diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 2a9a9299aac2788dfd3e3e36e6d328810e5d4f0c..63cfa9b2747199b5508f922d14daba3ee3d9f6fd 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -374,6 +374,13 @@ class BoltLoader(RobotLoader):
free_flyer = True
+class BorinotLoader(RobotLoader):
+ path = "borinot_description"
+ urdf_subpath = "urdf"
+ urdf_filename = "borinot_flying_arm_2.urdf"
+ free_flyer = True
+
+
class Solo8Loader(RobotLoader):
path = "solo_description"
urdf_filename = "solo.urdf"
@@ -558,6 +565,7 @@ ROBOTS = {
"simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader,
"bolt": BoltLoader,
+ "borinot": BorinotLoader,
"solo8": Solo8Loader,
"solo12": Solo12Loader,
"finger_edu": FingerEduLoader,
diff --git a/robots/borinot_description/README.md b/robots/borinot_description/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..ffc3ada71c989e4ae14e23980298c961d9473ee8
--- /dev/null
+++ b/robots/borinot_description/README.md
@@ -0,0 +1,9 @@
+# Borinot
+
+upstream: https://github.com/PepMS/hidro_robots/tree/main/robots/borinot_flying_arm_2
+license: NA
+
+
+### Modifications:
+
+ - Added colors in URDF
diff --git a/robots/borinot_description/meshes/borinot__base_link.dae b/robots/borinot_description/meshes/borinot__base_link.dae
new file mode 100644
index 0000000000000000000000000000000000000000..f2e73b98c627466c8dd9e517e60c1fddc6a7811c
--- /dev/null
+++ b/robots/borinot_description/meshes/borinot__base_link.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>Thu Nov 24 08:04:38 2022 GMT</created>
+ <modified>Thu Nov 24 08:04:38 2022 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
+ <mesh>
+ <source id="shape0-lib-positions" name="position">
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/meshes/flying_arm_2__link1.dae b/robots/borinot_description/meshes/flying_arm_2__link1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..a61efac5227a45a85a567147d28d3cc57f176c91
--- /dev/null
+++ b/robots/borinot_description/meshes/flying_arm_2__link1.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>Thu Nov 24 08:05:23 2022 GMT</created>
+ <modified>Thu Nov 24 08:05:23 2022 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_geometries>
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4607 2265 4608 2263 4608 2266 4608 2264 4609 2266 4609 2263 4609 2263 4610 2265 4610 2264 4610 2266 4611 2268 4611 2265 4611 2265 4612 2268 4612 2267 4612 2268 4613 2266 4613 2269 4613 2269 4614 2266 4614 2264 4614 2264 4615 2265 4615 2269 4615 2269 4616 2265 4616 2267 4616 2268 4617 2269 4617 2267 4617</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/meshes/flying_arm_2__link2.dae b/robots/borinot_description/meshes/flying_arm_2__link2.dae
new file mode 100644
index 0000000000000000000000000000000000000000..7555940df0fc4ccbc3cf46bee58e13749895782e
--- /dev/null
+++ b/robots/borinot_description/meshes/flying_arm_2__link2.dae
@@ -0,0 +1,56 @@
+<?xml version="1.0" encoding="UTF-8"?>
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+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <created>Thu Nov 24 08:06:24 2022 GMT</created>
+ <modified>Thu Nov 24 08:06:24 2022 GMT</modified>
+ <up_axis>Y_UP</up_axis>
+ </asset>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib"/>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/meshes/propeller_ccw.dae b/robots/borinot_description/meshes/propeller_ccw.dae
new file mode 100755
index 0000000000000000000000000000000000000000..1f2679e42915e0ea05ca4755bd01432393361b6b
--- /dev/null
+++ b/robots/borinot_description/meshes/propeller_ccw.dae
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+ <asset>
+ <contributor>
+ <author>VCGLab</author>
+ <authoring_tool>VCGLib | MeshLab</authoring_tool>
+ </contributor>
+ <up_axis>Y_UP</up_axis>
+ <created>Fr. Dez 19 16:06:25 2014</created>
+ <modified>Fr. Dez 19 16:06:25 2014</modified>
+ </asset>
+ <library_images/>
+ <library_materials/>
+ <library_effects/>
+ <library_geometries>
+ <geometry id="shape0-lib" name="shape0">
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diff --git a/robots/borinot_description/meshes/propeller_cw.dae b/robots/borinot_description/meshes/propeller_cw.dae
new file mode 100755
index 0000000000000000000000000000000000000000..04044f34383510bc8c570abc6fd546affc583d8e
--- /dev/null
+++ b/robots/borinot_description/meshes/propeller_cw.dae
@@ -0,0 +1,63 @@
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+ <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
+ <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
+ <p>7 0 8 0 5 0 1 1 0 1 2 1 4 2 8 2 6 2 1 3 2 3 4 3 4 4 2 4 3 4 8 5 4 5 3 5 51 6 3 6 47 6 51 7 5 7 8 7 10 8 6 8 9 8 6 9 8 9 9 9 7 10 49 10 8 10 49 11 9 11 8 11 13 12 10 12 9 12 10 13 1 13 4 13 10 14 4 14 6 14 8 15 3 15 51 15 13 16 66 16 10 16 1 17 66 17 0 17 1 18 10 18 66 18 11 19 66 19 13 19 76 20 12 20 13 20 11 21 13 21 12 21 12 22 76 22 21 22 19 23 18 23 17 23 21 24 76 24 22 24 15 25 22 25 14 25 18 26 15 26 14 26 74 27 14 27 16 27 74 28 17 28 18 28 21 29 18 29 20 29 19 30 30 30 18 30 30 31 20 31 18 31 20 32 11 32 12 32 21 33 20 33 12 33 21 34 22 34 15 34 21 35 15 35 18 35 18 36 14 36 74 36 24 37 23 37 99 37 24 38 99 38 45 38 34 39 52 39 25 39 43 40 41 40 42 40 38 41 43 41 42 41 40 42 28 42 92 42 92 43 24 43 40 43 26 44 11 44 44 44 44 45 45 45 26 45 29 46 92 46 28 46 29 47 28 47 73 47 29 48 72 48 32 48 16 49 74 49 72 49 32 50 74 50 27 50 29 51 32 51 31 51 27 52 19 52 30 52 19 53 75 53 30 53 27 54 30 54 32 54 32 55 30 55 31 55 31 56 30 56 82 56 31 57 11 57 92 57 92 58 11 58 26 58 92 59 29 59 31 59 74 60 32 60 72 60 33 61 37 61 53 61 53 62 37 62 35 62 53 63 35 63 36 63 37 64 13 64 42 64 0 65 36 65 66 65 66 66 36 66 35 66 24 67 39 67 40 67 13 68 40 68 39 68 40 69 13 69 76 69 76 70 28 70 40 70 42 71 13 71 38 71 13 72 39 72 38 72 35 73 43 73 66 73 66 74 43 74 11 74 11 75 43 75 44 75 45 76 44 76 39 76 45 77 39 77 24 77 46 78 34 78 36 78 46 79 50 79 33 79 68 80 36 80 0 80 54 81 47 81 51 81 7 82 49 82 48 82 49 83 7 83 57 83 48 84 49 84 58 84 58 85 49 85 50 85 37 86 33 86 13 86 33 87 34 87 46 87 68 88 50 88 46 88 36 89 68 89 46 89 50 90 68 90 55 90 50 91 55 91 58 91 58 92 51 92 48 92 58 93 54 93 51 93 45 94 23 94 26 94 26 95 23 95 24 95 26 96 24 96 92 96 33 97 52 97 34 97 34 98 25 98 36 98 36 99 25 99 53 99 53 100 25 100 52 100 53 101 52 101 33 101 71 102 11 102 82 102 71 103 66 103 11 103 60 104 55 104 67 104 54 105 55 105 56 105 54 106 58 106 55 106 55 107 68 107 67 107 55 108 60 108 56 108 47 109 98 109 95 109 54 110 98 110 47 110 47 111 95 111 51 111 51 112 63 112 48 112 48 113 63 113 7 113 33 114 50 114 13 114 50 115 49 115 13 115 65 116 13 116 49 116 71 117 70 117 66 117 59 118 66 118 70 118 60 119 98 119 56 119 59 120 67 120 68 120 66 121 59 121 0 121 0 122 59 122 68 122 67 123 59 123 60 123 60 124 96 124 98 124 94 125 63 125 95 125 63 126 64 126 7 126 57 127 7 127 64 127 49 128 57 128 64 128 63 129 61 129 64 129 62 130 65 130 61 130 62 131 70 131 65 131 65 132 49 132 64 132 61 133 65 133 64 133 63 134 94 134 61 134 56 135 98 135 54 135 95 136 63 136 51 136 80 137 65 137 69 137 69 138 65 138 70 138 69 139 70 139 71 139 69 140 71 140 83 140 80 141 89 141 76 141 80 142 76 142 13 142 13 143 65 143 80 143 76 144 88 144 28 144 81 145 29 145 73 145 77 146 72 146 81 146 72 147 29 147 81 147 16 148 77 148 85 148 72 149 77 149 16 149 16 150 85 150 74 150 74 151 79 151 27 151 27 152 79 152 19 152 11 153 31 153 82 153 76 154 89 154 88 154 77 155 86 155 87 155 81 156 86 156 77 156 91 157 79 157 85 157 79 158 78 158 19 158 75 159 19 159 78 159 78 160 90 160 83 160 83 161 82 161 78 161 82 162 30 162 78 162 79 163 90 163 78 163 86 164 81 164 73 164 86 165 73 165 88 165 73 166 28 166 88 166 85 167 79 167 74 167 78 168 30 168 75 168 82 169 83 169 71 169 89 170 80 170 69 170 35 171 37 171 41 171 38 172 39 172 43 172 43 173 39 173 44 173 41 174 43 174 35 174 41 175 37 175 42 175 69 176 83 176 84 176 84 177 83 177 90 177 91 178 90 178 79 178 85 179 77 179 91 179 77 180 87 180 91 180 87 181 86 181 88 181 87 182 88 182 89 182 69 183 84 183 89 183 89 184 84 184 87 184 84 185 90 185 91 185 87 186 84 186 91 186 70 187 62 187 93 187 62 188 61 188 94 188 95 189 98 189 94 189 96 190 60 190 59 190 96 191 59 191 97 191 70 192 93 192 97 192 59 193 70 193 97 193 97 194 93 194 96 194 93 195 62 195 94 195 96 196 93 196 94 196 96 197 94 197 98 197 45 198 99 198 23 198</p>
+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="VisualSceneNode" name="VisualScene">
+ <node id="node" name="node">
+ <instance_geometry url="#shape0-lib">
+ <bind_material>
+ <technique_common/>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <scene>
+ <instance_visual_scene url="#VisualSceneNode"/>
+ </scene>
+</COLLADA>
diff --git a/robots/borinot_description/urdf/borinot_flying_arm_2.urdf b/robots/borinot_description/urdf/borinot_flying_arm_2.urdf
new file mode 100755
index 0000000000000000000000000000000000000000..49cc7363c1b47eacfc7e0f3aae75fee063c85ce2
--- /dev/null
+++ b/robots/borinot_description/urdf/borinot_flying_arm_2.urdf
@@ -0,0 +1,117 @@
+<?xml version="1.0" encoding="utf-8"?>
+<robot name="borinot_flynig_arm_2">
+ <material name="light_blue">
+ <color rgba="0.5569 0.6313 0.7479 1"/>
+ </material>
+ <material name="dark_blue">
+ <color rgba="0.3 0.3 0.3 1"/>
+ </material>
+ <link name="borinot__base_link">
+ <inertial>
+ <origin
+ xyz="0.0 0.00244 0.0202"
+ rpy="0 0 0" />
+ <mass value="2.647" />
+ <inertia ixx="0.027246422051605018" ixy="-0.0" ixz="0.0" iyy="0.026854677520396303" iyz="0.0"
+ izz="0.039807168462897885" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/borinot__base_link.dae" />
+ </geometry>
+ <material name="light_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/borinot__base_link.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <!-- link imported from solo12, with axes properly swaped -->
+ <link name="flying_arm_2__link1">
+ <inertial>
+ <origin xyz="0.00001377 -0.07870700 -0.01935853" rpy="0 0 0" />
+ <mass value="0.14853845" />
+ <inertia ixx="0.00041107" ixy="0.0" ixz="0.0" iyy="0.00003024" iyz="-0.00004671"
+ izz="0.00041193" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link1.dae" />
+ </geometry>
+ <material name="dark_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link1.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_2__j_bl_link1" type="revolute">
+ <origin xyz="0.064701 -0.022177 -0.05075" rpy="1.5708 0 -3.1416" />
+ <parent link="borinot__base_link" />
+ <child link="flying_arm_2__link1" />
+ <axis xyz="0 0 -1" />
+ <limit effort="2.5" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
+ </joint>
+
+ <!-- link with the steel m24 nut at the end -->
+ <link name="flying_arm_2__link2">
+ <inertial>
+ <origin xyz="0.0 -0.1149 -0.021" rpy="0 0 0" />
+ <mass value="0.115" />
+ <inertia ixx="1.7554e-4" ixy="0.0" ixz="0.0"
+ iyy="1.972e-5" iyz="0.0" izz="1.7938e-4" />
+ </inertial>
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link2.dae" />
+ </geometry>
+ <material name="dark_blue"/>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh
+ filename="package://example-robot-data/robots/borinot_description/meshes/flying_arm_2__link2.dae" />
+ </geometry>
+ </collision>
+ </link>
+
+ <joint name="flying_arm_2__j_link1_link2" type="revolute">
+ <origin xyz="0 -0.160 -0.03715" rpy="0 0 0" />
+ <parent link="flying_arm_2__link1" />
+ <child link="flying_arm_2__link2" />
+ <axis xyz="0 0 -1" />
+ <limit effort="2.5" lower="-1.6707963267948966" upper="1.6707963267948966" velocity="10000" />
+ </joint>
+
+ <link name="flying_arm_2__ee">
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <mass value="0.0" />
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
+ </inertial>
+ </link>
+
+ <joint name="flying_arm_2__j_link2_ee" type="fixed">
+ <!-- x pointing forward -->
+ <origin xyz="0 -0.130 0" rpy="0 0 -1.5708" />
+ <parent link="flying_arm_2__link2" />
+ <child link="flying_arm_2__ee" />
+ <axis xyz="0 0 -1" />
+ <limit lower="0" upper="0" effort="0" velocity="0" />
+ </joint>
+</robot>
\ No newline at end of file