diff --git a/CMakeLists.txt b/CMakeLists.txt
index f3a3536dae892c5b76d6e61cf174da8e16c10a63..dd70c4b1be6f05e001d644092f1eeb5dcc0724a1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,73 +1,35 @@
-# Copyright (c) 2012 CNRS
-# Author: Florent Lamiraux
-#
-# This file is part of hpp-rbprm-corba.
-# hpp-rbprm-corba is free software: you can redistribute it
-# and/or modify it under the terms of the GNU Lesser General Public
-# License as published by the Free Software Foundation, either version
-# 3 of the License, or (at your option) any later version.
-#
-# hpp-rbprm-corba is distributed in the hope that it will be
-# useful, but WITHOUT ANY WARRANTY; without even the implied warranty
-# of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
-# General Lesser Public License for more details. You should have
-# received a copy of the GNU Lesser General Public License along with
-# hpp-rbprm-corba. If not, see
-# <http://www.gnu.org/licenses/>.
-
-# Requires at least CMake 2.6 to configure the package.
-CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-
-SET(CXX_DISABLE_WERROR true)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
SET(PROJECT_NAME anymal-rbprm)
SET(PROJECT_DESCRIPTION "Database for anymal robot using hpp-rbprm")
SET(PROJECT_URL "")
+SET(CUSTOM_HEADER_DIR "hpp/anymal-rbprm")
+SET(CXX_DISABLE_WERROR true)
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/idl.cmake)
+INCLUDE(cmake/hpp.cmake)
INCLUDE(cmake/python.cmake)
+COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
+PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
-SET(CUSTOM_HEADER_DIR "hpp/anymal-rbprm")
-
-SETUP_PROJECT ()
-
-# search for python
FINDPYTHON()
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
+ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
+INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
-SET(CATKIN_PACKAGE_SHARE_DESTINATION
- ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
-
+install(DIRECTORY data/ DESTINATION share/${PROJECT_NAME} )
-SET(CATKIN_PACKAGE_SHARE_DESTINATION
- ${CMAKE_INSTALL_DATAROOTDIR}/anymal-rbprm)
-
-
-install(DIRECTORY
- data/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
- )
-
-
-install (FILES
- src/hpp/corbaserver/rbprm/anymal/robot.py
- src/hpp/corbaserver/rbprm/anymal/__init__.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/anymal)
-
-
-install (FILES
- src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
- src/hpp/corbaserver/rbprm/anymal_contact6D/__init__.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/anymal_contact6D)
-
-install (FILES
- src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
- src/hpp/corbaserver/rbprm/anymal_abstract/__init__.py
- DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm/anymal_abstract)
+STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+SET(${PROJECT_NAME}_PYTHON_FILES
+ __init__.py
+ anymal.py
+ anymal_abstract.py
+ anymal_contact6D.py
+ )
-SETUP_PROJECT_FINALIZE()
+FOREACH(SOURCE ${${PROJECT_NAME}_PYTHON_FILES})
+ PYTHON_INSTALL_ON_SITE(${PY_NAME} ${SOURCE})
+ENDFOREACH(SOURCE ${${PROJECT_NAME}_PYTHON_SOURCES})
diff --git a/anymal_rbprm/__init__.py b/anymal_rbprm/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/src/hpp/corbaserver/rbprm/anymal/robot.py b/anymal_rbprm/anymal.py
similarity index 90%
rename from src/hpp/corbaserver/rbprm/anymal/robot.py
rename to anymal_rbprm/anymal.py
index b89b40961d02020c38cdb6860cf9f44f497d3472..4763bac4e0d9cbed50a659b5d472fc49b3aa0873 100644
--- a/src/hpp/corbaserver/rbprm/anymal/robot.py
+++ b/anymal_rbprm/anymal.py
@@ -23,7 +23,7 @@ import numpy as np
class Robot (Parent):
##
# Information to retrieve urdf and srdf files.
-
+ name = "anymal"
packageName = "anymal_data"
meshPackageName = "anymal_data"
rootJointType = "freeflyer"
@@ -129,12 +129,10 @@ class Robot (Parent):
kneeIds = {"LF":9,"LH":12,"RF":15,"RH":18}
- def __init__ (self, name = None,load = True):
- Parent.__init__ (self,load)
- if load:
- self.loadFullBodyModel(self.urdfName, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
- if name != None:
+ def __init__(self, name=None, load=True, client=None, clientRbprm=None):
+ if name is not None:
self.name = name
+ Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
# save original bounds of the urdf for futur reset
self.LF_HAA_bounds = self.getJointBounds('LF_HAA')
self.LF_HFE_bounds = self.getJointBounds('LF_HFE')
@@ -166,7 +164,21 @@ class Robot (Parent):
print("add limb : ",id)
eff = self.dict_limb_joint[id]
print("effector name = ",eff)
- self.addLimb(id,self.dict_limb_rootJoint[id],eff,self.dict_offset[eff].translation.tolist(),self.dict_normal[eff],self.dict_size[eff][0]/2.,self.dict_size[eff][1]/2.,nbSamples,dict_heuristic[id],octreeSize,self.cType,disableEffectorCollision = disableEffectorCollision,kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_06_com_constraints.obj",limbOffset=self.dict_limb_offset[id],kinematicConstraintsMin=self.minDist)
+ self.addLimb(id,
+ self.dict_limb_rootJoint[id],
+ eff,
+ self.dict_offset[eff].translation.tolist(),
+ self.dict_normal[eff],
+ self.dict_size[eff][0]/2.,
+ self.dict_size[eff][1]/2.,
+ nbSamples,
+ dict_heuristic[id],
+ octreeSize,
+ self.cType,
+ disableEffectorCollision = disableEffectorCollision,
+ kinematicConstraintsPath=self.kinematicConstraintsPath+self.dict_limb_rootJoint[id]+"_06_com_constraints.obj",
+ limbOffset=self.dict_limb_offset[id],
+ kinematicConstraintsMin=self.minDist)
if analysis :
self.runLimbSampleAnalysis(id, analysis, True)
diff --git a/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py b/anymal_rbprm/anymal_abstract.py
similarity index 87%
rename from src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
rename to anymal_rbprm/anymal_abstract.py
index 77f4ffd2885597221879242d7478404914f45d7a..94b42b122035bf9d2ffdc61be004fb8c47354e42 100644
--- a/src/hpp/corbaserver/rbprm/anymal_abstract/robot.py
+++ b/anymal_rbprm/anymal_abstract.py
@@ -30,6 +30,9 @@ class Robot (Parent):
urdfNameRom = ['anymal_RFleg_rom','anymal_LHleg_rom','anymal_LFleg_rom','anymal_RHleg_rom']
urdfSuffix = ""
srdfSuffix = ""
+ name = urdfName
+
+ ref_height = 0.465
# TODO
ref_EE_lLeg =[0.373, 0.264, -0.448]
@@ -41,12 +44,10 @@ class Robot (Parent):
#ref_EE_lArm = [-0.3, 0.165 , -0.44]
#ref_EE_rArm = [-0.3, -0.165 , -0.44]
- def __init__ (self, name = None, load = True):
- Parent.__init__ (self,load)
- if load:
- self.loadModel(self.urdfName, self.urdfNameRom, self.rootJointType, self.meshPackageName, self.packageName, self.urdfSuffix, self.srdfSuffix)
- if name != None:
+ def __init__(self, name=None, load=True, client=None, clientRbprm=None):
+ if name is not None:
self.name = name
+ Parent.__init__(self, self.name, self.rootJointType, load, client, None, clientRbprm)
self.setReferenceEndEffector('anymal_LFleg_rom',self.ref_EE_lLeg)
self.setReferenceEndEffector('anymal_RFleg_rom',self.ref_EE_rLeg)
self.setReferenceEndEffector('anymal_LHleg_rom',self.ref_EE_lArm)
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py b/anymal_rbprm/anymal_contact6D.py
similarity index 100%
rename from src/hpp/corbaserver/rbprm/anymal_contact6D/robot.py
rename to anymal_rbprm/anymal_contact6D.py
diff --git a/cmake b/cmake
index 2de34adfce816937d2403cb602261ade0c26f0cd..0ec0f542c02839bcbdf1faa8f5a4559dcf8632ec 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 2de34adfce816937d2403cb602261ade0c26f0cd
+Subproject commit 0ec0f542c02839bcbdf1faa8f5a4559dcf8632ec
diff --git a/src/hpp/corbaserver/rbprm/anymal/__init__.py b/src/hpp/corbaserver/rbprm/anymal/__init__.py
deleted file mode 100644
index 7c4e3a8effd69a7b664b6f861b7a917bd9e7f3f9..0000000000000000000000000000000000000000
--- a/src/hpp/corbaserver/rbprm/anymal/__init__.py
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/usr/bin/env python
-# Copyright (c) 2019 CNRS
-# Author : Pierre Fernbach
-
-from .robot import Robot
diff --git a/src/hpp/corbaserver/rbprm/anymal_abstract/__init__.py b/src/hpp/corbaserver/rbprm/anymal_abstract/__init__.py
deleted file mode 100644
index 7c4e3a8effd69a7b664b6f861b7a917bd9e7f3f9..0000000000000000000000000000000000000000
--- a/src/hpp/corbaserver/rbprm/anymal_abstract/__init__.py
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/usr/bin/env python
-# Copyright (c) 2019 CNRS
-# Author : Pierre Fernbach
-
-from .robot import Robot
diff --git a/src/hpp/corbaserver/rbprm/anymal_contact6D/__init__.py b/src/hpp/corbaserver/rbprm/anymal_contact6D/__init__.py
deleted file mode 100644
index 7c4e3a8effd69a7b664b6f861b7a917bd9e7f3f9..0000000000000000000000000000000000000000
--- a/src/hpp/corbaserver/rbprm/anymal_contact6D/__init__.py
+++ /dev/null
@@ -1,5 +0,0 @@
-#!/usr/bin/env python
-# Copyright (c) 2019 CNRS
-# Author : Pierre Fernbach
-
-from .robot import Robot