Commit 46b46426 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

rom generation for hyq

parent d7b77bca
......@@ -68,6 +68,12 @@ install(FILES
data/urdf/hrp2_rarm_rom.urdf
data/urdf/hrp2_lleg_rom.urdf
data/urdf/hrp2_rleg_rom.urdf
data/urdf/hyq/hyq_trunk.urdf
data/urdf/hyq/hyq_rhleg_rom.urdf
data/urdf/hyq/hyq_rfleg_rom.urdf
data/urdf/hyq/hyq_lhleg_rom.urdf
data/urdf/hyq/hyq_lfleg_rom.urdf
data/urdf/hyq/hyq_rom.urdf
data/urdf/box_rom.urdf
data/urdf/box.urdf
data/urdf/scene.urdf
......@@ -88,6 +94,12 @@ install(FILES
data/srdf/hrp2_rarm_rom.srdf
data/srdf/hrp2_lleg_rom.srdf
data/srdf/hrp2_rleg_rom.srdf
data/srdf/hyq/hyq_trunk.srdf
data/srdf/hyq/hyq_rhleg_rom.srdf
data/srdf/hyq/hyq_rfleg_rom.srdf
data/srdf/hyq/hyq_lhleg_rom.srdf
data/srdf/hyq/hyq_lfleg_rom.srdf
data/srdf/hyq/hyq_rom.srdf
data/srdf/box_rom.srdf
data/srdf/box.srdf
data/srdf/scene.srdf
......@@ -121,14 +133,21 @@ install(FILES
data/meshes/truck.stl
data/meshes/truck_vision.stl
data/meshes/stair_bauzil.stl
data/meshes/stair_bauzil_reduced.stl
data/meshes/stair_bauzil_reduced.stl
data/meshes/climb.stl
data/meshes/stepladder.stl
data/meshes/chair.stl
#~ data/meshes/pedal.stl
#~ data/meshes/board.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
)
install(FILES
data/meshes/hyq/hyq_trunk.stl
data/meshes/hyq/hyq_rom.stl
data/meshes/hyq/hyq_rhleg_rom.stl
data/meshes/hyq/hyq_rfleg_rom.stl
data/meshes/hyq/hyq_lhleg_rom.stl
data/meshes/hyq/hyq_lfleg_rom.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/hyq
)
SETUP_PROJECT_FINALIZE()
<?xml version="1.0"?>
<robot name="hrp2_trunk">
<handle name="handle">
<position> 0 0 0 1 0 0 0 </position>
<link name="base_link"/>
</handle>
<handle name="handle2">
<position> 0 0 0
0 0 0.7071067811865476 0.7071067811865476 </position>
<link name="base_link"/>
</handle>
<contact name="box_surface">
<link name="base_link"/>
<point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
<triangle> 0 2 1 4 5 6</triangle>
</contact>
</robot>
<?xml version="1.0"?>
<robot name="hyq_lfleg_rom">
</robot>
<?xml version="1.0"?>
<robot name="hyq_lhleg_rom">
</robot>
<?xml version="1.0"?>
<robot name="hyq_rfleg_rom">
</robot>
<?xml version="1.0"?>
<robot name="hyq_rhleg_rom">
</robot>
<?xml version="1.0"?>
<robot name="hyq_rom">
</robot>
<?xml version="1.0"?>
<robot name="hyq_trunk">
</robot>
<robot name="hyq_lfleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lfleg_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lfleg_rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="hyq_lhleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lhleg_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lhleg_rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="hyq_rfleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rfleg_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rfleg_rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="hyq_rhleg_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rhleg_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rhleg_rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="hyq_rom">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rom.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rom.stl"/>
</geometry>
</collision>
</link>
</robot>
<robot name="hyq_trunk">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk.stl"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk.stl"/>
</geometry>
</collision>
</link>
</robot>
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