diff --git a/data/com_inequalities/LARM_JOINT0_com_constraints.obj b/data/com_inequalities/LARM_JOINT0_com_constraints.obj
deleted file mode 100644
index a96e701202dd7696d9cab246ba067bbb84c13c99..0000000000000000000000000000000000000000
--- a/data/com_inequalities/LARM_JOINT0_com_constraints.obj
+++ /dev/null
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diff --git a/data/com_inequalities/LLEG_JOINT0_com_constraints.dae b/data/com_inequalities/LLEG_JOINT0_com_constraints.dae
deleted file mode 100644
index 9538b0f14af0ecded647d825f9c4c1792ea72175..0000000000000000000000000000000000000000
--- a/data/com_inequalities/LLEG_JOINT0_com_constraints.dae
+++ /dev/null
@@ -1,103 +0,0 @@
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diff --git a/data/com_inequalities/LLEG_JOINT0_com_constraints.obj b/data/com_inequalities/LLEG_JOINT0_com_constraints.obj
deleted file mode 100644
index a0af6f26dcf67cb159b772dd3946531469b1a074..0000000000000000000000000000000000000000
--- a/data/com_inequalities/LLEG_JOINT0_com_constraints.obj
+++ /dev/null
@@ -1,409 +0,0 @@
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diff --git a/data/com_inequalities/LLEG_LINK5_Kinematics.dae b/data/com_inequalities/LLEG_LINK5_Kinematics.dae
deleted file mode 100644
index eecf6714cd851ed7fe97a55c5e3a931dac6c8e41..0000000000000000000000000000000000000000
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- </node>
- <node id="foo_002" name="foo_002" type="NODE">
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\ No newline at end of file
diff --git a/data/com_inequalities/RARM_JOINT0_com_constraints.obj b/data/com_inequalities/RARM_JOINT0_com_constraints.obj
deleted file mode 100644
index 84114e9d1e3ad8fb0e015225e22ae1316d90e6eb..0000000000000000000000000000000000000000
--- a/data/com_inequalities/RARM_JOINT0_com_constraints.obj
+++ /dev/null
@@ -1,138 +0,0 @@
-# Blender v2.77 (sub 0) OBJ File: ''
-# www.blender.org
-mtllib RARM_JOINT0_com_constraints.mtl
-o foo.003
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diff --git a/data/com_inequalities/RLEG_JOINT0_com_constraints.dae b/data/com_inequalities/RLEG_JOINT0_com_constraints.dae
deleted file mode 100644
index d5f58a09c4684c3122038b999cf588940ac1871e..0000000000000000000000000000000000000000
--- a/data/com_inequalities/RLEG_JOINT0_com_constraints.dae
+++ /dev/null
@@ -1,103 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
- <asset>
- <contributor>
- <author>Blender User</author>
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- </contributor>
- <created>2018-01-25T14:12:18</created>
- <modified>2018-01-25T14:12:18</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
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- <technique sid="common">
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- <ambient>
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- <index_of_refraction>
- <float sid="index_of_refraction">1</float>
- </index_of_refraction>
- </phong>
- </technique>
- </profile_COMMON>
- </effect>
- </library_effects>
- <library_materials>
- <material id="None-material" name="None">
- <instance_effect url="#None-effect"/>
- </material>
- </library_materials>
- <library_geometries>
- <geometry id="foo_004-mesh" name="foo.004">
- <mesh>
- <source id="foo_004-mesh-positions">
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- <input semantic="NORMAL" source="#foo_004-mesh-normals" offset="1"/>
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- </polylist>
- </mesh>
- </geometry>
- </library_geometries>
- <library_controllers/>
- <library_visual_scenes>
- <visual_scene id="Scene" name="Scene">
- <node id="foo_004" name="foo_004" type="NODE">
- <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
- <instance_geometry url="#foo_004-mesh" name="foo_004">
- <bind_material>
- <technique_common>
- <instance_material symbol="None-material" target="#None-material"/>
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- </bind_material>
- </instance_geometry>
- </node>
- </visual_scene>
- </library_visual_scenes>
- <scene>
- <instance_visual_scene url="#Scene"/>
- </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/data/com_inequalities/RLEG_JOINT0_com_constraints.obj b/data/com_inequalities/RLEG_JOINT0_com_constraints.obj
deleted file mode 100644
index 7f0e62170d04741a759d1dd4a6e53d2b9b9716d4..0000000000000000000000000000000000000000
--- a/data/com_inequalities/RLEG_JOINT0_com_constraints.obj
+++ /dev/null
@@ -1,393 +0,0 @@
-# Blender v2.77 (sub 0) OBJ File: ''
-# www.blender.org
-mtllib RLEG_JOINT0_com_constraints.mtl
-o foo
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diff --git a/data/com_inequalities/RLEG_LINK5_Kinematics.dae b/data/com_inequalities/RLEG_LINK5_Kinematics.dae
deleted file mode 100644
index b67276aa3ef90fde90fa7011c38deef568729d25..0000000000000000000000000000000000000000
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diff --git a/data/com_inequalities/arm_left_1_joint_com_constraints.obj b/data/com_inequalities/arm_left_1_joint_com_constraints.obj
deleted file mode 100644
index 88e2be441ec282cbc653a856b2749aeaad534f64..0000000000000000000000000000000000000000
--- a/data/com_inequalities/arm_left_1_joint_com_constraints.obj
+++ /dev/null
@@ -1,443 +0,0 @@
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diff --git a/data/com_inequalities/arm_right_1_joint_com_constraints.obj b/data/com_inequalities/arm_right_1_joint_com_constraints.obj
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index 93480772ef78b315f106776a753385a782952bf5..0000000000000000000000000000000000000000
--- a/data/com_inequalities/arm_right_1_joint_com_constraints.obj
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diff --git a/data/com_inequalities/hyq/obj_to_constraints.py b/data/com_inequalities/hyq/obj_to_constraints.py
deleted file mode 100644
index f7d7997ec3e6d26d23858a0c0b56d871b12c65db..0000000000000000000000000000000000000000
--- a/data/com_inequalities/hyq/obj_to_constraints.py
+++ /dev/null
@@ -1,156 +0,0 @@
-#do the loading of the obj file
-import numpy as np
-from collections import namedtuple
-ObjectData = namedtuple("ObjectData", "V T N F")
-Inequalities = namedtuple("Inequality", "A b N V")
-
-def toFloat(stringArray):
- res= np.zeros(len(stringArray))
- for i in range(0,len(stringArray)):
- res[i] = float(stringArray[i])
- return res
-
-def load_obj(filename) :
- V = [] #vertex
- T = [] #texcoords
- N = [] #normals
- F = [] #face indexies
-
- fh = open(filename)
- for line in fh :
- if line[0] == '#' : continue
-
- line = line.strip().split(' ')
- if line[0] == 'v' : #vertex
- V.append(toFloat(line[1:]))
- elif line[0] == 'vt' : #tex-coord
- T.append(line[1:])
- elif line[0] == 'vn' : #normal vector
- N.append(toFloat(line[1:]))
- elif line[0] == 'f' : #face
- face = line[1:]
- for i in range(0, len(face)) :
- face[i] = face[i].split('/')
- # OBJ indexies are 1 based not 0 based hence the -1
- # convert indexies to integer
- for j in range(0, len(face[i])):
- if j!=1:
- face[i][j] = int(face[i][j]) - 1
- F.append(face)
-
- return ObjectData(V, T, N, F)
-
-def inequality(v, n):
- #the plan has for equation ax + by + cz = d, with a b c coordinates of the normal
- #inequality is then ax + by +cz -d <= 0
- # last var is v because we need it
- return [n[0], n[1], n[2], np.array(v).dot(np.array(n))]
-
-def as_inequalities(obj):
- #for each face, find first three points and deduce plane
- #inequality is given by normal
- A= np.empty([len(obj.F), 3])
- b = np.empty(len(obj.F))
- V = np.ones([len(obj.F), 4])
- N = np.empty([len(obj.F), 3])
- for f in range(0, len(obj.F)):
- face = obj.F[f]
- v = obj.V[face[0][0]]
- # assume normals are in obj
- n = obj.N[face[0][2]]
- ineq = inequality(v,n)
- A[f,:] = ineq[0:3]
- b[f] = ineq[3]
- V[f,0:3] = v
- N[f,:] = n
- return Inequalities(A,b, N, V)
-
-def is_inside(inequalities, pt):
- return ((inequalities.A.dot(pt) - inequalities.b) < 0).all()
-
-#~ def rotate_inequalities_q():
-
-# TODO this is naive, should be a way to simply update d
-def rotate_inequalities(ineq, transform):
- #for each face, find first three points and deduce plane
- #inequality is given by normal
- A = np.empty([len(ineq.A), 3])
- b = np.empty(len(ineq.b))
- V = np.ones([len(ineq.V), 4])
- N = np.ones([len(ineq.N), 3])
- for i in range(0, len(b)):
- v = transform.dot(ineq.V[i,:])
- n = transform[0:3,0:3].dot(ineq.N[i,0:3])
- ine = inequality(v[0:3],n[0:3])
- A[i,:] = ine[0:3]
- b[i] = ine[3]
- V[i,:] = v
- N[i,:] = n
- return Inequalities(A,b, N, V)
-
-from pickle import dump
-def ineq_to_file(ineq, filename):
- f1=open(filename, 'w+')
- res = { 'A' : ineq.A, 'b' : ineq.b, 'N' : ineq.N, 'V' : ineq.V}
- dump(res, f1)
- f1.close()
-
-from pickle import load
-def ineq_from_file(filename):
- f1=open(filename, 'r')
- res = load(f1)
- return Inequalities(res['A'], res['b'],res['N'],res['V'])
-
-def test_inequality():
- n = np.array([0,-1,0])
- v = np.array([0,1,1])
- if inequality(v,n) != [0,-1,0,-1]:
- print("error in test_inequality")
- else:
- print("test_inequality successful")
-
-def __gen_data():
- obj = load_obj('./hrp2/RL_com._reduced.obj')
- ineq = as_inequalities(obj)
- ok_points = [[0,0,0], [0.0813, 0.0974, 0.2326], [-0.3387, 0.1271, -0.5354]]
- not_ok_points = [[-0.3399, 0.2478, -0.722],[-0.1385,-0.4401,-0.1071]]
- return obj, ineq, ok_points, not_ok_points
-
-def test_belonging():
- data = __gen_data()
- ineq = data[1]
- ok_points = data[2]
- not_ok_points = data[3]
- for p in ok_points:
- assert (is_inside(ineq, np.array(p))), "point " + str(p) + " should be inside object"
- for p in not_ok_points:
- assert (not is_inside(ineq, np.array(p))), "point " + str(p) + " should NOT be inside object"
- print("test_belonging successful")
-
-def test_rotate_inequalities():
-
- tr = np.array([[ 1. , 0. , 0. , 0. ],
- [ 0. , 0.98006658, -0.19866933, 2. ],
- [ 0. , 0.19866933, 0.98006658, 0. ],
- [ 0. , 0. , 0. , 1. ]])
-
- data = __gen_data()
- ineq = rotate_inequalities(data[1], tr)
- ok_points = [tr.dot(np.array(el + [1]))[0:3] for el in data[2]]
- not_ok_points = [tr.dot(np.array(el + [1]))[0:3] for el in data[3]]
- for p in ok_points:
- assert (is_inside(ineq, p)), "point " + str(p) + " should be inside object"
- for p in not_ok_points:
- assert (not is_inside(ineq, p)), "point " + str(p) + " should NOT be inside object"
- print("test_rotate_inequalities successful")
-
-
-def load_obj_and_save_ineq(in_name, out_name):
- obj = load_obj(in_name)
- ineq = as_inequalities(obj)
- ineq_to_file (ineq, out_name)
-
-load_obj_and_save_ineq('./lfleg_com_reduced.obj','./lfleg_com.ineq')
-load_obj_and_save_ineq('./lhleg_com_reduced.obj','./lhleg_com.ineq')
-load_obj_and_save_ineq('./rhleg_com_reduced.obj','./rhleg_com.ineq')
-load_obj_and_save_ineq('./rfleg_com_reduced.obj','./rfleg_com.ineq')
diff --git a/data/com_inequalities/leg_left_1_joint_com_constraints.obj b/data/com_inequalities/leg_left_1_joint_com_constraints.obj
deleted file mode 100644
index a7fd3286168d43a0810076cd1f855e6ba8903174..0000000000000000000000000000000000000000
--- a/data/com_inequalities/leg_left_1_joint_com_constraints.obj
+++ /dev/null
@@ -1,368 +0,0 @@
-# Blender v2.77 (sub 0) OBJ File: ''
-# www.blender.org
-mtllib leg_left_1_joint_com_constraints.mtl
-o foo
-v -0.187346 0.500264 0.798713
-v -0.325236 0.177690 -0.231329
-v -0.393892 0.436393 0.824931
-v 0.182928 0.508214 0.889948
-v -0.222660 0.470423 0.904970
-v -0.301839 0.099770 -0.272811
-v 0.763874 -0.361843 0.540620
-v 0.556275 -0.513306 0.585942
-v 0.797874 -0.232186 0.639467
-v 0.678107 -0.380054 0.672954
-v 0.799678 -0.333264 0.501772
-v 0.601565 0.375900 0.677429
-v 0.501422 0.413019 0.768580
-v 0.642853 0.222879 0.854398
-v 0.802196 0.278997 0.434904
-v 0.824922 0.250490 0.499168
-v 0.794786 0.090033 0.086879
-v -0.717465 -0.079265 -0.063601
-v -0.431839 -0.057677 -0.284796
-v -0.458821 -0.193145 -0.219779
-v 0.919501 -0.010432 0.356487
-v 0.901371 0.022041 0.205730
-v 0.860677 -0.194880 0.490703
-v 0.912722 0.116086 0.342138
-v 0.891369 0.123773 0.474326
-v -0.535766 -0.505321 0.629655
-v -0.142594 -0.619027 0.613906
-v -0.615018 -0.461138 0.631472
-v -0.737681 -0.317183 0.219902
-v -0.771948 -0.302469 0.311003
-v -0.385912 -0.323207 -0.155979
-v -0.800784 -0.063041 0.076699
-v 0.067115 0.359008 1.028344
-v 0.338360 0.023754 1.042600
-v 0.532032 -0.148274 0.928162
-v 0.470569 -0.307971 0.914134
-v -0.015445 -0.450999 0.966547
-v -0.440121 -0.401619 0.897135
-v -0.858801 -0.142628 0.351026
-v -0.857221 0.076754 0.324281
-v -0.859695 -0.027441 0.375072
-v 0.813527 -0.312712 0.297047
-v 0.762214 -0.352988 0.250253
-v 0.651460 -0.071196 -0.024457
-v 0.742657 -0.105149 0.055480
-v -0.195058 -0.285293 -0.183426
-v 0.130890 -0.228856 1.036582
-v 0.246424 -0.220134 1.014680
-v -0.100867 -0.333102 1.011615
-v 0.103272 -0.388875 0.992005
-v -0.167516 -0.544873 0.826188
-v -0.628562 0.040016 -0.141138
-v -0.556543 0.127059 -0.154278
-v -0.786354 0.059574 0.056584
-v -0.630110 0.137456 -0.063151
-v 0.117387 0.493303 0.925142
-v -0.806200 0.070725 0.101580
-v -0.789360 0.234166 0.476331
-v 0.174636 -0.586925 0.863596
-v -0.118582 -0.050629 -0.306443
-v -0.514677 0.333418 0.885918
-v -0.535485 0.027721 0.918059
-v -0.224224 0.051221 1.049041
-v -0.074137 0.166445 1.062534
-v 0.816547 -0.077206 0.645420
-v -0.732727 0.105369 0.715161
-v -0.695058 -0.160549 0.758455
-v -0.800101 0.097102 0.564558
-v -0.692048 -0.310523 0.713779
-v -0.676066 -0.292289 0.751587
-v -0.313324 -0.099626 -0.319762
-v 0.895107 0.143168 0.309222
-v -0.315815 -0.335891 0.966072
-v -0.520588 0.375611 0.798232
-vn 0.0893 -0.5190 0.8501
-vn -0.5738 0.7598 -0.3056
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-vn 0.3419 0.3143 0.8856
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-vn -0.9223 -0.1273 0.3650
-vn 0.5742 0.8042 0.1537
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-vn -0.4255 -0.7820 0.4554
-vn 0.9930 0.0407 -0.1107
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-vn 0.7763 -0.3472 -0.5261
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-vn 0.3033 0.5341 -0.7892
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-vn 0.5185 0.0151 0.8549
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-vn 0.0866 0.1122 0.9899
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diff --git a/data/com_inequalities/leg_right_1_joint_com_constraints.obj b/data/com_inequalities/leg_right_1_joint_com_constraints.obj
deleted file mode 100644
index f72dbe32f15f9cb840dd4beb48eec7c6ca237fe4..0000000000000000000000000000000000000000
--- a/data/com_inequalities/leg_right_1_joint_com_constraints.obj
+++ /dev/null
@@ -1,363 +0,0 @@
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- <scene>
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\ No newline at end of file
diff --git a/data/meshes/hrp2_trunk_body_view.dae b/data/meshes/hrp2_trunk_body_view.dae
deleted file mode 100755
index f29c2d2346425af5f68290c07266b1be23f9c4f8..0000000000000000000000000000000000000000
--- a/data/meshes/hrp2_trunk_body_view.dae
+++ /dev/null
@@ -1,362 +0,0 @@
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- <technique_common>
- <instance_material symbol="Material_001_006_001-material" target="#Material_001_006_001-material"/>
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- <scene>
- <instance_visual_scene url="#Scene"/>
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-</COLLADA>
\ No newline at end of file
diff --git a/data/meshes/hrp2_trunk_torso.dae b/data/meshes/hrp2_trunk_torso.dae
deleted file mode 100755
index b2455e494abc9a76d7abe7a9772ed3d2a8a832b3..0000000000000000000000000000000000000000
--- a/data/meshes/hrp2_trunk_torso.dae
+++ /dev/null
@@ -1,135 +0,0 @@
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- <author>Blender User</author>
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- </contributor>
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- <modified>2015-10-29T13:44:59</modified>
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\ No newline at end of file
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deleted file mode 100755
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Binary files a/data/meshes/hrp2_trunk_torso.stl and /dev/null differ
diff --git a/data/meshes/hrp2_trunk_torso_arms.stl b/data/meshes/hrp2_trunk_torso_arms.stl
deleted file mode 100644
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Binary files a/data/meshes/hrp2_trunk_torso_arms.stl and /dev/null differ
diff --git a/data/meshes/hrp2_trunk_torso_arms_view.dae b/data/meshes/hrp2_trunk_torso_arms_view.dae
deleted file mode 100644
index ab0d1bb7a454137e6b3875c08d39b18cce431c07..0000000000000000000000000000000000000000
--- a/data/meshes/hrp2_trunk_torso_arms_view.dae
+++ /dev/null
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- <scene>
- <instance_visual_scene url="#Scene"/>
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\ No newline at end of file
diff --git a/data/meshes/hrp2_trunk_torso_view.dae b/data/meshes/hrp2_trunk_torso_view.dae
deleted file mode 100755
index 6146f729ca2f24ea6ff4c1ef29ec60734caa08f6..0000000000000000000000000000000000000000
--- a/data/meshes/hrp2_trunk_torso_view.dae
+++ /dev/null
@@ -1,218 +0,0 @@
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diff --git a/data/meshes/hyq/lhleg.obj b/data/meshes/hyq/lhleg.obj
deleted file mode 100755
index 35e1becbe9a6a08dfcfcb3098a66a208a2586231..0000000000000000000000000000000000000000
--- a/data/meshes/hyq/lhleg.obj
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diff --git a/data/meshes/hyq/rfleg.obj b/data/meshes/hyq/rfleg.obj
deleted file mode 100755
index 926c1c421ee4efc3ca8a6e3f8c081982c48264b3..0000000000000000000000000000000000000000
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diff --git a/data/meshes/hyq/rhleg.obj b/data/meshes/hyq/rhleg.obj
deleted file mode 100755
index b7f3c8951a4bc1b0b39353df55558d226cbb8ea0..0000000000000000000000000000000000000000
--- a/data/meshes/hyq/rhleg.obj
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diff --git a/data/meshes/robot_test/Lleg_rom.stl b/data/meshes/robot_test/Lleg_rom.stl
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deleted file mode 100644
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deleted file mode 100755
index b240f7376712c2f1e4fd9bea13305ac1d2da2259..0000000000000000000000000000000000000000
--- a/data/meshes/robot_test/robot_trunk.stl
+++ /dev/null
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deleted file mode 100755
index 90606e32a3c9c490ee0b471659901f7ecec04e3a..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_larm_rom.srdf
+++ /dev/null
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deleted file mode 100755
index 0dc82c3d0854c0f96cad17b99bda2ee5b515db32..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_lleg_rom.srdf
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diff --git a/data/srdf/hrp2_rarm_rom.srdf b/data/srdf/hrp2_rarm_rom.srdf
deleted file mode 100755
index a2db360ad7db91adc4c65ed516a3e2bac08e207f..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_rarm_rom.srdf
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deleted file mode 100755
index 6f53636a3798aa782d5a2bc1cff71a9f9ba6d499..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_rleg_rom.srdf
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diff --git a/data/srdf/hrp2_rom.srdf b/data/srdf/hrp2_rom.srdf
deleted file mode 100755
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--- a/data/srdf/hrp2_rom.srdf
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diff --git a/data/srdf/hrp2_trunk.srdf b/data/srdf/hrp2_trunk.srdf
deleted file mode 100755
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--- a/data/srdf/hrp2_trunk.srdf
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- <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/hrp2_trunk_arms_flexible.srdf b/data/srdf/hrp2_trunk_arms_flexible.srdf
deleted file mode 100755
index 3f838169adbc67369fd44f99945a41501c663b72..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_trunk_arms_flexible.srdf
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<robot name="hrp2_trunk_flexible">
- <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>
- <disable_collisions link1="BODY"
- link2="torso" />
- <disable_collisions link1="torso"
- link2="HEAD_LINK0" />
- <disable_collisions link1="torso"
- link2="HEAD_LINK1" />
- <disable_collisions link1="HEAD_LINK0"
- link2="HEAD_LINK1" />
-</robot>
diff --git a/data/srdf/hrp2_trunk_flexible.srdf b/data/srdf/hrp2_trunk_flexible.srdf
deleted file mode 100755
index 3f838169adbc67369fd44f99945a41501c663b72..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_trunk_flexible.srdf
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<robot name="hrp2_trunk_flexible">
- <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>
- <disable_collisions link1="BODY"
- link2="torso" />
- <disable_collisions link1="torso"
- link2="HEAD_LINK0" />
- <disable_collisions link1="torso"
- link2="HEAD_LINK1" />
- <disable_collisions link1="HEAD_LINK0"
- link2="HEAD_LINK1" />
-</robot>
diff --git a/data/srdf/hrp2_trunk_lowBody_flexible.srdf b/data/srdf/hrp2_trunk_lowBody_flexible.srdf
deleted file mode 100644
index 3f838169adbc67369fd44f99945a41501c663b72..0000000000000000000000000000000000000000
--- a/data/srdf/hrp2_trunk_lowBody_flexible.srdf
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<robot name="hrp2_trunk_flexible">
- <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>
- <disable_collisions link1="BODY"
- link2="torso" />
- <disable_collisions link1="torso"
- link2="HEAD_LINK0" />
- <disable_collisions link1="torso"
- link2="HEAD_LINK1" />
- <disable_collisions link1="HEAD_LINK0"
- link2="HEAD_LINK1" />
-</robot>
diff --git a/data/srdf/hyq/hrp2_trunk.srdf b/data/srdf/hyq/hrp2_trunk.srdf
deleted file mode 100755
index 8538107defdfb1a2a6e59454a2b6f07ca8a7e4fb..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hrp2_trunk.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?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
deleted file mode 100755
index fa4c185983231766a43936c29ab35f4a4c66b978..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_lfleg_rom.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?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
deleted file mode 100755
index f4dde37cbbe677dd83719270a7d6671d1e677ac6..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_lhleg_rom.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?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
deleted file mode 100755
index 268ca1c4ae6d9f3f2849388782351be0cde2b795..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_rfleg_rom.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?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
deleted file mode 100755
index af6533b82377be62b086a2d811e5615b255db368..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_rhleg_rom.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?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
deleted file mode 100755
index a12ec4ca41cc7f59194a18ee35ff747a575729ad..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_rom.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?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
deleted file mode 100755
index 6a54df5cb27ed972b58493a83a1895c4c3b02b24..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_trunk.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="hyq_trunk">
-</robot>
diff --git a/data/srdf/hyq/hyq_trunk_large.srdf b/data/srdf/hyq/hyq_trunk_large.srdf
deleted file mode 100755
index 188bd7a9a567b79fde4dfd20c59df6e419304b3c..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_trunk_large.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="hyq_trunk_large">
-</robot>
diff --git a/data/srdf/hyq/hyq_trunk_large_realist.srdf b/data/srdf/hyq/hyq_trunk_large_realist.srdf
deleted file mode 100644
index 771d6cf25b2491caf92180fa338881310f17ba9b..0000000000000000000000000000000000000000
--- a/data/srdf/hyq/hyq_trunk_large_realist.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="hyq_trunk_large">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all_realist.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_large.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/robot_test/robot_test_lleg_rom.srdf b/data/srdf/robot_test/robot_test_lleg_rom.srdf
deleted file mode 100644
index 8c38bc187126ef8a2d79e4a7a6bce59885dd2343..0000000000000000000000000000000000000000
--- a/data/srdf/robot_test/robot_test_lleg_rom.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<robot name="robot_lleg_rom">
-</robot>
diff --git a/data/srdf/robot_test/robot_test_rleg_rom.srdf b/data/srdf/robot_test/robot_test_rleg_rom.srdf
deleted file mode 100644
index 3ef9230b85dfb3e11762c19b04af906dbdafe135..0000000000000000000000000000000000000000
--- a/data/srdf/robot_test/robot_test_rleg_rom.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<robot name="robot_rleg_rom">
-</robot>
diff --git a/data/srdf/robot_test/robot_test_trunk.srdf b/data/srdf/robot_test/robot_test_trunk.srdf
deleted file mode 100644
index e2ec898444932aad68aeda67f7c62ed68ce75590..0000000000000000000000000000000000000000
--- a/data/srdf/robot_test/robot_test_trunk.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<robot name="robot_trunk">
-</robot>
diff --git a/data/urdf/hrp2_larm_rom.urdf b/data/urdf/hrp2_larm_rom.urdf
deleted file mode 100755
index 6999b83923b021543659d5d6aec135c7fdf810d2..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_larm_rom.urdf
+++ /dev/null
@@ -1,73 +0,0 @@
-<robot name="hrp2_larm_rom">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- <visual>
- <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/>
- </geometry>
- <material name="green">
- <color rgba="0 1 0 0.3"/>
- </material>
- </visual>
- <collision>
- <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_larm_rom.stl"/>
- </geometry>
- </collision>
- </link>!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
- <mass value="0.374766"/>
- <inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
- </inertial>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <inertial>
- <origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
- <mass value="0.993355"/>
- <inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
- </inertial>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_lleg_rom.urdf b/data/urdf/hrp2_lleg_rom.urdf
deleted file mode 100755
index d240601074504bbda62360b2610677bd3e6ad754..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_lleg_rom.urdf
+++ /dev/null
@@ -1,73 +0,0 @@
-<robot name="hrp2_lleg_rom">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_lleg_rom.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_lleg_rom.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- </link>!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
- <mass value="0.374766"/>
- <inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
- </inertial>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <inertial>
- <origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
- <mass value="0.993355"/>
- <inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
- </inertial>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_rarm_rom.urdf b/data/urdf/hrp2_rarm_rom.urdf
deleted file mode 100755
index 3d51169a98ed762928c8b4c7e28dda47d56cfece..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_rarm_rom.urdf
+++ /dev/null
@@ -1,73 +0,0 @@
-<robot name="hrp2_rarm_rom">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- <visual>
- <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rarm_rom.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="-0.032 -0 -0.3507" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rarm_rom.stl"/>
- </geometry>
- </collision>
- </link>!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
- <mass value="0.374766"/>
- <inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
- </inertial>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <inertial>
- <origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
- <mass value="0.993355"/>
- <inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
- </inertial>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_rleg_rom.urdf b/data/urdf/hrp2_rleg_rom.urdf
deleted file mode 100755
index a134b3f4b2aa7cdfaab527649ad93e3fc8284e8e..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_rleg_rom.urdf
+++ /dev/null
@@ -1,73 +0,0 @@
-<robot name="hrp2_rleg_rom">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rleg_rom.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rleg_rom.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- </link>!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <inertial>
- <origin rpy="0 0 0" xyz="-0.00087533 0.00426199 -0.00802747"/>
- <mass value="0.374766"/>
- <inertia ixx="0.00039945" ixy="-0.00000099" ixz="0.00000226" iyy="0.00022558" iyz="-0.00001181" izz="0.00036246"/>
- </inertial>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <inertial>
- <origin rpy="0 0 0" xyz="0.01298846 0.00008605 0.07876058"/>
- <mass value="0.993355"/>
- <inertia ixx="0.00539717" ixy="-0.00002165" ixz="0.00069330" iyy="0.00457493" iyz="-0.00006372" izz="0.00590682"/>
- </inertial>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_rom.urdf b/data/urdf/hrp2_rom.urdf
deleted file mode 100755
index 9aef72e74d5f22ed812141927735ac92c28a80d6..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="hrp2_rom">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_rom.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_trunk.urdf b/data/urdf/hrp2_trunk.urdf
deleted file mode 100755
index 46ffb9745e70574370f6d6dfc2f72d575a24dfbe..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_trunk.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="hrp2_trunk">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_trunk08.urdf b/data/urdf/hrp2_trunk08.urdf
deleted file mode 100755
index ebec9876bf5bf6199f67d929760fb819a81a0da7..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_trunk08.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="hrp2_trunk08">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk08.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk08.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_trunk_arms_flexible.urdf b/data/urdf/hrp2_trunk_arms_flexible.urdf
deleted file mode 100644
index 321224d31f28f6437adedcd5d970316b27a1a203..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_trunk_arms_flexible.urdf
+++ /dev/null
@@ -1,105 +0,0 @@
-
-<robot name="hrp2_trunk_flexible">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- <inertial>
- <mass value="58.0"/>
- <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body_view.dae"/>
- </geometry>
- <material name="red">
- <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/hrp2_trunk_body.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms_view.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/HEAD_LINK0.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK0.dae"/>
- </geometry>
- </collision>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/HEAD_LINK1.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK1.dae"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_trunk_flexible.urdf b/data/urdf/hrp2_trunk_flexible.urdf
deleted file mode 100755
index efd31baa8844ffeb0f5a84170eca9e84baeb460e..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_trunk_flexible.urdf
+++ /dev/null
@@ -1,105 +0,0 @@
-
-<robot name="hrp2_trunk_flexible">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- <inertial>
- <mass value="58.0"/>
- <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body_view.dae"/>
- </geometry>
- <material name="red">
- <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/hrp2_trunk_body.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_view.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/HEAD_LINK0.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK0.dae"/>
- </geometry>
- </collision>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/HEAD_LINK1.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK1.dae"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hrp2_trunk_lowBody_flexible.urdf b/data/urdf/hrp2_trunk_lowBody_flexible.urdf
deleted file mode 100644
index 3cfd4b02df3ddf99fe43b7d27a8ab9deb3f8c7da..0000000000000000000000000000000000000000
--- a/data/urdf/hrp2_trunk_lowBody_flexible.urdf
+++ /dev/null
@@ -1,105 +0,0 @@
-
-<robot name="hrp2_trunk_flexible">
- <link name="base_link"/>
- <joint name="WAIST" type="fixed">
- <parent link="base_link"/>
- <child link="BODY"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="BODY">
- <inertial>
- <mass value="58.0"/>
- <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_body_low_view.dae"/>
- </geometry>
- <material name="red">
- <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/hrp2_trunk_body_low.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Chest -->
- <joint name="CHEST_JOINT0" type="revolute">
- <parent link="BODY"/>
- <child link="CHEST_LINK0"/>
- <origin rpy="0 0 0" xyz="0.032 0 0.3507"/>
- <axis xyz="0 0 1"/>
- <limit effort="151.1" lower="-0.785398" upper="0.785398" velocity="4.40217"/>
- </joint>
- <link name="CHEST_LINK0">
- </link>
- <joint name="CHEST_JOINT1" type="revolute">
- <parent link="CHEST_LINK0"/>
- <child link="torso"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="278.9" lower="-0.0872665" upper="1.0472" velocity="2.3963"/>
- </joint>
- <link name="torso">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms_view.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0.003" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hrp2_trunk_torso_arms.stl"/>
- </geometry>
- </collision>
- </link>
- <!-- Head -->
- <joint name="HEAD_JOINT0" type="revolute">
- <parent link="torso"/>
- <child link="HEAD_LINK0"/>
- <origin rpy="0 -0 0" xyz="-0.007 0 0.2973"/>
- <axis xyz="0 0 1"/>
- <limit effort="9.6" lower="-0.785398" upper="0.785398" velocity="6.87679"/>
- </joint>
- <link name="HEAD_LINK0">
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/HEAD_LINK0.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK0.dae"/>
- </geometry>
- </collision>
- </link>
- <joint name="HEAD_JOINT1" type="revolute">
- <parent link="HEAD_LINK0"/>
- <child link="HEAD_LINK1"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="9.6" lower="-0.523599" upper="0.785398" velocity="6.87679"/>
- </joint>
- <!-- VRML link name="HEAD_LINK1" -->
- <link name="HEAD_LINK1">
- <visual>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/HEAD_LINK1.dae"/>
- </geometry>
- </visual>
- <collision>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hrp2_14_description/meshes/convex/HEAD_LINK1.dae"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hyq/hyq_lfleg_rom.urdf b/data/urdf/hyq/hyq_lfleg_rom.urdf
deleted file mode 100755
index c409352e7ab41c236f51da3c79ad0bd6ffbf688e..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_lfleg_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="hyq_lfleg_rom">
- <link name="hyq_lfleg_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
deleted file mode 100755
index eb6cecdbb1542b23a0526915a80462df81d53d15..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_lhleg_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
- <robot name="hyq_lhleg_rom">
- <link name="hyq_lhleg_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
deleted file mode 100755
index 77aacb3f83eb8ebe6436b1f9b0998e13e7920178..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_rfleg_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
- <robot name="hyq_rfleg_rom">
- <link name="hyq_rfleg_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
deleted file mode 100755
index ad53e07b6a5fc73a471acfe6ebf56627411906a4..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_rhleg_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
- <robot name="hyq_rhleg_rom">
- <link name="hyq_rhleg_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
deleted file mode 100755
index 501db77b08f0dda3f4a320d89eee248172b2ff36..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<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
deleted file mode 100755
index 81def3f9285d0d5e58f749956fac4b0b819c2fd4..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_trunk.urdf
+++ /dev/null
@@ -1,23 +0,0 @@
-<robot name="hyq_trunk">
- <link name="base_link">
- <inertial>
- <mass value="50.26"/>
- <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" scale="2 2 2"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" scale="2 2 2"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_trunk.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hyq/hyq_trunk_large.urdf b/data/urdf/hyq/hyq_trunk_large.urdf
deleted file mode 100755
index ab1d4c1cf1a127fea1b5b4490bffe810c4020046..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_trunk_large.urdf
+++ /dev/null
@@ -1,23 +0,0 @@
-<robot name="hyq_trunk_large">
- <link name="base_link">
- <inertial>
- <mass value="50.26"/>
- <inertia ixx="1." ixy="0.0" ixz="0.0" iyy="1." iyz="0.0" izz="1."/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all.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_large.stl" />
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/hyq/hyq_trunk_large_realist.urdf b/data/urdf/hyq/hyq_trunk_large_realist.urdf
deleted file mode 100644
index 771d6cf25b2491caf92180fa338881310f17ba9b..0000000000000000000000000000000000000000
--- a/data/urdf/hyq/hyq_trunk_large_realist.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="hyq_trunk_large">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/hyq/hyq_all_realist.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_large.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/robot_test/robot_test_lleg_rom.urdf b/data/urdf/robot_test/robot_test_lleg_rom.urdf
deleted file mode 100644
index 5d86c916b66983d60a3e9f73994d51326b12c161..0000000000000000000000000000000000000000
--- a/data/urdf/robot_test/robot_test_lleg_rom.urdf
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="robot_lleg_rom">
- <link name="llged_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/robot_test/Lleg_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/robot_test/Lleg_rom.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/robot_test/robot_test_rleg_rom.urdf b/data/urdf/robot_test/robot_test_rleg_rom.urdf
deleted file mode 100644
index 0be737eba70774e734dc344519ca68cb360f0ba4..0000000000000000000000000000000000000000
--- a/data/urdf/robot_test/robot_test_rleg_rom.urdf
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="robot_rleg_rom">
- <link name="rleg_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/robot_test/Rleg_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/robot_test/Rleg_rom.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/robot_test/robot_test_trunk.urdf b/data/urdf/robot_test/robot_test_trunk.urdf
deleted file mode 100644
index 726eb8711d1aabcf1413382339887922ea536161..0000000000000000000000000000000000000000
--- a/data/urdf/robot_test/robot_test_trunk.urdf
+++ /dev/null
@@ -1,25 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="robot_trunk">
- <link name="robot_trunk_root">
- <inertial>
- <origin xyz="0.026021 0.004338 -0.692522"/>
- <mass value="10"/>
- <inertia ixx="0.175435" ixy="0.001200" ixz="0.004971" iyy="0.123811" iyz="0.000284" izz="0.127274"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/robot_test/robot_trunk_view.stl"/>
- </geometry>
- <material name="green">
- <color rgba="0 0.8 0 0.7"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/robot_test/robot_trunk.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>