Commit a6279e8b authored by Pep Marti Saumell's avatar Pep Marti Saumell
Browse files

Merged devel branch

parents 9b656c4c 8884b6b7
*.pyc
*.pyd
*.pyo
/build
build*
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/test.cmake)
INCLUDE(cmake/python.cmake)
CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
# Set up project properties
SET(PROJECT_NAMESPACE gepetto)
......@@ -10,9 +6,13 @@ SET(PROJECT_NAME example-robot-data)
SET(PROJECT_DESCRIPTION "Set of robot URDFs for benchmarking and developed examples.")
SET(PROJECT_URL https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME})
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/test.cmake)
INCLUDE(cmake/python.cmake)
# Print initial message
MESSAGE("${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
MESSAGE("Copyright (C) 2018-2019 CNRS-LAAS")
MESSAGE("Copyright (C) 2018-2020 CNRS-LAAS / University of Edinburgh")
MESSAGE("All rights reserved.")
MESSAGE("Released under the BSD 3-Clause License.")
......@@ -24,7 +24,10 @@ IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
ENDIF()
SETUP_PROJECT()
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
CMAKE_POLICY(SET CMP0048 NEW)
PROJECT(${PROJECT_NAME} VERSION ${PROJECT_VERSION_FULL} LANGUAGES CXX)
OPTION (BUILD_PYTHON_INTERFACE "Build the python unit tests and helpers" ON)
OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python interface" OFF)
......@@ -43,10 +46,9 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY solo_description DESTINATION share/${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/${PROJECT_NAME})
INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SETUP_PROJECT_FINALIZE()
......@@ -7,7 +7,7 @@ This repository includes a set of robot descriptions that are aimed to be used i
**Authors:** [Carlos Mastalli](https://cmastalli.github.io/), Guilhem Saurel <br />
**With additional support from the Gepetto team at LAAS-CNRS.**
**With additional support from the Gepetto team at LAAS-CNRS and The University of Edinburgh.**
[![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
......@@ -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.
This diff is collapsed.
<?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>
......@@ -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" />
......
Subproject commit 429af97fe0b858bd73a1747768cc1ac735386140
Subproject commit e6e09c0b944530c92c17c4fb64cd2a2f63ed46c0
......@@ -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" />
......
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
This diff is collapsed.
Supports Markdown
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