From 8a2da0df799492a521e2c174aefb7e29103128b5 Mon Sep 17 00:00:00 2001 From: PepMS <jmarti@iri.upc.edu> Date: Wed, 13 Nov 2019 08:57:40 +0100 Subject: [PATCH] Cmake fixes and formatting --- CMakeLists.txt | 1 + .../quadrotor/blender/quadrotor_base.blend | Bin 385148 -> 0 bytes python/example_robot_data/__main__.py | 8 +-- python/example_robot_data/robots_loader.py | 66 ++++++++++++------ 4 files changed, 51 insertions(+), 24 deletions(-) delete mode 100644 hector_description/meshes/quadrotor/blender/quadrotor_base.blend diff --git a/CMakeLists.txt b/CMakeLists.txt index 06ffd89..cd75862 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -49,6 +49,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY) INSTALL(DIRECTORY kinova_description DESTINATION share/${PROJECT_NAME}) INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME}) INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME}) + INSTALL(DIRECTORY romeo_description DESTINATION share/${PROJECT_NAME}) INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME}) INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME}) ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY) diff --git a/hector_description/meshes/quadrotor/blender/quadrotor_base.blend b/hector_description/meshes/quadrotor/blender/quadrotor_base.blend deleted file mode 100644 index af035a60e89bbae923a7f634307459307b5954f2..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 385148 zcmeFa3w#}Ao&P^4Nt;j#Ed?|bgm4ie7YkG*AZ@NK0Si=GAR-V#drBg05|b2zf29#` z@dhHO@m|48e(UZkif&YB3v}1`6BSf6>w3ZUmc?6j{cD7U{GMk%&*yw*o--%S$;qj7 z&GePdyw5z}=XvHkGw+!*=ggdjHLEUeT6O7ZH=g<8GcGlgRY4Fue&y+hOl~t1W=Ofe zC(U@>hID7zzUU3-ueqe*^s*qh_Hx91&&;=RRaI3lGA{=<)^KX#r|S>sHT70LcGLnp z4i*O`165_gS)Vr3W?0tVwI#i*w=cb^t#jF{yLxWu?QYwU?p=1>=5*)AbkDL^ZEf4w z)75GUboVYh<LnoPuOoEs|G5mzWne$gz!et-L5mSZW%b(76SrDvOk<g@xaf+G&WqYQ zr%^O#k)(E7u4)YXk!xJ)YHRtIOT%*g&%H1lk8bS_$0Of5tipP(`mLDXvSda0`eGAT 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'kinova', 'tiago', - 'tiago_no_hand', 'icub', 'ur5', 'romeo', 'hector', 'double_pendulum' + 'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', + 'talos_legs', 'kinova', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'romeo', + 'hector', 'double_pendulum' ] parser = ArgumentParser() @@ -76,7 +77,7 @@ elif args.robot == 'ur5': ur5 = robots_loader.loadUR() ur5.initViewer(loadModel=True) ur5.display(ur5.q0) - + elif args.robot == 'romeo': romeo = robots_loader.loadRomeo() romeo.initViewer(loadModel=True) @@ -91,4 +92,3 @@ if args.robot == 'double_pendulum': planar2dof = robots_loader.load2dof() planar2dof.initViewer(loadModel=True) planar2dof.display(planar2dof.q0) - diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py index 64df575..53c8a5e 100644 --- a/python/example_robot_data/robots_loader.py +++ b/python/example_robot_data/robots_loader.py @@ -8,8 +8,10 @@ from pinocchio.robot_wrapper import RobotWrapper def getModelPath(subpath, printmsg=False): base = '../../../share/example-robot-data' - for path in [dirname(dirname(dirname(dirname(__file__)))), - dirname(dirname(dirname(__file__)))] + [join(p, base.strip('/')) for p in sys.path]: + for path in [ + dirname(dirname(dirname(dirname(__file__)))), + dirname(dirname(dirname(__file__))) + ] + [join(p, base.strip('/')) for p in sys.path]: if exists(join(path, subpath.strip('/'))): if printmsg: print("using %s as modelPath" % path) @@ -17,12 +19,17 @@ def getModelPath(subpath, printmsg=False): raise IOError('%s not found' % (subpath)) -def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True, referencePose='half_sitting'): +def readParamsFromSrdf(robot, + SRDF_PATH, + verbose, + has_rotor_parameters=True, + referencePose='half_sitting'): rmodel = robot.model if has_rotor_parameters: pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose) - rmodel.armature = np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat)) + rmodel.armature = np.multiply(rmodel.rotorInertia.flat, + np.square(rmodel.rotorGearRatio.flat)) pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose) robot.q0.flat[:] = rmodel.referenceConfigurations[referencePose].copy() return @@ -52,9 +59,14 @@ def loadANYmal(withArm=None): 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()) + robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) # Load SRDF file - readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, referencePose=REF_POSTURE) + readParamsFromSrdf(robot, + modelPath + SRDF_SUBPATH, + False, + False, + referencePose=REF_POSTURE) # Add the free-flyer joint limits addFreeFlyerJointLimits(robot) return robot @@ -81,7 +93,8 @@ def loadTalos(): URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) # Load URDF file - robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) + robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) # Load SRDF file readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False) assert ((robot.model.armature[:6] == 0.).all()) @@ -101,13 +114,17 @@ def loadTalosLegs(): legMaxId = 14 m1 = robot.model m2 = pinocchio.Model() - for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names, m1.parents, m1.inertias): + for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names, + m1.parents, m1.inertias): if j.id < legMaxId: - jid = m2.addJoint(parent, getattr(pinocchio, j.shortname())(), M, name) + jid = m2.addJoint(parent, + getattr(pinocchio, j.shortname())(), M, name) up = m2.upperPositionLimit down = m2.lowerPositionLimit - up[m2.joints[jid].idx_q:m2.joints[jid].idx_q + j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq] - down[m2.joints[jid].idx_q:m2.joints[jid].idx_q + j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq] + up[m2.joints[jid].idx_q:m2.joints[jid].idx_q + + j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq] + down[m2.joints[jid].idx_q:m2.joints[jid].idx_q + + j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq] m2.upperPositionLimit = up m2.lowerPositionLimit = down assert (jid == j.id) @@ -153,9 +170,11 @@ def loadHyQ(): URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) # Load URDF file - robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) + robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) # Load SRDF file - readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing") + readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, + "standing") # Add the free-flyer joint limits addFreeFlyerJointLimits(robot) return robot @@ -171,9 +190,11 @@ def loadSolo(solo=True): URDF_SUBPATH = "/solo_description/robots/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) # Load URDF file - robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) + robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) # Load SRDF file - readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing") + readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, + "standing") # Add the free-flyer joint limits addFreeFlyerJointLimits(robot) return robot @@ -228,7 +249,8 @@ def loadICub(reduced=True): URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) # Load URDF file - robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) + 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 @@ -238,7 +260,8 @@ def loadICub(reduced=True): def loadUR(robot=5, limited=False, gripper=False): assert (not (gripper and (robot == 10 or limited))) - URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else '', 'gripper' if gripper else 'robot') + URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else + '', 'gripper' if gripper else 'robot') URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath]) @@ -248,7 +271,8 @@ def loadHector(): URDF_FILENAME = "quadrotor_base.urdf" URDF_SUBPATH = "/hector_description/robots/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) - robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) + robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) return robot @@ -258,9 +282,11 @@ def loadDoublePendulum(): modelPath = getModelPath(URDF_SUBPATH) robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath]) return robot - + + def loadRomeo(): URDF_FILENAME = "romeo.urdf" URDF_SUBPATH = "/romeo_description/urdf/" + URDF_FILENAME modelPath = getModelPath(URDF_SUBPATH) - return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer()) + return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) -- GitLab