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Wolfgang Merkt
example-robot-data
Commits
738e2eb5
Commit
738e2eb5
authored
Oct 29, 2019
by
Carlos Mastalli
Browse files
[srdf] Renamed reference posture + allowed the user to use different names per robot
parent
d27a1894
Changes
6
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anymal_b_simple_description/srdf/anymal-kinova.srdf
View file @
738e2eb5
...
...
@@ -78,7 +78,7 @@
<end_effector
name=
"rh_foot"
parent_link=
"RH_FOOT"
group=
"rh_leg"
/>
<end_effector
name=
"arm"
parent_link=
"j2s6s200_end_effector"
group=
"arm"
/>
<group_state
name=
"
half_sitting
"
group=
"all_legs"
>
<group_state
name=
"
standing_with_arm_up
"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.4792 0. 0. 0. 1."
/>
<joint
name=
"LF_HAA"
value=
"-0.1"
/>
<joint
name=
"LF_HFE"
value=
"0.7"
/>
...
...
anymal_b_simple_description/srdf/anymal.srdf
View file @
738e2eb5
...
...
@@ -61,7 +61,7 @@
<end_effector
name=
"lh_foot"
parent_link=
"LH_FOOT"
group=
"lh_leg"
/>
<end_effector
name=
"rh_foot"
parent_link=
"RH_FOOT"
group=
"rh_leg"
/>
<group_state
name=
"
half_sitt
ing"
group=
"all_legs"
>
<group_state
name=
"
stand
ing"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.4792 0. 0. 0. 1."
/>
<joint
name=
"LF_HAA"
value=
"-0.1"
/>
<joint
name=
"LF_HFE"
value=
"0.7"
/>
...
...
hyq_description/srdf/hyq.srdf
View file @
738e2eb5
...
...
@@ -65,7 +65,7 @@
<end_effector
name=
"lh_foot"
parent_link=
"lh_foot"
group=
"lh_leg"
/>
<end_effector
name=
"rh_foot"
parent_link=
"rh_foot"
group=
"rh_leg"
/>
<group_state
name=
"
half_sitt
ing"
group=
"all_legs"
>
<group_state
name=
"
stand
ing"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.5775 0. 0. 0. 1."
/>
<joint
name=
"lf_haa_joint"
value=
"-0.2"
/>
<joint
name=
"lf_hfe_joint"
value=
"0.75"
/>
...
...
@@ -81,7 +81,7 @@
<joint
name=
"rh_kfe_joint"
value=
"1.5"
/>
</group_state>
<group_state
name=
"standing"
group=
"all_legs"
>
<group_state
name=
"
straight_
standing"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.5775 0. 0. 0. 1."
/>
<joint
name=
"lf_haa_joint"
value=
"0."
/>
<joint
name=
"lf_hfe_joint"
value=
"0.75"
/>
...
...
kinova_description/srdf/kinova.srdf
View file @
738e2eb5
...
...
@@ -13,7 +13,7 @@
<end_effector
name=
"end_effector"
parent_link=
"j2s6s200_end_effector"
group=
"end_effector"
/>
<group_state
name=
"
half_sitting
"
>
<group_state
name=
"
arm_up
"
>
<joint
name=
"j2s6s200_joint_1"
value=
"1.5707"
/>
<joint
name=
"j2s6s200_joint_2"
value=
"2.618"
/>
<joint
name=
"j2s6s200_joint_3"
value=
"-1.5707"
/>
...
...
python/example_robot_data/robots_loader.py
View file @
738e2eb5
...
...
@@ -22,14 +22,14 @@ def getModelPath(subpath, printmsg=False):
raise
IOError
(
'%s not found'
%
(
subpath
))
def
readParamsFromSrdf
(
robot
,
SRDF_PATH
,
verbose
,
has_rotor_parameters
=
True
):
def
readParamsFromSrdf
(
robot
,
SRDF_PATH
,
verbose
,
has_rotor_parameters
=
True
,
referencePose
=
'half_sitting'
):
rmodel
=
robot
.
model
if
has_rotor_parameters
:
pinocchio
.
loadRotorParameters
(
rmodel
,
SRDF_PATH
,
verbose
)
rmodel
.
armature
=
np
.
multiply
(
rmodel
.
rotorInertia
.
flat
,
np
.
square
(
rmodel
.
rotorGearRatio
.
flat
))
pinocchio
.
loadReferenceConfigurations
(
rmodel
,
SRDF_PATH
,
verbose
)
robot
.
q0
.
flat
[:]
=
rmodel
.
referenceConfigurations
[
"half_sitting"
].
copy
()
robot
.
q0
.
flat
[:]
=
rmodel
.
referenceConfigurations
[
referencePose
].
copy
()
return
...
...
@@ -48,16 +48,18 @@ def loadANYmal(withArm=None):
if
withArm
is
None
:
URDF_FILENAME
=
"anymal.urdf"
SRDF_FILENAME
=
"anymal.srdf"
REF_POSTURE
=
'standing'
elif
withArm
==
"kinova"
:
URDF_FILENAME
=
"anymal-kinova.urdf"
SRDF_FILENAME
=
"anymal-kinova.srdf"
REF_POSTURE
=
'standing_with_arm_up'
URDF_SUBPATH
=
"/anymal_b_simple_description/robots/"
+
URDF_FILENAME
SRDF_SUBPATH
=
"/anymal_b_simple_description/srdf/"
+
SRDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
)
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
REF_POSTURE
)
# Add the free-flyer joint limits
addFreeFlyerJointLimits
(
robot
)
return
robot
...
...
@@ -158,7 +160,7 @@ def loadHyQ():
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
)
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
'standing'
)
# Add the free-flyer joint limits
addFreeFlyerJointLimits
(
robot
)
return
robot
...
...
@@ -176,7 +178,7 @@ def loadSolo(solo=True):
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
)
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
'standing'
)
# Add the free-flyer joint limits
addFreeFlyerJointLimits
(
robot
)
return
robot
...
...
@@ -191,7 +193,7 @@ def loadKinova():
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
# Load SRDF file
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
)
readParamsFromSrdf
(
robot
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
'arm_up'
)
return
robot
...
...
solo_description/srdf/solo.srdf
View file @
738e2eb5
...
...
@@ -65,7 +65,7 @@
<end_effector
name=
"lh_foot"
parent_link=
"HL_FOOT"
group=
"lh_leg"
/>
<end_effector
name=
"rh_foot"
parent_link=
"HR_FOOT"
group=
"rh_leg"
/>
<group_state
name=
"
half_sitt
ing"
group=
"all_legs"
>
<group_state
name=
"
stand
ing"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.235 0. 0. 0. 1."
/>
<joint
name=
"FL_HAA"
value=
"0.1"
/>
<joint
name=
"FL_HFE"
value=
"0.8"
/>
...
...
@@ -81,7 +81,7 @@
<joint
name=
"HR_KFE"
value=
"1.6"
/>
</group_state>
<group_state
name=
"standing"
group=
"all_legs"
>
<group_state
name=
"
straight_
standing"
group=
"all_legs"
>
<joint
name=
"root_joint"
value=
"0. 0. 0.235 0. 0. 0. 1."
/>
<joint
name=
"FL_HAA"
value=
"0."
/>
<joint
name=
"FL_HFE"
value=
"0.8"
/>
...
...
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