Data specific to hrp2 for hpp-corbaserver.

.gitmodules

+[submodule "cmake"]
+	path = cmake
+	url = git://github.com/jrl-umi3218/jrl-cmakemodules.git

CMakeLists.txt

+# Copyright (c) 2014 CNRS
+# Author: Florent Lamiraux
+#
+# This file is part of hpp-corbaserver.
+# hpp-corbaserver 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-corbaserver 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-corbaserver.  If not, see
+# <http://www.gnu.org/licenses/>.
+
+# Requires at least CMake 2.6 to configure the package.
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+
+INCLUDE(cmake/base.cmake)
+INCLUDE(cmake/python.cmake)
+
+SET(PROJECT_NAME hpp-hrp2)
+SET(PROJECT_DESCRIPTION "Data specific to hrp2 robot for hpp-corbaserver")
+SET(PROJECT_URL "")
+
+SETUP_PROJECT()
+
+FINDPYTHON()
+ADD_REQUIRED_DEPENDENCY ("hpp-corbaserver >= 3")
+INSTALL(FILES ${PROJECT_SOURCE_DIR}/src/hpp/corbaserver/hrp2/robot.py
+  DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/hrp2
+)
+SETUP_PROJECt_FINALIZE()

README.md

+Data specific to robot hrp2 for hpp-corbaserver.
\ No newline at end of file

cmake @ c4377b88

+Subproject commit c4377b88bff0dd8abd1f2816fd956e620504eb45

src/hpp/corbaserver/hrp2/robot.py

+#!/usr/bin/env python
+# Copyright (c) 2014 CNRS
+# Author: Florent Lamiraux
+#
+# This file is part of hpp-corbaserver.
+# hpp-corbaserver 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-corbaserver 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-corbaserver.  If not, see
+# <http://www.gnu.org/licenses/>.
+
+from hpp.corbaserver.robot import Robot as Parent
+
+class Robot (Parent):
+    urdfName = "hrp2_14"
+    urdfSuffix = ""
+    srdfSuffix = ""
+    halfSitting = \
+        {"base_joint_x": 0.0,
+         "base_joint_y": 0.0,
+         "base_joint_z": 0.648702,
+         "base_joint_SO3": (1.0, 0.0, 0.0, 0.0),
+         "CHEST_JOINT0": 0.0,
+         "CHEST_JOINT1": 0.0,
+         "HEAD_JOINT0": 0.0,
+         "HEAD_JOINT1": 0.0,
+         "LARM_JOINT0": 0.261799,
+         "LARM_JOINT1": 0.17453,
+         "LARM_JOINT2": 0.0,
+         "LARM_JOINT3": -0.523599,
+         "LARM_JOINT4": 0.0,
+         "LARM_JOINT5": 0.0,
+         "LARM_JOINT6": 0.1,
+         "LHAND_JOINT0": 0.0,
+         "LHAND_JOINT1": 0.0,
+         "LHAND_JOINT2": 0.0,
+         "LHAND_JOINT3": 0.0,
+         "LHAND_JOINT4": 0.0,
+         "RARM_JOINT0": 0.261799,
+         "RARM_JOINT1": -0.17453,
+         "RARM_JOINT2": 0.0,
+         "RARM_JOINT3": -0.523599,
+         "RARM_JOINT4": 0.0,
+         "RARM_JOINT5": 0.0,
+         "RARM_JOINT6": 0.1,
+         "RHAND_JOINT0": 0.0,
+         "RHAND_JOINT1": 0.0,
+         "RHAND_JOINT2": 0.0,
+         "RHAND_JOINT3": 0.0,
+         "RHAND_JOINT4": 0.0,
+         "LLEG_JOINT0": 0.0,
+         "LLEG_JOINT1": 0.0,
+         "LLEG_JOINT2": -0.453786,
+         "LLEG_JOINT3": 0.872665,
+         "LLEG_JOINT4": -0.418879,
+         "LLEG_JOINT5": 0.0,
+         "RLEG_JOINT0": 0.0,
+         "RLEG_JOINT1": 0.0,
+         "RLEG_JOINT2": -0.453786,
+         "RLEG_JOINT3": 0.872665,
+         "RLEG_JOINT4": -0.418879,
+         "RLEG_JOINT5": 0.0
+         }
+
+    def __init__ (self):
+        Parent.__init__ (self, "freeflyer", self.urdfName, self.urdfSuffix,
+                         self.srdfSuffix)
+
+    def getInitialConfig (self):
+        q = []
+        for n in self.jointNames:
+            dof = self.halfSitting [n]
+            if type (dof) is tuple:
+                q += dof
+            else:
+                q.append (dof)
+        return q
+
+    def leftHandClosed (self) :
+        dofs = {"LARM_JOINT6": 0.1,
+                "LHAND_JOINT0": 0.0,
+                "LHAND_JOINT1": 0.0,
+                "LHAND_JOINT2": 0.0,
+                "LHAND_JOINT3": 0.0,
+                "LHAND_JOINT4": 0.0}
+        res = []
+        for name, value in dofs.iteritems ():
+            res.append ((self.rankInConfiguration [name], value))
+        return res
+
+    def rightHandClosed (self) :
+        dofs = {"RARM_JOINT6": 0.1,
+                "RHAND_JOINT0": 0.0,
+                "RHAND_JOINT1": 0.0,
+                "RHAND_JOINT2": 0.0,
+                "RHAND_JOINT3": 0.0,
+                "RHAND_JOINT4": 0.0}
+        res = []
+        for name, value in dofs.iteritems ():
+            res.append ((self.rankInConfiguration [name], value))
+        return res