Commit a6279e8b authored by Pep Marti Saumell's avatar Pep Marti Saumell
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Merged devel branch

parents 9b656c4c 8884b6b7
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<?xml version="1.0" ?>
<robot name="kinova">
<group name="end_effector">
<joint name="j2s6s200_joint_1" />
<joint name="j2s6s200_joint_2" />
<joint name="j2s6s200_joint_3" />
<joint name="j2s6s200_joint_4" />
<joint name="j2s6s200_joint_5" />
<joint name="j2s6s200_joint_5" />
<chain base_link="base" tip_link="j2s6s200_end_effector" />
</group>
<end_effector name="end_effector" parent_link="j2s6s200_end_effector" group="end_effector" />
<group_state name="arm_up">
<joint name="j2s6s200_joint_1" value="1.5707" />
<joint name="j2s6s200_joint_2" value="2.618" />
<joint name="j2s6s200_joint_3" value="-1.5707" />
<joint name="j2s6s200_joint_4" value="3.1415" />
<joint name="j2s6s200_joint_5" value="2.618" />
<joint name="j2s6s200_joint_6" value="0." />
</group_state>
</robot>
<?xml version="1.0"?>
<package format="2">
<name>example-robot-data</name>
<version>2.5.0</version>
<description>Set of robot URDFs for benchmarking and developed examples.</description>
<!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm.
Please check the repository URL for project maintainer. -->
<developer email="carlos.mastalli@ed.ac.uk">Carlos Mastalli</developer>
<maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
<maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
<license>BSD</license>
<url type="repository">https://gepgitlab.laas.fr/gepetto/example-robot-data.git</url>
<build_depend>git</build_depend>
<depend>python</depend>
<depend>python-numpy</depend>
<depend>boost</depend>
<depend>pinocchio</depend>
<buildtool_depend>cmake</buildtool_depend>
<export>
<build_type>cmake</build_type>
</export>
</package>
# flake8: noqa
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, loadDoublePendulum, readParamsFromSrdf)
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf, loadHector, loadDoublePendulum)
......@@ -3,7 +3,8 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5', '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()
......@@ -16,17 +17,22 @@ if args.robot == 'anymal':
anymal.initViewer(loadModel=True)
anymal.display(anymal.q0)
if args.robot == 'hyq':
elif args.robot == 'anymal_kinova':
anymal = robots_loader.loadANYmal(withArm='kinova')
anymal.initViewer(loadModel=True)
anymal.display(anymal.q0)
elif args.robot == 'hyq':
hyq = robots_loader.loadHyQ()
hyq.initViewer(loadModel=True)
hyq.display(hyq.q0)
if args.robot == 'solo':
elif args.robot == 'solo':
solo = robots_loader.loadSolo()
solo.initViewer(loadModel=True)
solo.display(solo.q0)
if args.robot == 'solo12':
elif args.robot == 'solo12':
solo = robots_loader.loadSolo(False)
solo.initViewer(loadModel=True)
solo.display(solo.q0)
......@@ -41,11 +47,16 @@ elif args.robot == 'talos_arm':
talos_arm.initViewer(loadModel=True)
talos_arm.display(talos_arm.q0)
if args.robot == 'talos_legs':
elif args.robot == 'talos_legs':
talos_legs = robots_loader.loadTalosLegs()
talos_legs.initViewer(loadModel=True)
talos_legs.display(talos_legs.q0)
elif args.robot == 'kinova':
kinova = robots_loader.loadKinova()
kinova.initViewer(loadModel=True)
kinova.display(kinova.q0)
elif args.robot == 'tiago':
tiago = robots_loader.loadTiago()
tiago.initViewer(loadModel=True)
......@@ -65,14 +76,19 @@ 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)
romeo.display(romeo.q0)
if args.robot == 'hector':
hector = robots_loader.loadHector()
hector.initViewer(loadModel=True)
hector.display(hector.q0)
if args.robot == 'double_pendulum':
planar2dof = robots_loader.load2dof()
planar2dof.initViewer(loadModel=True)
planar2dof.display(planar2dof.q0)
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