Commit c69dd9f4 authored by Carlos Mastalli's avatar Carlos Mastalli

[anymal] Added the ANYmal with kinova arm

parent 0e45e3b4
This diff is collapsed.
<?xml version="1.0" ?>
<robot name="anymal">
<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="all_legs">
<group name="lf" />
<group name="rf" />
<group name="lh" />
<group name="rh" />
</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" />
<group_state name="half_sitting" 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" />
<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>
......@@ -4,7 +4,7 @@
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal Bedi robot. -->
<robot name="anymal"
<robot name="kinova"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
......
......@@ -3,7 +3,7 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova','tiago', 'tiago_no_hand', 'icub', 'ur5'
'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova','tiago', 'tiago_no_hand', 'icub', 'ur5'
]
parser = ArgumentParser()
......@@ -16,6 +16,11 @@ if args.robot == 'anymal':
anymal.initViewer(loadModel=True)
anymal.display(anymal.q0)
elif args.robot == 'anymal_kinova':
anymal = robots_loader.loadANYmal(withArm='kinova')
anymal.initViewer(loadModel=True)
anymal.display(anymal.q0)
elif args.robot == 'hyq':
hyq = robots_loader.loadHyQ()
hyq.initViewer(loadModel=True)
......
......@@ -44,10 +44,14 @@ def addFreeFlyerJointLimits(robot):
rmodel.lowerPositionLimit = lb
def loadANYmal():
def loadANYmal(withArm=None):
if withArm is None:
URDF_FILENAME = "anymal.urdf"
URDF_SUBPATH = "/anymal_b_simple_description/robots/" + URDF_FILENAME
SRDF_FILENAME = "anymal.srdf"
elif withArm is "kinova":
URDF_FILENAME = "anymal-kinova.urdf"
SRDF_FILENAME = "anymal-kinova.srdf"
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
......
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