Commit 262b72f5 authored by Guilhem Saurel's avatar Guilhem Saurel

romeo: CMake, loader & test

parent f6adf950
......@@ -48,4 +48,5 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY kinova_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY romeo_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
# flake8: noqa
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
loadTalosLegs, loadKinova, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
......@@ -4,7 +4,7 @@ from . import robots_loader
ROBOTS = [
'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
'tiago_no_hand', 'icub', 'ur5'
'tiago_no_hand', 'icub', 'ur5', 'romeo'
]
parser = ArgumentParser()
......@@ -76,3 +76,8 @@ elif args.robot == 'ur5':
ur5 = robots_loader.loadUR()
ur5.initViewer(loadModel=True)
ur5.display(ur5.q0)
elif args.robot == 'romeo':
romeo = robots_loader.loadRomeo()
romeo.initViewer(loadModel=True)
romeo.display(romeo.q0)
......@@ -241,3 +241,10 @@ def loadUR(robot=5, limited=False):
URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
def loadRomeo():
URDF_FILENAME = "romeo.urdf"
URDF_SUBPATH = "/romeo_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
......@@ -107,10 +107,16 @@ class KinovaTest(RobotTestCase):
RobotTestCase.NV = 6
class RomeoTest(RobotTestCase):
RobotTestCase.ROBOT = example_robot_data.loadRomeo()
RobotTestCase.NQ = 62
RobotTestCase.NV = 61
if __name__ == '__main__':
test_classes_to_run = [
ANYmalTest, ANYmalKinovaTest, HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest,
SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, KinovaTest
SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, KinovaTest, RomeoTest
]
loader = unittest.TestLoader()
suites_list = []
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment