2DOF description: added files and loader

2dof_description/urdf/2dof_planar.urdf

+<?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>

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()

python/example_robot_data/__init__.py

 # 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)

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)

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