Add the IRIS quadcopter model

* Added quadcopter Iris from 3DRobotics

* [readme] add hector and iris to the launch command

* [iris] Added reduced version of the STL file

Co-authored-by: PepMS <jmarti@iri.upc.edu>

README.md

@@ -46,7 +46,7 @@ If you have never added robotpkg as a softwares repository, please follow first
 
 (you will need pinocchio and its Python bindings)
 
-`python -m example_robot_data [anymal,anymal_kinova,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5]`
+`python -m example_robot_data [anymal,anymal_kinova,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5,hector,iris]`
 
 This will work from the `python` subdirectory inside this repository, or if this package has been installed on your
 system.

python/example_robot_data/__init__.py

 # flake8: noqa
 from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
                             loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf,
-                            loadHector, loadDoublePendulum)
+                            loadHector, loadDoublePendulum, loadIris)

python/example_robot_data/__main__.py

@@ -8,7 +8,7 @@ eigenpy.switchToNumpyMatrix()
 
 ROBOTS = [
     'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
-    'tiago_no_hand', 'icub', 'ur5', 'romeo', 'hector', 'double_pendulum'
+    'tiago_no_hand', 'icub', 'ur5', 'romeo', 'hector', 'double_pendulum', 'iris'
 ]
 
 parser = ArgumentParser()
@@ -95,3 +95,8 @@ if args.robot == 'double_pendulum':
     pendulum = robots_loader.loadDoublePendulum()
     pendulum.initViewer(loadModel=True)
     pendulum.display(pendulum.q0)
+
+if args.robot == 'iris':
+    iris = robots_loader.loadIris()
+    iris.initViewer(loadModel=True)
+    iris.display(iris.q0)

python/example_robot_data/robots_loader.py

@@ -287,3 +287,10 @@ def loadRomeo():
     URDF_SUBPATH = "/romeo_description/urdf/" + URDF_FILENAME
     modelPath = getModelPath(URDF_SUBPATH)
     return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+
+def loadIris():
+    URDF_FILENAME = "iris_simple.urdf"
+    URDF_SUBPATH = "/iris_description/robots/" + URDF_FILENAME
+    modelPath = getModelPath(URDF_SUBPATH)
+    robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
+    return robot
\ No newline at end of file

robots/iris_description/robots/iris.urdf

+<?xml version="1.0" ?>
+<robot name="iris">
+  <joint name="iris__/imu_joint" type="fixed">
+    <parent link="iris__base_link"/>
+    <child link="iris__/imu_link"/>
+    <origin rpy="0  0  0" xyz="0  0  0"/>
+    <axis xyz="1  0  0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_0_joint" type="revolute">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_0"/>
+    <origin rpy="0  0  0" xyz="0.13  -0.22   0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_1_joint" type="revolute">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_1"/>
+    <origin rpy="0  0  0" xyz="-0.13   0.2    0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_2_joint" type="revolute">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_2"/>
+    <origin rpy="0  0  0" xyz="0.13   0.22   0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_3_joint" type="revolute">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_3"/>
+    <origin rpy="0  0  0" xyz="-0.13  -0.2    0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <link name="iris__base_link">
+    <inertial>
+      <mass value="1.5"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="0.029125" ixy="0" ixz="0" iyy="0.029125" iyz="0" izz="0.055225"/>
+    </inertial>
+    <collision name="iris__base_link_inertia_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <box size="0.47 0.47 0.11"/>
+      </geometry>
+    </collision>
+    <visual name="iris__base_link_inertia_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris.stl" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__/imu_link">
+    <inertial>
+      <mass value="0.015"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="1e-05" ixy="0" ixz="0" iyy="1e-05" iyz="0" izz="1e-05"/>
+    </inertial>
+  </link>
+  <link name="iris__rotor_0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_0_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_0_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__rotor_1">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0 0 0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_1_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_1_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__rotor_2">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_2_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_2_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__rotor_3">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_3_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_3_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>

robots/iris_description/robots/iris_simple.urdf

+<?xml version="1.0" ?>
+<robot name="iris">
+  <joint name="iris__/imu_joint" type="fixed">
+    <parent link="iris__base_link"/>
+    <child link="iris__/imu_link"/>
+    <origin rpy="0  0  0" xyz="0  0  0"/>
+    <axis xyz="1  0  0"/>
+    <limit effort="0.0" lower="0.0" upper="0.0" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_0_joint" type="fixed">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_0"/>
+    <origin rpy="0  0  0" xyz="0.13  -0.22   0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_1_joint" type="fixed">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_1"/>
+    <origin rpy="0  0  0" xyz="-0.13   0.2    0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_2_joint" type="fixed">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_2"/>
+    <origin rpy="0  0  0" xyz="0.13   0.22   0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <joint name="iris__rotor_3_joint" type="fixed">
+    <parent link="iris__base_link"/>
+    <child link="iris__rotor_3"/>
+    <origin rpy="0  0  0" xyz="-0.13  -0.2    0.023"/>
+    <axis xyz="0  0  1"/>
+    <limit effort="0.0" lower="-1e+16" upper="1e+16" velocity="0.0"/>
+  </joint>
+  <link name="iris__base_link">
+    <inertial>
+      <mass value="1.5"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="0.029125" ixy="0" ixz="0" iyy="0.029125" iyz="0" izz="0.055225"/>
+    </inertial>
+    <collision name="iris__base_link_inertia_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <box size="0.47 0.47 0.11"/>
+      </geometry>
+    </collision>
+    <visual name="iris__base_link_inertia_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris.stl" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__/imu_link">
+    <inertial>
+      <mass value="0.015"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="1e-05" ixy="0" ixz="0" iyy="1e-05" iyz="0" izz="1e-05"/>
+    </inertial>
+  </link>
+  <link name="iris__rotor_0">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_0_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_0_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__rotor_1">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0 0 0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_1_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_1_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_ccw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__rotor_2">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_2_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_2_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+  <link name="iris__rotor_3">
+    <inertial>
+      <mass value="0.005"/>
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <inertia ixx="9.75e-07" ixy="0" ixz="0" iyy="0.000273104" iyz="0" izz="0.000274004"/>
+    </inertial>
+    <collision name="iris__rotor_3_collision">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <cylinder length="0.005" radius="0.128"/>
+      </geometry>
+    </collision>
+    <visual name="iris__rotor_3_visual">
+      <origin rpy="0  0  0" xyz="0  0  0"/>
+      <geometry>
+        <mesh filename="package://iris_description/meshes/iris_prop_cw.dae" scale="1 1 1"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>