Commit a096e8a5 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

Merge branch 'topic/solo' into 'devel'

Added solo robot + fixed bug in the unit-test

See merge request !11
parents c39bba9f 68539610
Pipeline #5666 passed with stage
in 1 minute and 2 seconds
......@@ -16,6 +16,14 @@ MESSAGE("Copyright (C) 2018-2019 CNRS-LAAS")
MESSAGE("All rights reserved.")
MESSAGE("Released under the BSD 3-Clause License.")
# Set a default build type to 'Release' if none was specified
IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
# Set the possible values of build type for cmake-gui
SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
ENDIF()
SETUP_PROJECT()
OPTION (INSTALL_DATA "Install the data" ON)
......@@ -31,6 +39,7 @@ ENDIF(BUILD_PYTHON_INTERFACE)
IF(INSTALL_DATA)
INSTALL(DIRECTORY hyq_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY solo_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY icub_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
......
......@@ -42,4 +42,4 @@ If you have never added robotpkg as a softwares repository, please follow first
(you will need pinocchio and its python bindings)
`python -m example_robot_data [hyq,talos,talos_arm,tiago,tiago_no_hand,icub]`
`python -m example_robot_data [hyq,talos,talos_arm,talos_legs,icub,solo,solo12,tiago,tiago_no_hand]`
from .robots_loader import (loadTalosLegs, getModelPath, loadHyQ, loadICub, loadTalos, loadTalosArm, loadTiago,
loadTiagoNoHand, readParamsFromSrdf)
from .robots_loader import (loadTalosLegs, getModelPath, loadHyQ, loadSolo, loadICub, loadTalos, loadTalosArm,
loadTiago, loadTiagoNoHand, readParamsFromSrdf)
......@@ -2,7 +2,7 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = ['hyq', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub']
ROBOTS = ['hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub']
parser = ArgumentParser()
parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
......@@ -11,35 +11,45 @@ args = parser.parse_args()
if args.robot == 'hyq':
hyq = robots_loader.loadHyQ()
hyq.initDisplay(loadModel=True)
hyq.initViewer(loadModel=True)
hyq.display(hyq.q0)
if args.robot == 'solo':
solo = robots_loader.loadSolo()
solo.initViewer(loadModel=True)
solo.display(solo.q0)
if args.robot == 'solo12':
solo = robots_loader.loadSolo(False)
solo.initViewer(loadModel=True)
solo.display(solo.q0)
elif args.robot == 'talos':
talos = robots_loader.loadTalos()
talos.initDisplay(loadModel=True)
talos.initViewer(loadModel=True)
talos.display(talos.q0)
elif args.robot == 'talos_arm':
talos_arm = robots_loader.loadTalosArm()
talos_arm.initDisplay(loadModel=True)
talos_arm.initViewer(loadModel=True)
talos_arm.display(talos_arm.q0)
if args.robot == 'laso_legs':
if args.robot == 'talos_legs':
talos_legs = robots_loader.loadTalosLegs()
talos_legs.initViewer(loadModel=True)
talos_legs.display(talos_legs.q0)
elif args.robot == 'tiago':
tiago = robots_loader.loadTiago()
tiago.initDisplay(loadModel=True)
tiago.initViewer(loadModel=True)
tiago.display(tiago.q0)
elif args.robot == 'tiago_no_hand':
tiago_no_hand = robots_loader.loadTiagoNoHand()
tiago_no_hand.initDisplay(loadModel=True)
tiago_no_hand.initViewer(loadModel=True)
tiago_no_hand.display(tiago_no_hand.q0)
elif args.robot == 'icub':
icub = robots_loader.loadICub()
icub.initDisplay(loadModel=True)
icub.initViewer(loadModel=True)
icub.display(icub.q0)
......@@ -6,16 +6,18 @@ import pinocchio
from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath):
def getModelPath(subpath, printmsg=False):
base = '../../../share/example-robot-data'
for p in sys.path:
path = join(p, base.strip('/'))
if exists(join(path, subpath.strip('/'))):
print("using %s as modelPath" % path)
if printmsg:
print("using %s as modelPath" % path)
return path
for path in (dirname(dirname(dirname(__file__))), dirname(dirname(__file__))):
if exists(join(path, subpath.strip('/'))):
print("using %s as modelPath" % path)
if printmsg:
print("using %s as modelPath" % path)
return path
raise IOError('%s not found' % (subpath))
......@@ -142,6 +144,24 @@ def loadHyQ():
return robot
def loadSolo(solo=True):
if solo:
URDF_FILENAME = "solo.urdf"
else:
URDF_FILENAME = "solo12.urdf"
SRDF_FILENAME = "solo.srdf"
SRDF_SUBPATH = "/solo_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/solo_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)
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
def loadTiago():
URDF_FILENAME = "tiago.urdf"
# SRDF_FILENAME = "tiago.srdf"
......
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vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 0.0034906514152234207 0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
vn 0 -0.0034906514152234207 -0.9999939076577902
f 1/1/1 2/2/2 3/3/3
f 4/4/4 5/5/5 6/6/6
f 7/7/7 8/8/8 9/9/9
f 10/10/10 11/11/11 12/12/12
f 13/13/13 14/14/14 15/15/15
f 16/16/16 17/17/17 18/18/18
f 19/19/19 20/20/20 21/21/21
f 22/22/22 23/23/23 24/24/24
f 25/25/25 26/26/26 27/27/27
f 28/28/28 29/29/29 30/30/30
f 31/31/31 32/32/32 33/33/33
f 34/34/34 35/35/35 36/36/36
f 37/37/37 38/38/38 39/39/39
f 40/40/40 41/41/41 42/42/42
f 43/43/43 44/44/44 45/45/45
f 46/46/46 47/47/47 48/48/48
f 49/49/49 50/50/50 51/51/51
f 52/52/52 53/53/53 54/54/54
f 55/55/55 56/56/56 57/57/57
f 58/58/58 59/59/59 60/60/60
f 61/61/61 62/62/62 63/63/63
f 64/64/64 65/65/65 66/66/66
f 67/67/67 68/68/68 69/69/69
f 70/70/70 71/71/71 72/72/72
f 73/73/73 74/74/74 75/75/75
f 76/76/76 77/77/77 78/78/78
f 79/79/79 80/80/80 81/81/81
f 82/82/82 83/83/83 84/84/84
f 85/85/85 86/86/86 87/87/87
f 88/88/88 89/89/89 90/90/90
f 91/91/91 92/92/92 93/93/93
f 94/94/94 95/95/95 96/96/96
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This diff is collapsed.
This diff is collapsed.
newmtl Material
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka cube.tga
map_Kd checker_blue.png
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