From 262b72f5a96c876463958ba029863dbd1a3591c4 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Tue, 5 Nov 2019 15:14:47 +0100
Subject: [PATCH] romeo: CMake, loader & test
---
CMakeLists.txt | 1 +
python/example_robot_data/__init__.py | 4 ++--
python/example_robot_data/__main__.py | 7 ++++++-
python/example_robot_data/robots_loader.py | 7 +++++++
unittest/test_load.py | 8 +++++++-
5 files changed, 23 insertions(+), 4 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2736043..c8536d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -48,4 +48,5 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY kinova_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
+ INSTALL(DIRECTORY romeo_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
diff --git a/python/example_robot_data/__init__.py b/python/example_robot_data/__init__.py
index 3ca7eec..337b88d 100644
--- a/python/example_robot_data/__init__.py
+++ b/python/example_robot_data/__init__.py
@@ -1,3 +1,3 @@
# flake8: noqa
-from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
- loadTalosLegs, loadKinova, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
+ loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
diff --git a/python/example_robot_data/__main__.py b/python/example_robot_data/__main__.py
index 9b5e671..da4b1ad 100644
--- a/python/example_robot_data/__main__.py
+++ b/python/example_robot_data/__main__.py
@@ -4,7 +4,7 @@ from . import robots_loader
ROBOTS = [
'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
- 'tiago_no_hand', 'icub', 'ur5'
+ 'tiago_no_hand', 'icub', 'ur5', 'romeo'
]
parser = ArgumentParser()
@@ -76,3 +76,8 @@ elif args.robot == 'ur5':
ur5 = robots_loader.loadUR()
ur5.initViewer(loadModel=True)
ur5.display(ur5.q0)
+
+elif args.robot == 'romeo':
+ romeo = robots_loader.loadRomeo()
+ romeo.initViewer(loadModel=True)
+ romeo.display(romeo.q0)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 83edd93..5e51873 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -241,3 +241,10 @@ def loadUR(robot=5, limited=False):
URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
+
+
+def loadRomeo():
+ URDF_FILENAME = "romeo.urdf"
+ URDF_SUBPATH = "/romeo_description/urdf/" + URDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
+ return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
diff --git a/unittest/test_load.py b/unittest/test_load.py
index bdd264a..2052199 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -107,10 +107,16 @@ class KinovaTest(RobotTestCase):
RobotTestCase.NV = 6
+class RomeoTest(RobotTestCase):
+ RobotTestCase.ROBOT = example_robot_data.loadRomeo()
+ RobotTestCase.NQ = 62
+ RobotTestCase.NV = 61
+
+
if __name__ == '__main__':
test_classes_to_run = [
ANYmalTest, ANYmalKinovaTest, HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest,
- SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, KinovaTest
+ SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, KinovaTest, RomeoTest
]
loader = unittest.TestLoader()
suites_list = []
--
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