rom generation for hyq

CMakeLists.txt

@@ -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()
 

data/srdf/hyq/hrp2_trunk.srdf

+<?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>

data/srdf/hyq/hyq_lfleg_rom.srdf

+<?xml version="1.0"?>
+<robot name="hyq_lfleg_rom">
+</robot>

data/srdf/hyq/hyq_lhleg_rom.srdf

+<?xml version="1.0"?>
+<robot name="hyq_lhleg_rom">
+</robot>

data/srdf/hyq/hyq_rfleg_rom.srdf

+<?xml version="1.0"?>
+<robot name="hyq_rfleg_rom">
+</robot>

data/srdf/hyq/hyq_rhleg_rom.srdf

+<?xml version="1.0"?>
+<robot name="hyq_rhleg_rom">
+</robot>

data/srdf/hyq/hyq_rom.srdf

+<?xml version="1.0"?>
+<robot name="hyq_rom">
+</robot>

data/srdf/hyq/hyq_trunk.srdf

+<?xml version="1.0"?>
+<robot name="hyq_trunk">
+</robot>

data/urdf/hyq/hyq_lfleg_rom.urdf

+<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>

data/urdf/hyq/hyq_lhleg_rom.urdf

+ <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>

data/urdf/hyq/hyq_rfleg_rom.urdf

+ <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>

data/urdf/hyq/hyq_rhleg_rom.urdf

+ <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>

data/urdf/hyq/hyq_rom.urdf

+<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>

data/urdf/hyq/hyq_trunk.urdf

+<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>