From 46b46426c5cc324de1cae4cb35b6b1596dfd66a5 Mon Sep 17 00:00:00 2001
From: Steve Tonneau <stonneau@axle.laas.fr>
Date: Tue, 6 Oct 2015 17:59:42 +0200
Subject: [PATCH] rom generation for hyq
---
CMakeLists.txt | 25 ++++++++++++++++++++++---
data/meshes/hyq/hyq_lfleg_rom.stl | Bin 0 -> 1184 bytes
data/meshes/hyq/hyq_lhleg_rom.stl | Bin 0 -> 1284 bytes
data/meshes/hyq/hyq_rfleg_rom.stl | Bin 0 -> 1284 bytes
data/meshes/hyq/hyq_rhleg_rom.stl | Bin 0 -> 1284 bytes
data/meshes/hyq/hyq_rom.stl | Bin 0 -> 4784 bytes
data/meshes/hyq/hyq_trunk.stl | Bin 0 -> 684 bytes
data/srdf/hyq/hrp2_trunk.srdf | 18 ++++++++++++++++++
data/srdf/hyq/hyq_lfleg_rom.srdf | 3 +++
data/srdf/hyq/hyq_lhleg_rom.srdf | 3 +++
data/srdf/hyq/hyq_rfleg_rom.srdf | 3 +++
data/srdf/hyq/hyq_rhleg_rom.srdf | 3 +++
data/srdf/hyq/hyq_rom.srdf | 3 +++
data/srdf/hyq/hyq_trunk.srdf | 3 +++
data/urdf/hyq/hyq_lfleg_rom.urdf | 19 +++++++++++++++++++
data/urdf/hyq/hyq_lhleg_rom.urdf | 19 +++++++++++++++++++
data/urdf/hyq/hyq_rfleg_rom.urdf | 19 +++++++++++++++++++
data/urdf/hyq/hyq_rhleg_rom.urdf | 19 +++++++++++++++++++
data/urdf/hyq/hyq_rom.urdf | 19 +++++++++++++++++++
data/urdf/hyq/hyq_trunk.urdf | 19 +++++++++++++++++++
20 files changed, 172 insertions(+), 3 deletions(-)
create mode 100644 data/meshes/hyq/hyq_lfleg_rom.stl
create mode 100644 data/meshes/hyq/hyq_lhleg_rom.stl
create mode 100644 data/meshes/hyq/hyq_rfleg_rom.stl
create mode 100644 data/meshes/hyq/hyq_rhleg_rom.stl
create mode 100644 data/meshes/hyq/hyq_rom.stl
create mode 100644 data/meshes/hyq/hyq_trunk.stl
create mode 100644 data/srdf/hyq/hrp2_trunk.srdf
create mode 100644 data/srdf/hyq/hyq_lfleg_rom.srdf
create mode 100644 data/srdf/hyq/hyq_lhleg_rom.srdf
create mode 100644 data/srdf/hyq/hyq_rfleg_rom.srdf
create mode 100644 data/srdf/hyq/hyq_rhleg_rom.srdf
create mode 100644 data/srdf/hyq/hyq_rom.srdf
create mode 100644 data/srdf/hyq/hyq_trunk.srdf
create mode 100644 data/urdf/hyq/hyq_lfleg_rom.urdf
create mode 100644 data/urdf/hyq/hyq_lhleg_rom.urdf
create mode 100644 data/urdf/hyq/hyq_rfleg_rom.urdf
create mode 100644 data/urdf/hyq/hyq_rhleg_rom.urdf
create mode 100644 data/urdf/hyq/hyq_rom.urdf
create mode 100644 data/urdf/hyq/hyq_trunk.urdf
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1119fd11..4ce522c4 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,6 +68,12 @@ install(FILES
data/urdf/hrp2_rarm_rom.urdf
data/urdf/hrp2_lleg_rom.urdf
data/urdf/hrp2_rleg_rom.urdf
+ data/urdf/hyq/hyq_trunk.urdf
+ data/urdf/hyq/hyq_rhleg_rom.urdf
+ data/urdf/hyq/hyq_rfleg_rom.urdf
+ data/urdf/hyq/hyq_lhleg_rom.urdf
+ data/urdf/hyq/hyq_lfleg_rom.urdf
+ data/urdf/hyq/hyq_rom.urdf
data/urdf/box_rom.urdf
data/urdf/box.urdf
data/urdf/scene.urdf
@@ -88,6 +94,12 @@ install(FILES
data/srdf/hrp2_rarm_rom.srdf
data/srdf/hrp2_lleg_rom.srdf
data/srdf/hrp2_rleg_rom.srdf
+ data/srdf/hyq/hyq_trunk.srdf
+ data/srdf/hyq/hyq_rhleg_rom.srdf
+ data/srdf/hyq/hyq_rfleg_rom.srdf
+ data/srdf/hyq/hyq_lhleg_rom.srdf
+ data/srdf/hyq/hyq_lfleg_rom.srdf
+ data/srdf/hyq/hyq_rom.srdf
data/srdf/box_rom.srdf
data/srdf/box.srdf
data/srdf/scene.srdf
@@ -121,14 +133,21 @@ install(FILES
data/meshes/truck.stl
data/meshes/truck_vision.stl
data/meshes/stair_bauzil.stl
- data/meshes/stair_bauzil_reduced.stl
+ data/meshes/stair_bauzil_reduced.stl
data/meshes/climb.stl
data/meshes/stepladder.stl
data/meshes/chair.stl
- #~ data/meshes/pedal.stl
- #~ data/meshes/board.stl
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
)
+install(FILES
+ data/meshes/hyq/hyq_trunk.stl
+ data/meshes/hyq/hyq_rom.stl
+ data/meshes/hyq/hyq_rhleg_rom.stl
+ data/meshes/hyq/hyq_rfleg_rom.stl
+ data/meshes/hyq/hyq_lhleg_rom.stl
+ data/meshes/hyq/hyq_lfleg_rom.stl
+ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/hyq
+ )
SETUP_PROJECT_FINALIZE()
diff --git a/data/meshes/hyq/hyq_lfleg_rom.stl b/data/meshes/hyq/hyq_lfleg_rom.stl
new file mode 100644
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GIT binary patch
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diff --git a/data/meshes/hyq/hyq_lhleg_rom.stl b/data/meshes/hyq/hyq_lhleg_rom.stl
new file mode 100644
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GIT binary patch
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diff --git a/data/meshes/hyq/hyq_rfleg_rom.stl b/data/meshes/hyq/hyq_rfleg_rom.stl
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diff --git a/data/meshes/hyq/hyq_rhleg_rom.stl b/data/meshes/hyq/hyq_rhleg_rom.stl
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diff --git a/data/meshes/hyq/hyq_rom.stl b/data/meshes/hyq/hyq_rom.stl
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literal 0
HcmV?d00001
diff --git a/data/meshes/hyq/hyq_trunk.stl b/data/meshes/hyq/hyq_trunk.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7a4496b679fedfafc5df37d670896a80d68d4108
GIT binary patch
literal 684
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z`wuhEwmY@u(q1TgA2QqJX@?z1EryPLAQ`9*J7hLUH%JEq!~g&F_8=CTDtnN9P#s`4
zRvmB|m~N0N7#pM;WO4)8d=QJH&KIl$Bm-r`TnG{e`w65DLkCy}ssk1ZARS;ofpmcV
z0S+&y?Z`S%*dV(xbb!o)xdar_C~T0QAUYsq!+tb7Ksr!dg;fX04rEm@SAlec*$~qq
iWP?4_w=kE0b%WdvwHwLjNIF1ffn}hokadIE3=9A<TkDVj
literal 0
HcmV?d00001
diff --git a/data/srdf/hyq/hrp2_trunk.srdf b/data/srdf/hyq/hrp2_trunk.srdf
new file mode 100644
index 00000000..8538107d
--- /dev/null
+++ b/data/srdf/hyq/hrp2_trunk.srdf
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot name="hrp2_trunk">
+ <handle name="handle">
+ <position> 0 0 0 1 0 0 0 </position>
+ <link name="base_link"/>
+ </handle>
+ <handle name="handle2">
+ <position> 0 0 0
+ 0 0 0.7071067811865476 0.7071067811865476 </position>
+ <link name="base_link"/>
+ </handle>
+ <contact name="box_surface">
+ <link name="base_link"/>
+ <point>-0.025 -0.025 -0.025 -0.025 0.025 -0.025 -0.025 -0.025 0.025 -0.025 0.025 0.025
+ +0.025 -0.025 -0.025 +0.025 0.025 -0.025 +0.025 -0.025 0.025 +0.025 0.025 0.025 </point>
+ <triangle> 0 2 1 4 5 6</triangle>
+ </contact>
+</robot>
diff --git a/data/srdf/hyq/hyq_lfleg_rom.srdf b/data/srdf/hyq/hyq_lfleg_rom.srdf
new file mode 100644
index 00000000..fa4c1859
--- /dev/null
+++ b/data/srdf/hyq/hyq_lfleg_rom.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="hyq_lfleg_rom">
+</robot>
diff --git a/data/srdf/hyq/hyq_lhleg_rom.srdf b/data/srdf/hyq/hyq_lhleg_rom.srdf
new file mode 100644
index 00000000..f4dde37c
--- /dev/null
+++ b/data/srdf/hyq/hyq_lhleg_rom.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="hyq_lhleg_rom">
+</robot>
diff --git a/data/srdf/hyq/hyq_rfleg_rom.srdf b/data/srdf/hyq/hyq_rfleg_rom.srdf
new file mode 100644
index 00000000..268ca1c4
--- /dev/null
+++ b/data/srdf/hyq/hyq_rfleg_rom.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="hyq_rfleg_rom">
+</robot>
diff --git a/data/srdf/hyq/hyq_rhleg_rom.srdf b/data/srdf/hyq/hyq_rhleg_rom.srdf
new file mode 100644
index 00000000..af6533b8
--- /dev/null
+++ b/data/srdf/hyq/hyq_rhleg_rom.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="hyq_rhleg_rom">
+</robot>
diff --git a/data/srdf/hyq/hyq_rom.srdf b/data/srdf/hyq/hyq_rom.srdf
new file mode 100644
index 00000000..a12ec4ca
--- /dev/null
+++ b/data/srdf/hyq/hyq_rom.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="hyq_rom">
+</robot>
diff --git a/data/srdf/hyq/hyq_trunk.srdf b/data/srdf/hyq/hyq_trunk.srdf
new file mode 100644
index 00000000..6a54df5c
--- /dev/null
+++ b/data/srdf/hyq/hyq_trunk.srdf
@@ -0,0 +1,3 @@
+<?xml version="1.0"?>
+<robot name="hyq_trunk">
+</robot>
diff --git a/data/urdf/hyq/hyq_lfleg_rom.urdf b/data/urdf/hyq/hyq_lfleg_rom.urdf
new file mode 100644
index 00000000..6dd3d6dc
--- /dev/null
+++ b/data/urdf/hyq/hyq_lfleg_rom.urdf
@@ -0,0 +1,19 @@
+<robot name="hyq_lfleg_rom">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lfleg_rom.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lfleg_rom.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/hyq/hyq_lhleg_rom.urdf b/data/urdf/hyq/hyq_lhleg_rom.urdf
new file mode 100644
index 00000000..5e335b3d
--- /dev/null
+++ b/data/urdf/hyq/hyq_lhleg_rom.urdf
@@ -0,0 +1,19 @@
+ <robot name="hyq_lhleg_rom">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lhleg_rom.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_lhleg_rom.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/hyq/hyq_rfleg_rom.urdf b/data/urdf/hyq/hyq_rfleg_rom.urdf
new file mode 100644
index 00000000..dd444d2c
--- /dev/null
+++ b/data/urdf/hyq/hyq_rfleg_rom.urdf
@@ -0,0 +1,19 @@
+ <robot name="hyq_rfleg_rom">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rfleg_rom.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rfleg_rom.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/hyq/hyq_rhleg_rom.urdf b/data/urdf/hyq/hyq_rhleg_rom.urdf
new file mode 100644
index 00000000..877a9bb5
--- /dev/null
+++ b/data/urdf/hyq/hyq_rhleg_rom.urdf
@@ -0,0 +1,19 @@
+ <robot name="hyq_rhleg_rom">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rhleg_rom.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rhleg_rom.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/hyq/hyq_rom.urdf b/data/urdf/hyq/hyq_rom.urdf
new file mode 100644
index 00000000..501db77b
--- /dev/null
+++ b/data/urdf/hyq/hyq_rom.urdf
@@ -0,0 +1,19 @@
+<robot name="hyq_rom">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rom.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_rom.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
diff --git a/data/urdf/hyq/hyq_trunk.urdf b/data/urdf/hyq/hyq_trunk.urdf
new file mode 100644
index 00000000..07a83bd6
--- /dev/null
+++ b/data/urdf/hyq/hyq_trunk.urdf
@@ -0,0 +1,19 @@
+<robot name="hyq_trunk">
+ <link name="base_link">
+ <visual>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk.stl"/>
+ </geometry>
+ <material name="white">
+ <color rgba="1 1 1 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin xyz="0 0 0" rpy="0 0 0" />
+ <geometry>
+ <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk.stl"/>
+ </geometry>
+ </collision>
+ </link>
+</robot>
--
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