Commit 7cadd0a5 authored by Carlos Mastalli's avatar Carlos Mastalli

[kinova] Added the meshes, urdf and srdf + integrated to the load script

parent 5af2f8de
*.pyc
*.pyd
*.pyo
build*
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<?xml version="1.0" ?>
<robot name="kinova">
<end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
<group_state name="half_sitting">
<joint name="j2s6s200_joint_1" value="0." />
<joint name="j2s6s200_joint_2" value="2.618" />
<joint name="j2s6s200_joint_3" value="-1.5707" />
<joint name="j2s6s200_joint_4" value="3.1415" />
<joint name="j2s6s200_joint_5" value="2.618" />
<joint name="j2s6s200_joint_6" value="0." />
</group_state>
</robot>
# flake8: noqa
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
loadTalosLegs, loadKinova, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
......@@ -3,7 +3,7 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5'
'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova','tiago', 'tiago_no_hand', 'icub', 'ur5'
]
parser = ArgumentParser()
......@@ -16,17 +16,17 @@ if args.robot == 'anymal':
anymal.initViewer(loadModel=True)
anymal.display(anymal.q0)
if args.robot == 'hyq':
elif args.robot == 'hyq':
hyq = robots_loader.loadHyQ()
hyq.initViewer(loadModel=True)
hyq.display(hyq.q0)
if args.robot == 'solo':
elif args.robot == 'solo':
solo = robots_loader.loadSolo()
solo.initViewer(loadModel=True)
solo.display(solo.q0)
if args.robot == 'solo12':
elif args.robot == 'solo12':
solo = robots_loader.loadSolo(False)
solo.initViewer(loadModel=True)
solo.display(solo.q0)
......@@ -41,11 +41,16 @@ elif args.robot == 'talos_arm':
talos_arm.initViewer(loadModel=True)
talos_arm.display(talos_arm.q0)
if args.robot == 'talos_legs':
elif args.robot == 'talos_legs':
talos_legs = robots_loader.loadTalosLegs()
talos_legs.initViewer(loadModel=True)
talos_legs.display(talos_legs.q0)
elif args.robot == 'kinova':
kinova = robots_loader.loadKinova()
kinova.initViewer(loadModel=True)
kinova.display(kinova.q0)
elif args.robot == 'tiago':
tiago = robots_loader.loadTiago()
tiago.initViewer(loadModel=True)
......
......@@ -178,6 +178,19 @@ def loadSolo(solo=True):
return robot
def loadKinova():
URDF_FILENAME = "kinova.urdf"
SRDF_FILENAME = "kinova.srdf"
SRDF_SUBPATH = "/kinova_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/kinova_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
# Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False)
return robot
def loadTiago():
URDF_FILENAME = "tiago.urdf"
# SRDF_FILENAME = "tiago.srdf"
......
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