diff --git a/CMakeLists.txt b/CMakeLists.txt
index 06ffd89e394244f9102d61c3f6fec5983582d477..cd758626aed40c26325ce419933144a0ebb6881e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -49,6 +49,7 @@ 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})
INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
diff --git a/hector_description/meshes/quadrotor/blender/quadrotor_base.blend b/hector_description/meshes/quadrotor/blender/quadrotor_base.blend
deleted file mode 100644
index af035a60e89bbae923a7f634307459307b5954f2..0000000000000000000000000000000000000000
Binary files a/hector_description/meshes/quadrotor/blender/quadrotor_base.blend and /dev/null differ
diff --git a/python/example_robot_data/__main__.py b/python/example_robot_data/__main__.py
index ad663b7a20ae07127e7811966cf914d2cdd0362d..b5b83ddb7e30addb344ebd9aebb22a0e5764776a 100644
--- a/python/example_robot_data/__main__.py
+++ b/python/example_robot_data/__main__.py
@@ -3,8 +3,9 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
- 'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
- 'tiago_no_hand', 'icub', 'ur5', 'romeo', 'hector', 'double_pendulum'
+ 'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm',
+ 'talos_legs', 'kinova', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'romeo',
+ 'hector', 'double_pendulum'
]
parser = ArgumentParser()
@@ -76,7 +77,7 @@ 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)
@@ -91,4 +92,3 @@ if args.robot == 'double_pendulum':
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 64df575e3a0b1560829eb04b869315f5d8cfb06b..53c8a5e9544cc38f6c449a397c4a2c9f8c3a6489 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -8,8 +8,10 @@ from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath, printmsg=False):
base = '../../../share/example-robot-data'
- for path in [dirname(dirname(dirname(dirname(__file__)))),
- dirname(dirname(dirname(__file__)))] + [join(p, base.strip('/')) for p in sys.path]:
+ for path in [
+ dirname(dirname(dirname(dirname(__file__)))),
+ dirname(dirname(dirname(__file__)))
+ ] + [join(p, base.strip('/')) for p in sys.path]:
if exists(join(path, subpath.strip('/'))):
if printmsg:
print("using %s as modelPath" % path)
@@ -17,12 +19,17 @@ def getModelPath(subpath, printmsg=False):
raise IOError('%s not found' % (subpath))
-def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True, referencePose='half_sitting'):
+def readParamsFromSrdf(robot,
+ SRDF_PATH,
+ verbose,
+ has_rotor_parameters=True,
+ referencePose='half_sitting'):
rmodel = robot.model
if has_rotor_parameters:
pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
- rmodel.armature = np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat))
+ rmodel.armature = np.multiply(rmodel.rotorInertia.flat,
+ np.square(rmodel.rotorGearRatio.flat))
pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
robot.q0.flat[:] = rmodel.referenceConfigurations[referencePose].copy()
return
@@ -52,9 +59,14 @@ def loadANYmal(withArm=None):
SRDF_SUBPATH = "/anymal_b_simple_description/srdf/" + SRDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, referencePose=REF_POSTURE)
+ readParamsFromSrdf(robot,
+ modelPath + SRDF_SUBPATH,
+ False,
+ False,
+ referencePose=REF_POSTURE)
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -81,7 +93,8 @@ def loadTalos():
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
# Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
assert ((robot.model.armature[:6] == 0.).all())
@@ -101,13 +114,17 @@ def loadTalosLegs():
legMaxId = 14
m1 = robot.model
m2 = pinocchio.Model()
- for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names, m1.parents, m1.inertias):
+ for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names,
+ m1.parents, m1.inertias):
if j.id < legMaxId:
- jid = m2.addJoint(parent, getattr(pinocchio, j.shortname())(), M, name)
+ jid = m2.addJoint(parent,
+ getattr(pinocchio, j.shortname())(), M, name)
up = m2.upperPositionLimit
down = m2.lowerPositionLimit
- up[m2.joints[jid].idx_q:m2.joints[jid].idx_q + j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq]
- down[m2.joints[jid].idx_q:m2.joints[jid].idx_q + j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq]
+ up[m2.joints[jid].idx_q:m2.joints[jid].idx_q +
+ j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq]
+ down[m2.joints[jid].idx_q:m2.joints[jid].idx_q +
+ j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq]
m2.upperPositionLimit = up
m2.lowerPositionLimit = down
assert (jid == j.id)
@@ -153,9 +170,11 @@ def loadHyQ():
URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing")
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False,
+ "standing")
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -171,9 +190,11 @@ def loadSolo(solo=True):
URDF_SUBPATH = "/solo_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing")
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False,
+ "standing")
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -228,7 +249,8 @@ def loadICub(reduced=True):
URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
# Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False)
# Add the free-flyer joint limits
@@ -238,7 +260,8 @@ def loadICub(reduced=True):
def loadUR(robot=5, limited=False, gripper=False):
assert (not (gripper and (robot == 10 or limited)))
- URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else '', 'gripper' if gripper else 'robot')
+ URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else
+ '', 'gripper' if gripper else 'robot')
URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
@@ -248,7 +271,8 @@ def loadHector():
URDF_FILENAME = "quadrotor_base.urdf"
URDF_SUBPATH = "/hector_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
return robot
@@ -258,9 +282,11 @@ def loadDoublePendulum():
modelPath = getModelPath(URDF_SUBPATH)
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
return robot
-
+
+
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())
+ return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())