Commit a062908d authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

Merge branch 'topics/hyq-srdf' into 'master'

Added SRDF for the HyQ robot, fix #5

Closes #5

See merge request gepetto/example-robot-data!7
parents e5d6d5a7 df250132
Pipeline #3456 passed with stage
in 46 seconds
<?xml version="1.0" ?>
<robot name="hyq">
<group name="lf">
<joint name="lf_haa_joint" />
<joint name="lf_hfe_joint" />
<joint name="lf_kfe_joint" />
<chain base_link="trunk" tip_link="lf_foot_joint" />
</group>
<group name="rf">
<joint name="rf_haa_joint" />
<joint name="rf_hfe_joint" />
<joint name="rf_kfe_joint" />
<chain base_link="trunk" tip_link="rf_foot_joint" />
</group>
<group name="lh">
<joint name="lh_haa_joint" />
<joint name="lh_hfe_joint" />
<joint name="lh_kfe_joint" />
<chain base_link="trunk" tip_link="lh_foot_joint" />
</group>
<group name="rh">
<joint name="rh_haa_joint" />
<joint name="rh_hfe_joint" />
<joint name="rh_kfe_joint" />
<chain base_link="trunk" tip_link="lh_foot_joint" />
</group>
<group name="all_legs">
<group name="lf" />
<group name="rf" />
<group name="lh" />
<group name="rh" />
</group>
<group name="right_legs">
<group name="rf" />
<group name="rh" />
</group>
<group name="left_legs">
<group name="lf" />
<group name="lh" />
</group>
<group name="front_legs">
<group name="lf" />
<group name="rf" />
</group>
<group name="hind_legs">
<group name="lh" />
<group name="rh" />
</group>
<group name="ldiag_legs">
<group name="lf" />
<group name="rh" />
</group>
<group name="rdiag_legs">
<group name="rf" />
<group name="lh" />
</group>
<!--END EFFECTOR: Purpose: Represent information about an end effector.-->
<end_effector name="right_eef" parent_link="wrist_right_ft_tool_link" group="gripper_right" parent_group="right_arm" />
<end_effector name="left_eef" parent_link="wrist_left_ft_tool_link" group="gripper_left" parent_group="left_arm" />
<group_state name="half_sitting" group="all">
<joint name="root_joint" value="0. 0. 0.5775 0. 0. 0. 1." />
<joint name="lf_haa_joint" value="-0.2" />
<joint name="lf_hfe_joint" value="0.75" />
<joint name="lf_kfe_joint" value="-1.5" />
<joint name="rf_haa_joint" value="-0.2" />
<joint name="rf_hfe_joint" value="-0.75" />
<joint name="rf_kfe_joint" value="1.5" />
<joint name="lh_haa_joint" value="-0.2" />
<joint name="lh_hfe_joint" value="0.75" />
<joint name="lh_kfe_joint" value="-1.5" />
<joint name="rh_haa_joint" value="-0.2" />
<joint name="rh_hfe_joint" value="-0.75" />
<joint name="rh_kfe_joint" value="1.5" />
</group_state>
<group_state name="standing" group="all">
<joint name="root_joint" value="0. 0. 0.5775 0. 0. 0. 1." />
<joint name="lf_haa_joint" value="0." />
<joint name="lf_hfe_joint" value="0.75" />
<joint name="lf_kfe_joint" value="-1.5" />
<joint name="rf_haa_joint" value="0." />
<joint name="rf_hfe_joint" value="-0.75" />
<joint name="rf_kfe_joint" value="1.5" />
<joint name="lh_haa_joint" value="0." />
<joint name="lh_hfe_joint" value="0.75" />
<joint name="lh_kfe_joint" value="-1.5" />
<joint name="rh_haa_joint" value="0." />
<joint name="rh_hfe_joint" value="-0.75" />
<joint name="rh_kfe_joint" value="1.5" />
</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>
......@@ -67,13 +67,13 @@ def loadTalos():
def loadHyQ():
URDF_FILENAME = "hyq_no_sensors.urdf"
SRDF_FILENAME = "hyq.srdf"
SRDF_SUBPATH = "/hyq_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer())
# TODO define default position inside srdf
robot.q0.flat[7:] = [-0.2, 0.75, -1.5, -0.2, -
0.75, 1.5, -0.2, 0.75, -1.5, -0.2, -0.75, 1.5]
robot.q0[2] = 0.57750958
robot.model.referenceConfigurations["half_sitting"] = robot.q0
# Load SRDF file
readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
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