Skip to content
Snippets Groups Projects
Commit 46b46426 authored by Steve Tonneau's avatar Steve Tonneau
Browse files

rom generation for hyq

parent d7b77bca
No related branches found
No related tags found
No related merge requests found
Showing
with 172 additions and 3 deletions
......@@ -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()
File added
File added
File added
File added
File added
File added
<?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>
0% Loading or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment