From 7f12d15b17f77e0a1a63bdd9bab5d9b4c87d0712 Mon Sep 17 00:00:00 2001 From: PepMS <jmarti@iri.upc.edu> Date: Tue, 29 Oct 2019 15:01:37 +0100 Subject: [PATCH] 2DOF description: added files and loader --- 2dof_description/meshes/base_link.STL | Bin 0 -> 603684 bytes 2dof_description/meshes/link1.STL | Bin 0 -> 37984 bytes 2dof_description/meshes/link2.STL | Bin 0 -> 21284 bytes 2dof_description/urdf/2dof_planar.urdf | 167 +++++++++++++++++++++ CMakeLists.txt | 1 + python/example_robot_data/__init__.py | 2 +- python/example_robot_data/__main__.py | 13 +- python/example_robot_data/robots_loader.py | 8 + 8 files changed, 189 insertions(+), 2 deletions(-) create mode 100644 2dof_description/meshes/base_link.STL create mode 100644 2dof_description/meshes/link1.STL create mode 100644 2dof_description/meshes/link2.STL create mode 100644 2dof_description/urdf/2dof_planar.urdf diff --git a/2dof_description/meshes/base_link.STL b/2dof_description/meshes/base_link.STL new file mode 100644 index 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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 b4a94ef..b91bca7 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 43e7bfd..4ae36c3 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 0164669..8af6821 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 f0f0d6e..439f1b7 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 -- GitLab