link3">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link3.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link3.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint3" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<origin rpy="1.57079632679 0 0" xyz="0 -0.316 0" />
<parent link="panda_link2" />
<child link="panda_link3" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.3925" />
</joint>
<link name="panda_link4">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link4.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link4.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint4" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="0.0175" />
<origin rpy="1.57079632679 0 0" xyz="0.0825 0 0" />
<parent link="panda_link3" />
<child link="panda_link4" />
<axis xyz="0 0 1" />
<limit effort="87" lower="-3.1416" upper="0.0873" velocity="2.3925" />
</joint>
<link name="panda_link5">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link5.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link5.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint5" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0" />
<parent link="panda_link4" />
<child link="panda_link5" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
<link name="panda_link6">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link6.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link6.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint6" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525" />
<origin rpy="1.57079632679 0 0" xyz="0 0 0" />
<parent link="panda_link5" />
<child link="panda_link6" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.8710" />
</joint>
<link name="panda_link7">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/link7.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/link7.stl" />
</geometry>
</collision>
</link>
<joint name="panda_joint7" type="revolute">
<safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973" />
<origin rpy="1.57079632679 0 0" xyz="0.088 0 0" />
<parent link="panda_link6" />
<child link="panda_link7" />
<axis xyz="0 0 1" />
<limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.8710" />
</joint>
<link name="panda_link8" />
<joint name="panda_joint8" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.107" />
<parent link="panda_link7" />
<child link="panda_link8" />
<axis xyz="0 0 0" />
</joint>
<joint name="panda_hand_joint" type="fixed">
<parent link="panda_link8" />
<child link="panda_hand" />
<origin rpy="0 0 -0.785398163397" xyz="0 0 0" />
</joint>
<link name="panda_hand">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/hand.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/hand.stl" />
</geometry>
</collision>
</link>
<link name="panda_leftfinger">
<visual>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/finger.stl" />
</geometry>
</collision>
</link>
<link name="panda_rightfinger">
<visual>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/visual/finger.dae" />
</geometry>
</visual>
<collision>
<origin rpy="0 0 3.14159265359" xyz="0 0 0" />
<geometry>
<mesh filename="package://example-robot-data/robots/panda_description/meshes/collision/finger.stl" />
</geometry>
</collision>
</link>
<joint name="panda_finger_joint1" type="prismatic">
<parent link="panda_hand" />
<child link="panda_leftfinger" />
<origin rpy="0 0 0" xyz="0 0 0.0584" />
<axis xyz="0 1 0" />
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
</joint>
<joint name="panda_finger_joint2" type="prismatic">
<parent link="panda_hand" />
<child link="panda_rightfinger" />
<origin rpy="0 0 0" xyz="0 0 0.0584" />
<axis xyz="0 -1 0" />
<limit effort="20" lower="0.0" upper="0.04" velocity="0.2" />
<mimic joint="panda_finger_joint1" />
</joint>
</robot>
......@@ -125,11 +125,17 @@ class RomeoTest(RobotTestCase):
RobotTestCase.NV = 61
class PandaTest(RobotTestCase):
RobotTestCase.ROBOT = example_robot_data.loadPanda()
RobotTestCase.NQ = 9
RobotTestCase.NV = 9
if __name__ == '__main__':
test_classes_to_run = [
ANYmalTest, ANYmalKinovaTest, HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest,
SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, UR5Test, UR5LimitedTest, UR5GripperTest, KinovaTest,
RomeoTest
RomeoTest, PandaTest
]
loader = unittest.TestLoader()
suites_list = []
......
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