Merge branch 'topic/kinova' into 'devel'

Added the Kinova arm + ANYmal with kinova; renamed the reference postures

See merge request gepetto/example-robot-data!18

.gitignore

 *.pyc
 *.pyd
 *.pyo
+build*

CMakeLists.txt

@@ -43,6 +43,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(DIRECTORY solo_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY icub_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY kinova_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

README.md

@@ -46,7 +46,7 @@ If you have never added robotpkg as a softwares repository, please follow first
 
 (you will need pinocchio and its Python bindings)
 
-`python -m example_robot_data [anymal,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5]`
+`python -m example_robot_data [anymal,anymal_kinova,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5]`
 
 This will work from the `python` subdirectory inside this repository, or if this package has been installed on your
 system.

anymal_b_simple_description/srdf/anymal-kinova.srdf

+<?xml version="1.0" ?>
+<robot name="anymal_kinova">
+
+    <group name="lf_leg">
+        <joint name="LF_HAA" />
+        <joint name="LF_HFE" />
+        <joint name="LF_KFE" />
+        <chain base_link="base" tip_link="LF_FOOT" />
+    </group>
+    <group name="lh_leg">
+        <joint name="LH_HAA" />
+        <joint name="LH_HFE" />
+        <joint name="LH_KFE" />
+        <chain base_link="base" tip_link="LH_FOOT" />
+    </group>
+    <group name="rf_leg">
+        <joint name="RF_HAA" />
+        <joint name="RF_HFE" />
+        <joint name="RF_KFE" />
+        <chain base_link="base" tip_link="RF_FOOT" />
+    </group>
+    <group name="rh_leg">
+        <joint name="RH_HAA" />
+        <joint name="RH_HFE" />
+        <joint name="RH_KFE" />
+        <chain base_link="base" tip_link="RH_FOOT" />
+    </group>
+    <group name="arm">
+        <joint name="j2s6s200_joint_1" />
+        <joint name="j2s6s200_joint_2" />
+        <joint name="j2s6s200_joint_3" />
+        <joint name="j2s6s200_joint_4" />
+        <joint name="j2s6s200_joint_5" />
+        <joint name="j2s6s200_joint_5" />
+        <chain base_link="base" tip_link="j2s6s200_end_effector" />
+    </group>
+    <group name="all_legs">
+        <group name="lf" />
+        <group name="rf" />
+        <group name="lh" />
+        <group name="rh" />
+    </group>
+    <group name="all">
+        <group name="lf" />
+        <group name="rf" />
+        <group name="lh" />
+        <group name="rh" />
+        <group name="arm" />
+    </group>
+    <group name="r_legs">
+        <group name="rf" />
+        <group name="rh" />
+    </group>
+    <group name="l_legs">
+        <group name="lf" />
+        <group name="lh" />
+    </group>
+    <group name="f_legs">
+        <group name="lf" />
+        <group name="rf" />
+    </group>
+    <group name="h_legs">
+        <group name="lh" />
+        <group name="rh" />
+    </group>
+    <group name="ld_legs">
+        <group name="lf" />
+        <group name="rh" />
+    </group>
+    <group name="rd_legs">
+        <group name="rf" />
+        <group name="lh" />
+    </group>
+
+    <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
+    <end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
+    <end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
+    <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="standing_with_arm_up" group="all">
+        <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" />
+        <joint name="LF_KFE" value="-1." />
+        <joint name="RF_HAA" value="0.1" />
+        <joint name="RF_HFE" value="0.7" />
+        <joint name="RF_KFE" value="-1." />
+        <joint name="LH_HAA" value="-0.1" />
+        <joint name="LH_HFE" value="-0.7" />
+        <joint name="LH_KFE" value="1." />
+        <joint name="RH_HAA" value="0.1" />
+        <joint name="RH_HFE" value="-0.7" />
+        <joint name="RH_KFE" value="1." />
+        <joint name="j2s6s200_joint_1" value="1.5707" />
+        <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>
+
+    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
+    <disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LF_FOOT" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_THIGH" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RF_FOOT" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
+    <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
+    
+    <disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" />
+    <disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" />
+    <disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" />
+    <disable_collisions link1="base" link2="RH_HIP" reason="Adjacent" />
+    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
+    <disable_collisions link1="LH_HIP" link2="LH_THIGH" reason="Adjacent" />
+    <disable_collisions link1="RF_HIP" link2="RF_THIGH" reason="Adjacent" />
+    <disable_collisions link1="RH_HIP" link2="RH_THIGH" reason="Adjacent" />
+    <disable_collisions link1="LF_THIGH" link2="LF_SHANK" reason="Adjacent" />
+    <disable_collisions link1="LH_THIGH" link2="LH_SHANK" reason="Adjacent" />
+    <disable_collisions link1="RF_THIGH" link2="RF_SHANK" reason="Adjacent" />
+    <disable_collisions link1="RH_THIGH" link2="RH_SHANK" reason="Adjacent" />
+    <disable_collisions link1="LF_SHANK" link2="LF_FOOT" reason="Adjacent" />
+    <disable_collisions link1="LH_SHANK" link2="LH_FOOT" reason="Adjacent" />
+    <disable_collisions link1="RF_SHANK" link2="RF_FOOT" reason="Adjacent" />
+    <disable_collisions link1="RH_SHANK" link2="RH_FOOT" reason="Adjacent" />
+
+    <disable_collisions link1="LF_ADAPTER" link2="LF_FOOT" reason="Adjacent" />
+    <disable_collisions link1="LH_ADAPTER" link2="LH_FOOT" reason="Adjacent" />
+    <disable_collisions link1="RF_ADAPTER" link2="RF_FOOT" reason="Adjacent" />
+    <disable_collisions link1="RH_ADAPTER" link2="RH_FOOT" reason="Adjacent" />
+
+    <disable_collisions link1="LF_ADAPTER" link2="LF_SHANK" reason="Adjacent" />
+    <disable_collisions link1="LH_ADAPTER" link2="LH_SHANK" reason="Adjacent" />
+    <disable_collisions link1="RF_ADAPTER" link2="RF_SHANK" reason="Adjacent" />
+    <disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" />
+
+    <disable_collisions link1="base" link2="imu_link" reason="Adjacent" />
+    
+    <!-- Need to check these 4 ? there may be auto-collisions ...  -->
+    <disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" />
+    <disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
+    <disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
+    <disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />
+
+
+
+</robot>

anymal_b_simple_description/srdf/anymal.srdf

@@ -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_sitting" group="all_legs">
+    <group_state name="standing" 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

@@ -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_sitting" group="all_legs">
+    <group_state name="standing" 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" />