romeo: CMake, loader & test

CMakeLists.txt

@@ -48,4 +48,5 @@ 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})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

python/example_robot_data/__init__.py

 # flake8: noqa
-from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
-                            loadTalosLegs, loadKinova, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
+                            loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)

python/example_robot_data/__main__.py

@@ -4,7 +4,7 @@ from . import robots_loader
 
 ROBOTS = [
     'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
-    'tiago_no_hand', 'icub', 'ur5'
+    'tiago_no_hand', 'icub', 'ur5', 'romeo'
 ]
 
 parser = ArgumentParser()
@@ -76,3 +76,8 @@ 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)
+    romeo.display(romeo.q0)

python/example_robot_data/robots_loader.py

@@ -241,3 +241,10 @@ def loadUR(robot=5, limited=False):
     URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
     modelPath = getModelPath(URDF_SUBPATH)
     return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
+
+
+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())

unittest/test_load.py

@@ -107,10 +107,16 @@ class KinovaTest(RobotTestCase):
     RobotTestCase.NV = 6
 
 
+class RomeoTest(RobotTestCase):
+    RobotTestCase.ROBOT = example_robot_data.loadRomeo()
+    RobotTestCase.NQ = 62
+    RobotTestCase.NV = 61
+
+
 if __name__ == '__main__':
     test_classes_to_run = [
         ANYmalTest, ANYmalKinovaTest, HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest,
-        SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, KinovaTest
+        SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, KinovaTest, RomeoTest
     ]
     loader = unittest.TestLoader()
     suites_list = []