diff --git a/2dof_description/meshes/base_link.STL b/2dof_description/meshes/base_link.STL
new file mode 100644
index 0000000000000000000000000000000000000000..f411eb0ca2f85996ad754b5996b0ebf490110fe2
Binary files /dev/null and b/2dof_description/meshes/base_link.STL differ
diff --git a/2dof_description/meshes/link1.STL b/2dof_description/meshes/link1.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3ec331c7a74bd1b98f4fd8c41aca87460864d042
Binary files /dev/null and b/2dof_description/meshes/link1.STL differ
diff --git a/2dof_description/meshes/link2.STL b/2dof_description/meshes/link2.STL
new file mode 100644
index 0000000000000000000000000000000000000000..3a7c9aee40d124ff2923aa3d8add33ecfba4e44d
Binary files /dev/null and b/2dof_description/meshes/link2.STL differ
diff --git a/2dof_description/urdf/2dof_planar.urdf b/2dof_description/urdf/2dof_planar.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..98fd66fb0027823a02d336698cec5bf09e7b8ca1
--- /dev/null
+++ b/2dof_description/urdf/2dof_planar.urdf
@@ -0,0 +1,167 @@
+<?xml version="1.0" encoding="utf-8"?>
+<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
+ Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
+ For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
+<robot
+ name="2dof_planar">
+ <link
+ name="base_link">
+ <inertial>
+ <origin
+ xyz="0.0030299 2.6279E-13 0.02912"
+ rpy="0 0 0" />
+ <mass
+ value="0.10159" />
+ <inertia
+ ixx="2.636E-05"
+ ixy="-1.007E-16"
+ ixz="-2.3835E-06"
+ iyy="1.8042E-05"
+ iyz="-4.6617E-09"
+ izz="1.8795E-05" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://2dof_description/meshes/base_link.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="0.96078 1 0 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://2dof_description/meshes/base_link.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <link
+ name="link1">
+ <inertial>
+ <origin
+ xyz="0.0086107 2.1727E-06 0.036012"
+ rpy="0 0 0" />
+ <mass
+ value="0.26703" />
+ <inertia
+ ixx="0.00040827"
+ ixy="1.2675E-09"
+ ixz="1.8738E-05"
+ iyy="0.00038791"
+ iyz="3.5443E-08"
+ izz="3.6421E-05" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://2dof_description/meshes/link1.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="0.64706 0.61961 0.58824 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://2dof_description/meshes/link1.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="joint1"
+ type="revolute">
+ <origin
+ xyz="0.0060872 0 0.035"
+ rpy="0 0 0" />
+ <parent
+ link="base_link" />
+ <child
+ link="link1" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="0"
+ effort="0"
+ velocity="0" />
+ <dynamics
+ damping="0.05" />
+ </joint>
+ <link
+ name="link2">
+ <inertial>
+ <origin
+ xyz="-0.0050107 1.9371E-10 0.10088"
+ rpy="0 0 0" />
+ <mass
+ value="0.33238" />
+ <inertia
+ ixx="0.0011753"
+ ixy="-3.854E-13"
+ ixz="-2.9304E-08"
+ iyy="0.0011666"
+ iyz="-5.2365E-12"
+ izz="1.4553E-05" />
+ </inertial>
+ <visual>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://2dof_description/meshes/link2.STL" />
+ </geometry>
+ <material
+ name="">
+ <color
+ rgba="0.64706 0.61961 0.58824 1" />
+ </material>
+ </visual>
+ <collision>
+ <origin
+ xyz="0 0 0"
+ rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://2dof_description/meshes/link2.STL" />
+ </geometry>
+ </collision>
+ </link>
+ <joint
+ name="joint2"
+ type="revolute">
+ <origin
+ xyz="0.023 0 0.1"
+ rpy="0 0 0" />
+ <parent
+ link="link1" />
+ <child
+ link="link2" />
+ <axis
+ xyz="1 0 0" />
+ <limit
+ lower="0"
+ upper="0"
+ effort="0"
+ velocity="0" />
+ <dynamics
+ damping="0.05" />
+ </joint>
+</robot>
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b4a94efc5d347a49fc527d5b350efaf22a44f3c4..b91bca73c4bf822c365611b76c0cb3f8c59796bb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -46,6 +46,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
+ INSTALL(DIRECTORY 2dof_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SETUP_PROJECT_FINALIZE()
diff --git a/python/example_robot_data/__init__.py b/python/example_robot_data/__init__.py
index 43e7bfd55d151758deacb944a8ba0b6a26ac0dd3..4ae36c3b5c20e465ec0d4d175801309d85fa134f 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, loadTiago, loadTiagoNoHand, loadUR, loadHector, readParamsFromSrdf)
+ loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, load2dof, readParamsFromSrdf)
diff --git a/python/example_robot_data/__main__.py b/python/example_robot_data/__main__.py
index 016466962ec10ed7b9e32d6fd76a3ea68ad21dc8..8af682185e77b5abe79f336680a782f59309ba60 100644
--- a/python/example_robot_data/__main__.py
+++ b/python/example_robot_data/__main__.py
@@ -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', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'hector', '2dof'
]
parser = ArgumentParser()
@@ -65,3 +65,14 @@ elif args.robot == 'ur5':
ur5 = robots_loader.loadUR()
ur5.initViewer(loadModel=True)
ur5.display(ur5.q0)
+
+if args.robot == 'hector':
+ hector = robots_loader.loadHector()
+ hector.initViewer(loadModel=True)
+ hector.display(hector.q0)
+
+
+if args.robot == '2dof':
+ planar2dof = robots_loader.load2dof()
+ planar2dof.initViewer(loadModel=True)
+ planar2dof.display(planar2dof.q0)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index f0f0d6e1269dd1c1c34cf7aa61b19a5c3868ce35..439f1b724702ca55c35188d5e91419989396e93d 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -236,3 +236,11 @@ def loadHector():
modelPath = getModelPath(URDF_SUBPATH)
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
return robot
+
+
+def load2dof():
+ URDF_FILENAME = "2dof_planar.urdf"
+ URDF_SUBPATH = "/2dof_description/urdf/" + URDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
+ return robot