Commit 238ddb1a authored by Carlos Mastalli's avatar Carlos Mastalli

Merge branch 'devel' into 'devel'

add ur_description, fix #7

See merge request gepetto/example-robot-data!13
parents a1ced670 f342b9a2
......@@ -43,6 +43,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY icub_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SETUP_PROJECT_FINALIZE()
from .robots_loader import (loadTalosLegs, getModelPath, loadHyQ, loadSolo, loadICub, loadTalos, loadTalosArm,
loadTiago, loadTiagoNoHand, readParamsFromSrdf)
from .robots_loader import (getModelPath, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm, loadTalosLegs,
loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
......@@ -2,7 +2,7 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = ['hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub']
ROBOTS = ['hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5']
parser = ArgumentParser()
parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
......@@ -53,3 +53,8 @@ elif args.robot == 'icub':
icub = robots_loader.loadICub()
icub.initViewer(loadModel=True)
icub.display(icub.q0)
elif args.robot == 'ur5':
ur5 = robots_loader.loadUR()
ur5.initViewer(loadModel=True)
ur5.display(ur5.q0)
......@@ -206,3 +206,10 @@ def loadICub(reduced=True):
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
def loadUR(robot=5, limited=False):
URDF_FILENAME = 'ur%i%s_robot.urdf' % (robot, '_joint_limited' if limited else '')
URDF_SUBPATH = '/ur_description/urdf/' + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
......@@ -2,6 +2,7 @@
import sys
import unittest
import example_robot_data
......@@ -82,6 +83,12 @@ class TiagoNoHandTest(RobotTestCase):
RobotTestCase.NV = 12
class UR5Test(RobotTestCase):
RobotTestCase.ROBOT = example_robot_data.loadUR()
RobotTestCase.NQ = 6
RobotTestCase.NV = 6
if __name__ == '__main__':
test_classes_to_run = [
HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest, SoloTest, Solo12Test,
......
<?xml version="1.0"?>
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur10_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>
<?xml version="1.0"?>
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur3_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>
<?xml version="1.0"?>
<launch>
<arg name="limited" default="false" doc="If true, limits joint range [-PI, PI] on all joints." />
<arg name="transmission_hw_interface" default="hardware_interface/PositionJointInterface" />
<param unless="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
<param if="$(arg limited)" name="robot_description" command="$(find xacro)/xacro --inorder '$(find ur_description)/urdf/ur5_joint_limited_robot.urdf.xacro' transmission_hw_interface:=$(arg transmission_hw_interface)" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find ur_description)/launch/ur10_upload.launch"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find ur_description)/launch/ur3_upload.launch"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
<?xml version="1.0"?>
<launch>
<include file="$(find ur_description)/launch/ur5_upload.launch"/>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
<param name="use_gui" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find ur_description)/cfg/view_robot.rviz" required="true" />
</launch>
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<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from ur3.urdf.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot xmlns:xacro="http://wiki.ros.org/xacro">
<!--
Author: Felix Messmer
-->
</robot>
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