From fc84be4839fca6d3e34d8578985b40390960fb02 Mon Sep 17 00:00:00 2001 From: Carlos Mastalli <carlos.mastalli@laas.fr> Date: Mon, 15 Apr 2019 17:41:15 +0200 Subject: [PATCH] [icub] Added the Paris02 version with unit-test --- .../collision/icub_simple_collision_chest.dae | 68 + .../collision/icub_simple_collision_head.dae | 84 ++ .../icub_simple_collision_l_ankle_1.dae | 60 + .../collision/icub_simple_collision_l_arm.dae | 60 + .../icub_simple_collision_l_foot.dae | 60 + .../icub_simple_collision_l_forearm.dae | 60 + .../icub_simple_collision_l_hand.dae | 60 + .../icub_simple_collision_l_hip_1.dae | 60 + .../icub_simple_collision_l_hip_2.dae | 60 + .../icub_simple_collision_l_shank.dae | 60 + .../icub_simple_collision_l_shoulder_1.dae | 60 + .../icub_simple_collision_l_shoulder_2.dae | 35 + .../icub_simple_collision_l_thigh.dae | 60 + .../icub_simple_collision_lap_belt_1.dae | 67 + .../icub_simple_collision_neck_1.dae | 60 + .../icub_simple_collision_neck_2.dae | 60 + .../icub_simple_collision_r_ankle_1.dae | 60 + .../collision/icub_simple_collision_r_arm.dae | 60 + .../icub_simple_collision_r_foot.dae | 60 + .../icub_simple_collision_r_forearm.dae | 60 + .../icub_simple_collision_r_hand.dae | 60 + .../icub_simple_collision_r_hip_1.dae | 60 + .../icub_simple_collision_r_hip_2.dae | 60 + .../icub_simple_collision_r_shank.dae | 60 + .../icub_simple_collision_r_shoulder_1.dae | 60 + .../icub_simple_collision_r_shoulder_2.dae | 35 + .../icub_simple_collision_r_thigh.dae | 60 + .../icub_simple_collision_root_link.dae | 60 + .../meshes/upmc/visual/icub_chest.dae | 162 ++ .../meshes/upmc/visual/icub_head.dae | 156 ++ .../meshes/upmc/visual/icub_l_ankle_1.dae | 84 ++ .../meshes/upmc/visual/icub_l_arm.dae | 124 ++ .../meshes/upmc/visual/icub_l_foot.dae | 182 +++ .../meshes/upmc/visual/icub_l_forearm.dae | 124 ++ .../meshes/upmc/visual/icub_l_hand.dae | 84 ++ .../meshes/upmc/visual/icub_l_hip_1.dae | 84 ++ .../meshes/upmc/visual/icub_l_hip_2.dae | 84 ++ .../meshes/upmc/visual/icub_l_shank.dae | 124 ++ .../meshes/upmc/visual/icub_l_shoulder_1.dae | 84 ++ .../meshes/upmc/visual/icub_l_shoulder_2.dae | 84 ++ .../meshes/upmc/visual/icub_l_thigh.dae | 164 ++ .../meshes/upmc/visual/icub_lap_belt_1.dae | 95 ++ .../meshes/upmc/visual/icub_neck_1.dae | 84 ++ .../meshes/upmc/visual/icub_neck_2.dae | 84 ++ .../meshes/upmc/visual/icub_r_ankle_1.dae | 84 ++ .../meshes/upmc/visual/icub_r_arm.dae | 124 ++ .../meshes/upmc/visual/icub_r_foot.dae | 182 +++ .../meshes/upmc/visual/icub_r_forearm.dae | 124 ++ .../meshes/upmc/visual/icub_r_hand.dae | 84 ++ .../meshes/upmc/visual/icub_r_hip_1.dae | 84 ++ .../meshes/upmc/visual/icub_r_hip_2.dae | 84 ++ .../meshes/upmc/visual/icub_r_shank.dae | 124 ++ .../meshes/upmc/visual/icub_r_shoulder_1.dae | 84 ++ .../meshes/upmc/visual/icub_r_shoulder_2.dae | 84 ++ .../meshes/upmc/visual/icub_r_thigh.dae | 164 ++ .../meshes/upmc/visual/icub_root_link.dae | 84 ++ icub_description/robots/icub.urdf | 1332 +++++++++++++++++ unittest/test_load.py | 6 +- unittest/unittest_utils.py | 13 + 59 files changed, 6128 insertions(+), 1 deletion(-) create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_chest.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_head.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_ankle_1.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_arm.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_foot.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_forearm.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_hand.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_1.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_hip_2.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_shank.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_1.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_shoulder_2.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_l_thigh.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_lap_belt_1.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_neck_1.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_neck_2.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_r_ankle_1.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_r_arm.dae create mode 100644 icub_description/meshes/upmc/collision/icub_simple_collision_r_foot.dae create mode 100644 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create mode 100644 icub_description/meshes/upmc/visual/icub_r_ankle_1.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_arm.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_foot.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_forearm.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_hand.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_hip_1.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_hip_2.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_shank.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_shoulder_1.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_shoulder_2.dae create mode 100644 icub_description/meshes/upmc/visual/icub_r_thigh.dae create mode 100644 icub_description/meshes/upmc/visual/icub_root_link.dae create mode 100644 icub_description/robots/icub.urdf diff --git 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2157 2004 2156 5104 2207 5007 2311 5011 2876 5012 2877 5008 2312 5105 2208 5502 2878 2118 2878 2935 2878 2936 2879 2118 2879 5502 2879 2939 2880 2119 2881 2120 2882 2120 2882 2119 2881 2940 2883 2939 2880 2933 2884 2119 2881 2119 2881 2934 2885 2940 2883 5586 2886 2937 2886 2121 2886 2121 2887 2938 2887 5587 2887 5590 2888 5586 2888 2121 2888 2121 2889 5587 2889 5590 2889 2740 2374 3278 2292 4320 2375 4321 2378 3279 2293 2741 2379 5564 2890 2122 2890 2776 2890 2777 2891 2122 2891 5564 2891 2780 2892 2123 2893 2124 2894 2124 2894 2123 2893 2781 2895 2780 2892 2774 2896 2123 2893 2123 2893 2775 2897 2781 2895 5625 2898 2778 2898 2125 2898 2125 2899 2779 2899 5626 2899 5629 2900 5625 2900 2125 2900 2125 2901 5626 2901 5629 2901 4235 1981 4555 2045 4559 2902 4560 2903 4556 2046 4236 1984 5603 2904 2127 2904 2770 2904 2771 2905 2127 2905 5603 2905 2766 2906 2128 2907 2129 2908 2129 2908 2128 2907 2767 2909 2768 2910 2128 2907 2766 2906 2767 2909 2128 2907 2769 2911 2074 2912 2772 2912 2130 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2014 4898 2949 4876 2015 4877 2018 4899 2950 5220 2019 1955 1883 1964 1885 3078 2297 3079 2298 1965 1886 1956 1888 5152 2443 5148 2951 5114 1960 5115 1965 5149 2952 5153 2446 5293 2064 1987 2953 2592 2127 2593 2132 1988 2954 5294 2065 5126 2766 5122 2955 5106 2206 5107 2209 5123 2956 5127 2767 4696 2957 4636 2957 4642 2957 4643 2958 4637 2958 4697 2958 4696 2959 4690 2959 4636 2959 4637 2960 4691 2960 4697 2960 2561 2592 5496 2961 2135 2547 2136 2548 5497 2962 2562 2593 5350 2117 5256 2119 5344 2570 5345 2573 5257 2120 5351 2122 5534 1992 4953 1993 2302 2493 2303 2496 4954 1994 5535 1995 2547 2578 4666 2580 4672 2963 4673 2964 4667 2581 2548 2583 1930 2965 2041 2966 1928 2967 1929 2968 2042 2969 1931 2970 1934 2141 2515 2328 5162 2327 5162 2327 2516 2330 1935 2146 4718 2971 4714 2971 4670 2971 4671 2972 4715 2972 4719 2972 4696 2973 4642 2973 4644 2973 4645 2974 4643 2974 4697 2974 4459 2673 4457 2975 4429 2674 4430 2675 4458 2976 4460 2676 5293 2064 5075 2602 5079 2977 5080 2978 5076 2603 5294 2065 1987 2953 2565 2199 2592 2127 2593 2132 2566 2202 1988 2954 2206 2979 2156 2980 2196 2981 2197 2982 2157 2983 2207 2984 3848 2985 2152 2986 2200 2987 2201 2988 2153 2989 3849 2990 1987 2953 3778 2006 2565 2199 2566 2202 3779 2011 1988 2954 2196 2981 2156 2980 2160 2991 2161 2992 2157 2983 2197 2982 2170 2993 2158 2993 2150 2993 2151 2994 2159 2994 2171 2994 2196 2981 2160 2991 2194 2995 2195 2996 2161 2992 2197 2982 3864 2997 2166 2998 2172 2999 2173 3000 2167 3001 3865 3002 5414 2539 4913 3003 4917 3004 4918 3005 4914 3006 5415 2540 3860 3007 3536 3008 2168 3009 2169 3010 3537 3011 3861 3012 3644 3013 2164 3014 3588 3015 3589 3016 2165 3017 3645 3018 3860 3007 2168 3009 3856 3019 3857 3020 2169 3010 3861 3012 3864 2997 3854 3021 2166 2998 2167 3001 3855 3022 3865 3002 3778 2006 3420 2501 2565 2199 2566 2202 3421 2502 3779 2011 3778 2006 5534 1992 2302 2493 2303 2496 5535 1995 3779 2011 3872 3023 2172 2999 2176 3024 2177 3025 2173 3000 3873 3026 2003 2155 4903 3027 5274 2489 5275 2492 4904 3028 2004 2156 3872 3023 3864 2997 2172 2999 2173 3000 3865 3002 3873 3026 3778 2006 2302 2493 3420 2501 3421 2502 2303 2496 3779 2011 5295 3029 2126 3030 1955 1883 1956 1888 2126 3030 5295 3029 3876 3031 3872 3023 2176 3024 2177 3025 3873 3026 3877 3032 5063 2055 5061 2625 4973 2056 4974 2057 5062 2626 5064 2058 4730 3033 4728 3033 4656 3033 4657 3034 4729 3034 4731 3034 5025 2370 5019 3035 5021 3036 5022 3037 5020 3038 5026 2371 2202 3039 2188 3040 2180 3041 2181 3042 2189 3043 2203 3044 2212 3045 2182 3046 2190 3047 2191 3048 2183 3049 2213 3050 3886 3051 2204 3052 2184 3053 2185 3054 2205 3055 3887 3056 3900 3057 2186 3058 2210 3059 2211 3060 2187 3061 3901 3062 3890 3063 3886 3051 2184 3053 2185 3054 3887 3056 3891 3064 3900 3057 3892 3065 2186 3058 2187 3061 3893 3066 3901 3062 2196 2981 2192 3067 2188 3040 2189 3043 2193 3068 2197 2982 2212 3045 2190 3047 2216 3069 2217 3070 2191 3048 2213 3050 2198 3071 2196 2981 2188 3040 2189 3043 2197 2982 2199 3072 2202 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3109 3917 3110 2521 3111 5199 3111 5203 3111 5204 3112 5200 3112 2522 3112 3916 3105 3912 3113 2228 3106 2229 3109 3913 3114 3917 3110 5122 2955 5118 2028 5108 2029 5109 2030 5119 2031 5123 2956 3908 3099 3902 3115 2242 3100 2243 3103 3903 3116 3909 3104 2262 3117 2244 3118 2250 3119 2251 3120 2245 3121 2263 3122 2276 3123 2244 3118 2262 3117 2263 3122 2245 3121 2277 3124 3918 3125 2248 3126 2278 3127 2279 3128 2249 3129 3919 3130 2266 3131 2250 3119 2254 3132 2255 3133 2251 3120 2267 3134 2266 3131 2262 3117 2250 3119 2251 3120 2263 3122 2267 3134 2270 3135 2266 3131 2254 3132 2255 3133 2267 3134 2271 3136 2276 3123 2262 3117 2256 3137 2257 3138 2263 3122 2277 3124 2288 3139 2258 3140 2264 3141 2265 3142 2259 3143 2289 3144 3923 3145 2278 3127 2260 3146 2261 3147 2279 3128 3924 3148 2740 2374 5120 3149 5124 2940 5125 2941 5121 3150 2741 2379 3927 3151 3923 3145 2260 3146 2261 3147 3924 3148 3928 3152 2294 3153 2264 3141 2268 3154 2269 3155 2265 3142 2295 3156 2294 3153 2288 3139 2264 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3283 2369 3284 2367 3285 2392 3286 2391 3281 2360 3287 2366 3282 2367 3285 2361 3288 2392 3286 2011 2321 5132 2323 5136 3289 5137 3290 5133 2324 2012 2326 2395 3291 2368 3283 2372 3292 2373 3293 2369 3284 2396 3294 2395 3291 2391 3281 2368 3283 2369 3284 2392 3286 2396 3294 2401 3295 2372 3292 2376 3296 2377 3297 2373 3293 2402 3298 2401 3295 2395 3291 2372 3292 2373 3293 2396 3294 2402 3298 2409 3299 2376 3296 2380 3300 2381 3301 2377 3297 2410 3302 2405 3303 2401 3295 2376 3296 2377 3297 2402 3298 2406 3304 2409 3299 2405 3303 2376 3296 2377 3297 2406 3304 2410 3302 5293 2064 4587 3305 1987 2953 1988 2954 4588 3306 5294 2065 3842 1948 2112 1950 2586 2032 2587 2037 2113 1951 3843 1953 1934 2141 5162 2327 4751 2453 4752 2455 5162 2327 1935 2146 3963 3275 3957 3307 2386 3276 2387 3279 3958 3308 3964 3280 2836 2528 2513 2527 3186 3309 3187 3310 2514 2530 2837 2529 3400 2709 2388 2711 2393 3311 2394 3312 2388 2711 3401 2712 3971 3313 2419 3313 2389 3313 2390 3314 2420 3315 3972 3316 2415 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target="#iCub_inner_primary-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + <node id="r_arm_cyl_mesh" name="r_arm_cyl_mesh" type="NODE"> + <instance_geometry url="#Cylinder_009-mesh"> + <bind_material> + <technique_common> + <instance_material symbol="iCub_inner_secondary-material" target="#iCub_inner_secondary-material"/> + <instance_material symbol="iCub_inner_primary-material" target="#iCub_inner_primary-material"/> + </technique_common> + </bind_material> + </instance_geometry> + </node> + </node> + </visual_scene> + </library_visual_scenes> + <scene><instance_visual_scene url="#scene_r_arm"/></scene></COLLADA> diff --git a/icub_description/meshes/upmc/visual/icub_r_foot.dae b/icub_description/meshes/upmc/visual/icub_r_foot.dae new file mode 100644 index 0000000..28eb76e --- /dev/null +++ b/icub_description/meshes/upmc/visual/icub_r_foot.dae @@ -0,0 +1,182 @@ +<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1"> + 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link="codyco_balancing_world" /> + </joint> + <joint name="neck_yaw" type="revolute"> + <origin xyz="-5.77779e-34 0 0" rpy="-1.5708 -1.11022e-16 1.5708" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="neck_2" /> + <child link="head" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="-0.959931" upper="0.959931" /> + </joint> + <joint name="imu_frame_fixed_joint" type="fixed"> + <origin xyz="0.0185 -0.1108 0.0066" rpy="1.5708 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="head" /> + <child link="imu_frame" /> + </joint> + <joint name="l_ankle_pitch" type="revolute"> + <origin xyz="-0.213 0 0" rpy="-1.5708 0 0" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="l_lower_leg" /> + <child link="l_ankle_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="24" velocity="100" lower="-0.733038" upper="0.366519" /> + </joint> + <joint name="l_ankle_roll" type="revolute"> + <origin xyz="0 0 0" rpy="0 -1.5708 0" /> + <axis xyz="1 0 0" /> + <parent link="l_ankle_1" /> + <child link="l_ankle_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="11" velocity="100" lower="-0.418879" upper="0.418879" /> + </joint> + <joint name="l_elbow" type="revolute"> + <origin xyz="0 0 0.08428" rpy="-6.12323e-17 0 0" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_upper_arm" /> + <child link="l_elbow_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="0.0959931" upper="1.85005" /> + </joint> + <joint name="l_foot_ft_sensor" type="fixed"> + <origin xyz="0.008 0 0.0553" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_ankle_2" /> + <child link="l_foot" /> + </joint> + <joint name="l_foot_dh_frame_fixed_joint" type="fixed"> + <origin xyz="-0.0263 0 -0.0143" rpy="0 1.5708 -0" /> + <axis xyz="0 0 0" /> + <parent link="l_foot" /> + <child link="l_foot_dh_frame" /> + </joint> + <joint name="l_wrist_prosup" type="revolute"> + <origin xyz="-0.015 0 0" rpy="1.5708 -1.11022e-16 -1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_elbow_1" /> + <child link="l_forearm" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.45" velocity="100" lower="-0.872665" upper="0.872665" /> + </joint> + <joint name="l_forearm_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0 0.1373 8.4072e-18" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_forearm" /> + <child link="l_forearm_dh_frame" /> + </joint> + <joint name="l_gripper_joint" type="fixed"> + <origin xyz="0.0625 0 -0.016" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_hand" /> + <child link="l_gripper" /> + </joint> + <joint name="l_wrist_yaw" type="revolute"> + <origin xyz="0 0 0" rpy="0 -0 0" /> + <axis xyz="0 0 1" /> + <parent link="l_wrist_1" /> + <child link="l_hand" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-0.436332" upper="0.436332" /> + </joint> + <joint name="l_hand_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0.0625 0 -0.016" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_hand" /> + <child link="l_hand_dh_frame" /> + </joint> + <joint name="l_hip_pitch" type="revolute"> + <origin xyz="0 -0.0681 -0.1199" rpy="0 1.5708 -3.14159" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="root_link" /> + <child link="l_hip_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-0.767945" upper="2.30383" /> + </joint> + <joint name="l_hip_roll" type="revolute"> + <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" /> + <axis xyz="1 0 -6.12323e-17" /> + <parent link="l_hip_1" /> + <child link="l_hip_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-2.07694" upper="0.296706" /> + </joint> + <joint name="l_leg_ft_sensor" type="fixed"> + <origin xyz="0 0 0.0665" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_hip_2" /> + <child link="l_hip_3" /> + </joint> + <joint name="l_knee" type="revolute"> + <origin xyz="0 -0.2236 -1.36916e-17" rpy="3.14159 -1.2326e-32 1.5708" /> + <axis xyz="0 1.22465e-16 -1" /> + <parent link="l_upper_leg" /> + <child link="l_lower_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="30" velocity="100" lower="-2.18166" upper="0.401426" /> + </joint> + <joint name="l_shoulder_pitch" type="revolute"> + <origin xyz="0.00525 0.1433 -0.11026" rpy="1.309 5.55112e-17 1.5708" /> + <axis xyz="0 -1 5.55112e-17" /> + <parent link="chest" /> + <child link="l_shoulder_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-1.65806" upper="0.0872665" /> + </joint> + <joint name="l_shoulder_roll" type="revolute"> + <origin xyz="0 0 0" rpy="1.5708 -1.11022e-16 -1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_shoulder_1" /> + <child link="l_shoulder_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="0" upper="2.80649" /> + </joint> + <joint name="l_shoulder_yaw" type="revolute"> + <origin xyz="4.33681e-19 1.73472e-18 0" rpy="6.12323e-17 -0 1.309" /> + <axis xyz="0 6.12323e-17 1" /> + <parent link="l_shoulder_2" /> + <child link="l_shoulder_3" /> + <dynamics damping="1" friction="0" /> + <limit effort="34" velocity="100" lower="-0.645772" upper="1.74533" /> + </joint> + <joint name="l_sole_fixed_joint" type="fixed"> + <origin xyz="-0.0263 -5.66898e-35 -0.0143" rpy="3.14159 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_foot" /> + <child link="l_sole" /> + </joint> + <joint name="l_arm_ft_sensor" type="fixed"> + <origin xyz="0.015 9.36797e-18 0.068" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_shoulder_3" /> + <child link="l_upper_arm" /> + </joint> + <joint name="l_upper_arm_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0 0 0.08428" rpy="-1.5708 0 0" /> + <axis xyz="0 0 0" /> + <parent link="l_upper_arm" /> + <child link="l_upper_arm_dh_frame" /> + </joint> + <joint name="l_hip_yaw" type="revolute"> + <origin xyz="0 0 -0.0665" rpy="-1.5708 -6.16298e-33 -6.12323e-17" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_hip_3" /> + <child link="l_upper_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="40" velocity="100" lower="-1.37881" upper="1.37881" /> + </joint> + <joint name="l_wrist_pitch" type="revolute"> + <origin xyz="0 0.1373 8.4072e-18" rpy="1.5708 1.11022e-16 1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="l_forearm" /> + <child link="l_wrist_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-1.13446" upper="0.174533" /> + </joint> + <joint name="neck_pitch" type="revolute"> + <origin xyz="0.00231 0.1933 -1.18362e-17" rpy="1.5708 1.11022e-16 1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="chest" /> + <child link="neck_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="-0.698132" upper="0.523599" /> + </joint> + <joint name="neck_roll" type="revolute"> + <origin xyz="0.0095 0 0" rpy="-1.5708 1.11022e-16 -1.5708" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="neck_1" /> + <child link="neck_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="-1.22173" upper="1.0472" /> + </joint> + <joint name="r_ankle_pitch" type="revolute"> + <origin xyz="-0.213 0 0" rpy="1.5708 -0 0" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_lower_leg" /> + <child link="r_ankle_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="24" velocity="100" lower="-0.733038" upper="0.366519" /> + </joint> + <joint name="r_ankle_roll" type="revolute"> + <origin xyz="0 0 0" rpy="0 1.5708 3.14159" /> + <axis xyz="-1 1.22465e-16 0" /> + <parent link="r_ankle_1" /> + <child link="r_ankle_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="11" velocity="100" lower="-0.418879" upper="0.418879" /> + </joint> + <joint name="r_elbow" type="revolute"> + <origin xyz="0 0 0.08428" rpy="3.14159 -0 3.14159" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_upper_arm" /> + <child link="r_elbow_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="20" velocity="100" lower="0.0959931" upper="1.85005" /> + </joint> + <joint name="r_foot_ft_sensor" type="fixed"> + <origin xyz="0.008 0 0.0553" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_ankle_2" /> + <child link="r_foot" /> + </joint> + <joint name="r_foot_dh_frame_fixed_joint" type="fixed"> + <origin xyz="-0.0263 0 -0.0143" rpy="0 1.5708 -0" /> + <axis xyz="0 0 0" /> + <parent link="r_foot" /> + <child link="r_foot_dh_frame" /> + </joint> + <joint name="r_wrist_prosup" type="revolute"> + <origin xyz="0.015 0 0" rpy="1.5708 -1.11022e-16 -1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_elbow_1" /> + <child link="r_forearm" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.45" velocity="100" lower="-0.872665" upper="0.872665" /> + </joint> + <joint name="r_forearm_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0 -0.1373 -8.4072e-18" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_forearm" /> + <child link="r_forearm_dh_frame" /> + </joint> + <joint name="r_gripper_joint" type="fixed"> + <origin xyz="0.0625 0 0.016" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_hand" /> + <child link="r_gripper" /> + </joint> + <joint name="r_wrist_yaw" type="revolute"> + <origin xyz="0 0 0" rpy="0 -0 3.14159" /> + <axis xyz="0 0 1" /> + <parent link="r_wrist_1" /> + <child link="r_hand" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-0.436332" upper="0.436332" /> + </joint> + <joint name="r_hand_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0.0625 0 0.016" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_hand" /> + <child link="r_hand_dh_frame" /> + </joint> + <joint name="r_hip_pitch" type="revolute"> + <origin xyz="0 0.0681 -0.1199" rpy="0 1.5708 6.12323e-17" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="root_link" /> + <child link="r_hip_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-0.767945" upper="2.30383" /> + </joint> + <joint name="r_hip_roll" type="revolute"> + <origin xyz="0 0 0" rpy="0 1.5708 -6.12323e-17" /> + <axis xyz="-1 0 6.12323e-17" /> + <parent link="r_hip_1" /> + <child link="r_hip_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-2.07694" upper="0.296706" /> + </joint> + <joint name="r_leg_ft_sensor" type="fixed"> + <origin xyz="0 0 0.0665" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_hip_2" /> + <child link="r_hip_3" /> + </joint> + <joint name="r_knee" type="revolute"> + <origin xyz="0 -0.2236 1.36916e-17" rpy="3.14159 -1.2326e-32 1.5708" /> + <axis xyz="0 1.22465e-16 -1" /> + <parent link="r_upper_leg" /> + <child link="r_lower_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="30" velocity="100" lower="-2.18166" upper="0.401426" /> + </joint> + <joint name="r_shoulder_pitch" type="revolute"> + <origin xyz="0.00525 0.1433 0.11026" rpy="-1.309 -0 1.5708" /> + <axis xyz="0 1 5.55112e-17" /> + <parent link="chest" /> + <child link="r_shoulder_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="-1.65806" upper="0.0872665" /> + </joint> + <joint name="r_shoulder_roll" type="revolute"> + <origin xyz="0 0 0" rpy="-1.5708 1.11022e-16 -1.5708" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="r_shoulder_1" /> + <child link="r_shoulder_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="84" velocity="100" lower="0" upper="2.80649" /> + </joint> + <joint name="r_shoulder_yaw" type="revolute"> + <origin xyz="-4.33681e-19 0 0" rpy="3.14159 -0 1.309" /> + <axis xyz="0 6.12323e-17 -1" /> + <parent link="r_shoulder_2" /> + <child link="r_shoulder_3" /> + <dynamics damping="1" friction="0" /> + <limit effort="34" velocity="100" lower="-0.645772" upper="1.74533" /> + </joint> + <joint name="r_sole_fixed_joint" type="fixed"> + <origin xyz="-0.0263 -1.38778e-17 -0.0143" rpy="3.14159 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_foot" /> + <child link="r_sole" /> + </joint> + <joint name="r_arm_ft_sensor" type="fixed"> + <origin xyz="0.015 -8.93429e-18 0.068" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="r_shoulder_3" /> + <child link="r_upper_arm" /> + </joint> + <joint name="r_upper_arm_dh_frame_fixed_joint" type="fixed"> + <origin xyz="0 0 0.08428" rpy="1.5708 -0 3.14159" /> + <axis xyz="0 0 0" /> + <parent link="r_upper_arm" /> + <child link="r_upper_arm_dh_frame" /> + </joint> + <joint name="r_hip_yaw" type="revolute"> + <origin xyz="0 0 -0.0665" rpy="-1.5708 -6.16298e-33 6.12323e-17" /> + <axis xyz="0 -1 6.12323e-17" /> + <parent link="r_hip_3" /> + <child link="r_upper_leg" /> + <dynamics damping="1" friction="0" /> + <limit effort="40" velocity="100" lower="-1.37881" upper="1.37881" /> + </joint> + <joint name="r_wrist_pitch" type="revolute"> + <origin xyz="0 -0.1373 -8.4072e-18" rpy="1.5708 1.11022e-16 1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="r_forearm" /> + <child link="r_wrist_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="0.65" velocity="100" lower="-1.13446" upper="0.174533" /> + </joint> + <joint name="base_fixed_joint" type="fixed"> + <origin xyz="0 0 0" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="base_link" /> + <child link="root_link" /> + </joint> + <joint name="torso_joint" type="fixed"> + <origin xyz="0.00231 0.1933 -1.18362e-17" rpy="0 -0 0" /> + <axis xyz="0 0 0" /> + <parent link="chest" /> + <child link="torso" /> + </joint> + <joint name="torso_pitch" type="revolute"> + <origin xyz="0 0 0" rpy="0 -1.5708 3.14159" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="root_link" /> + <child link="torso_1" /> + <dynamics damping="1" friction="0" /> + <limit effort="36" velocity="100" lower="-0.383972" upper="1.46608" /> + </joint> + <joint name="torso_roll" type="revolute"> + <origin xyz="0.032 -2.67276e-51 0" rpy="1.5708 -1.11022e-16 -1.5708" /> + <axis xyz="0 1 6.12323e-17" /> + <parent link="torso_1" /> + <child link="torso_2" /> + <dynamics damping="1" friction="0" /> + <limit effort="80" velocity="100" lower="-0.680678" upper="0.680678" /> + </joint> + <gazebo reference="l_arm_ft_sensor"> + <sensor name="left_arm_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="r_arm_ft_sensor"> + <sensor name="right_arm_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="l_leg_ft_sensor"> + <sensor name="left_leg_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="r_leg_ft_sensor"> + <sensor name="right_leg_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="l_foot_ft_sensor"> + <sensor name="left_foot_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <gazebo reference="r_foot_ft_sensor"> + <sensor name="right_foot_ft" type="force_torque"> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + <update_rate>100</update_rate> + <always_on>1</always_on> + </sensor> + </gazebo> + <sensor type="force_torque" name="l_arm_ft_sensor"> + <parent joint="l_arm_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="r_arm_ft_sensor"> + <parent joint="r_arm_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="l_leg_ft_sensor"> + <parent joint="l_leg_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="r_leg_ft_sensor"> + <parent joint="r_leg_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="l_foot_ft_sensor"> + <parent joint="l_foot_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> + <sensor type="force_torque" name="r_foot_ft_sensor"> + <parent joint="r_foot_ft_sensor" /> + <force_torque> + <frame>child</frame> + <measure_direction>child_to_parent</measure_direction> + </force_torque> + </sensor> +</robot> diff --git a/unittest/test_load.py b/unittest/test_load.py index 545f03e..e2c5d9d 100755 --- a/unittest/test_load.py +++ b/unittest/test_load.py @@ -2,7 +2,7 @@ import unittest -from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand +from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand, loadICub class RobotTestCase(unittest.TestCase): @@ -57,6 +57,10 @@ class TiagoNoHandTest(RobotTestCase): RobotTestCase.NQ = 14 RobotTestCase.NV = 12 +class ICubTest(RobotTestCase): + RobotTestCase.ROBOT = loadICub() + RobotTestCase.NQ = 39 + RobotTestCase.NV = 38 if __name__ == '__main__': unittest.main() diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py index cb93bec..bcf7d64 100644 --- a/unittest/unittest_utils.py +++ b/unittest/unittest_utils.py @@ -103,3 +103,16 @@ def loadTiagoNoHand(): # Load SRDF file # readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False) return robot + +def loadICub(): + URDF_FILENAME = "icub.urdf" +# SRDF_FILENAME = "icub.srdf" +# SRDF_SUBPATH = "/icub_description/srdf/" + SRDF_FILENAME + URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME + modelPath = getModelPath(URDF_SUBPATH) + # Load URDF file + robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath], + pinocchio.JointModelFreeFlyer()) + # Load SRDF file +# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False) + return robot -- GitLab