diff --git a/.gitignore b/.gitignore
old mode 100755
new mode 100644
diff --git a/.gitmodules b/.gitmodules
old mode 100755
new mode 100644
diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100755
new mode 100644
index 184864ff35a5b5aeb077a8ee7aaf381ebe63b9bf..16f96a2c6044708e2e941d4bbb41d10614ca41ae
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,18 +23,17 @@ SET(CXX_DISABLE_WERROR true)
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/idl.cmake)
INCLUDE(cmake/python.cmake)
+INCLUDE(cmake/hpp.cmake)
-SET(PROJECT_ORG humanoid-path-planner)
SET(PROJECT_NAME hpp-rbprm-corba)
SET(PROJECT_DESCRIPTION "Corba server for reachability based planning")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Set to 1 for profiling
#add_definitions(-DPROFILE)
SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)
-SETUP_PROJECT ()
+SETUP_HPP_PROJECT ()
SET(${PROJECT_NAME}_HEADERS
include/hpp/corbaserver/rbprm/server.hh
@@ -53,7 +52,7 @@ ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
ADD_REQUIRED_DEPENDENCY("hpp-util >= 3")
-set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake2")
+set(CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/find-external/CDD")
find_package(CDD REQUIRED)
add_required_dependency("octomap >= 1.8")
@@ -66,7 +65,7 @@ if (OCTOMAP_INCLUDE_DIRS AND OCTOMAP_LIBRARY_DIRS)
list(GET VERSION_LIST 2 OCTOMAP_PATCH_VERSION)
add_definitions (-DOCTOMAP_MAJOR_VERSION=${OCTOMAP_MAJOR_VERSION}
-DOCTOMAP_MINOR_VERSION=${OCTOMAP_MINOR_VERSION}
- -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION})
+ -DOCTOMAP_PATCH_VERSION=${OCTOMAP_PATCH_VERSION} -DHPP_FCL_HAVE_OCTOMAP=1)
message(STATUS "FCL uses Octomap" ${OCTOMAP_MINOR_VERSION})
else()
message(STATUS "FCL does not use Octomap")
@@ -77,33 +76,4 @@ ADD_SUBDIRECTORY(src)
CONFIG_FILES (include/hpp/corbaserver/rbprm/doc.hh)
-SET(CATKIN_PACKAGE_SHARE_DESTINATION
- ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME})
-
-install(FILES
- data/package.xml
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
- )
-install(DIRECTORY
- data/urdf/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
- )
-install(DIRECTORY
- data/srdf/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/srdf
- )
-install(DIRECTORY
- data/meshes/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes
- )
-
-install(DIRECTORY
- data/spiderman/
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes/spiderman
- )
-
-#~ install(DIRECTORY data/hyq_description
- #~ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/../
- #~ )
-
-SETUP_PROJECT_FINALIZE()
+SETUP_HPP_PROJECT_FINALIZE()
diff --git a/LICENSE b/LICENSE
old mode 100755
new mode 100644
diff --git a/README.md b/README.md
old mode 100755
new mode 100644
diff --git a/affordance-tests/darpa_hyq_interp.py b/affordance-tests/darpa_hyq_interp.py
old mode 100755
new mode 100644
diff --git a/affordance-tests/darpa_hyq_path.py b/affordance-tests/darpa_hyq_path.py
old mode 100755
new mode 100644
diff --git a/cmake b/cmake
index 8901ae1586ff11f64c3028b58edbfd0dc89fda78..5c8c19f491f2c6f8488f5f37ff81d711d69dbb3f 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 8901ae1586ff11f64c3028b58edbfd0dc89fda78
+Subproject commit 5c8c19f491f2c6f8488f5f37ff81d711d69dbb3f
diff --git a/cmake2/FindCDD.cmake b/cmake2/FindCDD.cmake
deleted file mode 100644
index a861a5e6fc38455f43406193e1bebcc671bc6547..0000000000000000000000000000000000000000
--- a/cmake2/FindCDD.cmake
+++ /dev/null
@@ -1,25 +0,0 @@
-# - Try to find libcdd
-# Once done this will define
-# CDD_FOUND - System has CDD
-# CDD_INCLUDE_DIRS - The CDD include directories
-# CDD_LIBRARIES - The libraries needed to use CDD
-# CDD_DEFINITIONS - Compiler switches required for using CDD
-
-
-find_path(CDD_INCLUDE_DIR cdd.h
- HINTS ${CDD_INCLUDEDIR} /usr/include /usr/include/cdd /usr/include/cddlib
- PATH_SUFFIXES CDD )
-
-find_library(CDD_LIBRARY NAMES libcdd.so
- HINTS ${CDD_LIBDIR} ${CDD_LIBRARY_DIRS} /usr/lib/libcdd.so )
-
-set(CDD_LIBRARIES ${CDD_LIBRARY} )
-set(CDD_INCLUDE_DIRS ${CDD_INCLUDE_DIR} )
-
-include(FindPackageHandleStandardArgs)
-# handle the QUIETLY and REQUIRED arguments and set CDD_FOUND to TRUE
-# if all listed variables are TRUE
-find_package_handle_standard_args(CDD DEFAULT_MSG
- CDD_LIBRARY CDD_INCLUDE_DIR)
-
-mark_as_advanced(CDD_INCLUDE_DIR CDD_LIBRARY )
diff --git a/data/blender/car.blend b/data/blender/car.blend
deleted file mode 100755
index 0270b9ec46fe78597492beda6d6ca6153d15001f..0000000000000000000000000000000000000000
Binary files a/data/blender/car.blend and /dev/null differ
diff --git a/data/blender/car.dae b/data/blender/car.dae
deleted file mode 100755
index 43d85381cbfa332f0f8ccac7ad0cfe03b4d834d6..0000000000000000000000000000000000000000
--- a/data/blender/car.dae
+++ /dev/null
@@ -1,426 +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>
- <authoring_tool>Blender 2.75.0 commit date:2015-07-07, commit time:14:56, hash:c27589e</authoring_tool>
- </contributor>
- <created>2015-11-04T17:31:40</created>
- <modified>2015-11-04T17:31:40</modified>
- <unit name="meter" meter="1"/>
- <up_axis>Z_UP</up_axis>
- </asset>
- <library_lights>
- <light id="Sun-light" name="Sun">
- <technique_common>
- <directional>
- <color sid="color">1 1 1</color>
- </directional>
- </technique_common>
- <extra>
- <technique profile="blender">
- <adapt_thresh>0.000999987</adapt_thresh>
- <area_shape>0</area_shape>
- <area_size>0.1</area_size>
- <area_sizey>0.1</area_sizey>
- <area_sizez>0.1</area_sizez>
- <atm_distance_factor>1</atm_distance_factor>
- <atm_extinction_factor>1</atm_extinction_factor>
- <atm_turbidity>2</atm_turbidity>
- <att1>0</att1>
- <att2>1</att2>
- <backscattered_light>1</backscattered_light>
- <bias>1</bias>
- <blue>1</blue>
- <buffers>1</buffers>
- <bufflag>0</bufflag>
- <bufsize>512</bufsize>
- <buftype>2</buftype>
- <clipend>40</clipend>
- <clipsta>0.5</clipsta>
- <compressthresh>0.04999995</compressthresh>
- <dist sid="blender_dist">25</dist>
- <energy sid="blender_energy">1</energy>
- <falloff_type>2</falloff_type>
- <filtertype>0</filtertype>
- <flag>0</flag>
- <gamma sid="blender_gamma">1</gamma>
- <green>1</green>
- <halo_intensity sid="blnder_halo_intensity">1</halo_intensity>
- <horizon_brightness>1</horizon_brightness>
- <mode>1</mode>
- <ray_samp>1</ray_samp>
- <ray_samp_method>1</ray_samp_method>
- <ray_samp_type>0</ray_samp_type>
- <ray_sampy>1</ray_sampy>
- <ray_sampz>1</ray_sampz>
- <red>1</red>
- <samp>3</samp>
- <shadhalostep>0</shadhalostep>
- <shadow_b sid="blender_shadow_b">0</shadow_b>
- <shadow_g sid="blender_shadow_g">0</shadow_g>
- <shadow_r sid="blender_shadow_r">0</shadow_r>
- <sky_colorspace>2</sky_colorspace>
- <sky_exposure>1</sky_exposure>
- <skyblendfac>1</skyblendfac>
- <skyblendtype>1</skyblendtype>
- <soft>3</soft>
- <spotblend>0.15</spotblend>
- <spotsize>45</spotsize>
- <spread>1</spread>
- <sun_brightness>1</sun_brightness>
- <sun_effect_type>0</sun_effect_type>
- <sun_intensity>1</sun_intensity>
- <sun_size>1</sun_size>
- <type>1</type>
- </technique>
- </extra>
- </light>
- </library_lights>
- <library_images/>
- <library_effects>
- <effect id="None_002-effect">
- <profile_COMMON>
- <technique sid="common">
- <phong>
- <emission>
- <color sid="emission">0 0 0 1</color>
- </emission>
- <ambient>
- <color sid="ambient">0 0 0 1</color>
- </ambient>
- <diffuse>
- <color sid="diffuse">0.64 0.64 0.64 1</color>
- </diffuse>
- <specular>
- <color sid="specular">0.8 0.8 0.8 1</color>
- </specular>
- <shininess>
- <float sid="shininess">1</float>
- </shininess>
- <transparency>
- <float sid="transparency">1</float>
- </transparency>
- <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_002-material" name="None_002">
- <instance_effect url="#None_002-effect"/>
- </material>
- </library_materials>
- <library_geometries>
- <geometry id="__001-mesh" name="1.001">
- <mesh>
- <source id="__001-mesh-positions">
- <float_array id="__001-mesh-positions-array" count="2478">0.628434 1.231474 0.407615 0.624523 1.22841 0.447481 0.625753 1.23028 0.447847 0.631601 1.236285 0.408557 0.620339 1.237982 0.389297 0.617832 1.233446 0.407618 0.622732 1.230298 0.407227 0.623747 1.235792 0.389024 0.623375 1.233688 0.448365 0.630377 1.241913 0.409499 0.625277 1.232465 0.448213 0.625478 1.24506 0.409892 0.620405 1.229177 0.447482 0.622308 1.227954 0.44733 0.629918 1.239957 0.38995 0.629066 1.243872 0.390606 0.625658 1.246062 0.390879 0.627715 1.23661 0.389295 0.621691 1.245244 0.390609 0.619487 1.241897 0.389953 0.619775 1.243885 0.409503 0.62116 1.233231 0.448214 0.61993 1.231362 0.447848 0.616607 1.239074 0.408561 0.544612 1.156555 0.355664 0.547709 1.170463 0.372531 0.543053 1.148132 0.37912 0.539758 1.130428 0.372119 0.529799 1.076677 0.496284 0.524487 1.085623 0.469751 0.528766 1.082679 0.488342 0.550345 1.243122 0.368491 0.554924 1.249444 0.357225 0.53569 1.253021 0.357231 0.537695 1.245475 0.368495 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-usemtl None
-s off
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-vn 0.162800 -0.155600 -0.974300
-vn -0.455300 0.434900 -0.776900
-vn 0.655000 -0.626500 0.422400
-vn -0.435700 0.415800 0.798300
-vn 0.138400 -0.131800 -0.981600
-vn -0.474300 0.453400 -0.754600
-vn 0.665400 -0.635900 0.391100
-vn -0.414200 0.396400 0.819400
-vn 0.113400 -0.108200 -0.987600
-vn -0.493200 0.471100 -0.731300
-vn 0.674700 -0.645200 0.358500
-vn -0.393800 0.376200 0.838700
-vn 0.088200 -0.084200 -0.992500
-vn -0.511500 0.488800 -0.706700
-vn 0.683900 -0.653100 0.325300
-vn -0.372200 0.355900 0.857200
-vn 0.062900 -0.060200 -0.996200
-vn -0.528500 0.505500 -0.682000
-vn 0.691100 -0.660800 0.292800
-vn -0.350400 0.334800 0.874700
-vn 0.037400 -0.036300 -0.998600
-vn -0.545500 0.521500 -0.656100
-vn 0.698100 -0.667600 0.258800
-vn -0.328700 0.313800 0.890800
-vn 0.012900 -0.012100 -0.999800
-vn -0.561900 0.537100 -0.629100
-vn 0.704400 -0.673200 0.225000
-vn -0.305900 0.291900 0.906200
-vn -0.577200 0.551500 -0.602200
-vn 0.709400 -0.678400 0.190800
-vn -0.282200 0.270000 0.920600
-vn -0.592200 0.566200 -0.573400
-vn 0.714100 -0.682400 0.156000
-vn -0.258900 0.247600 0.933600
-vn -0.606000 0.579400 -0.545000
-vn 0.717400 -0.685900 0.122200
-vn -0.235300 0.224900 0.945500
-vn -0.620000 0.592300 -0.514500
-vn 0.720200 -0.688300 0.086600
-vn -0.211700 0.202100 0.956200
-vn -0.632400 0.604100 -0.484900
-vn 0.722000 -0.690000 0.051800
-vn -0.186600 0.178800 0.966000
-vn -0.644000 0.615800 -0.453900
-vn 0.722600 -0.691000 0.017100
-vn -0.162800 0.155600 0.974300
-vn -0.655800 0.625900 -0.422000
-vn 0.722600 -0.691000 -0.017800
-vn -0.137700 0.131700 0.981700
-vn -0.665200 0.636300 -0.390600
-vn 0.721800 -0.690200 -0.051900
-vn -0.112800 0.108200 0.987700
-vn -0.675300 0.644800 -0.358000
-vn 0.720300 -0.688200 -0.087400
-vn -0.087700 0.084200 0.992600
-vn -0.683600 0.653300 -0.325300
-vn 0.717700 -0.685600 -0.122200
-vn -0.064100 0.060200 0.996100
-vn -0.691600 0.660700 -0.292000
-vn 0.714000 -0.682500 -0.156200
-vn -0.037900 0.036100 0.998600
-vn -0.698700 0.667100 -0.258500
-vn 0.709700 -0.678100 -0.191300
-vn -0.012700 0.012100 0.999800
-vn -0.704600 0.673000 -0.225000
-vn 0.704000 -0.673600 -0.225200
-vn 0.012200 -0.012100 0.999900
-vn -0.709700 0.678200 -0.190600
-vn 0.698200 -0.667500 -0.258700
-vn 0.038200 -0.036300 0.998600
-vn -0.713800 0.682500 -0.156800
-vn 0.691000 -0.660800 -0.292900
-vn 0.062800 -0.060200 0.996200
-vn -0.717500 0.685700 -0.122200
-vn 0.683400 -0.653600 -0.325300
-vn 0.088100 -0.084400 0.992500
-vn -0.720500 0.688000 -0.087300
-vn 0.675300 -0.644700 -0.358200
-vn -0.721800 0.690100 -0.052700
-vn 0.665000 -0.636100 -0.391200
-vn 0.137300 -0.131800 0.981700
-vn -0.722900 0.690800 -0.017000
-vn 0.655700 -0.626100 -0.422100
-vn 0.163100 -0.155300 0.974300
-vn -0.722600 0.691000 0.017000
-vn 0.643700 -0.615700 -0.454500
-vn 0.186800 -0.178800 0.966000
-vn -0.722200 0.689700 0.052700
-vn 0.632800 -0.604200 -0.484200
-vn 0.212000 -0.202000 0.956200
-vn -0.720000 0.688400 0.087400
-vn 0.619600 -0.592200 -0.515200
-vn 0.235100 -0.224900 0.945600
-vn -0.717300 0.686100 0.121400
-vn 0.606100 -0.579600 -0.544800
-vn 0.259300 -0.247800 0.933500
-vn -0.714000 0.682300 0.156800
-vn 0.592200 -0.566100 -0.573400
-vn 0.282500 -0.269900 0.920500
-vn -0.709400 0.678500 0.190800
-vn 0.577300 -0.551900 -0.601800
-vn 0.306200 -0.292100 0.906000
-vn -0.704300 0.673300 0.225100
-vn 0.562000 -0.537100 -0.629100
-vn -0.012200 0.012100 -0.999900
-vn 0.328400 -0.313400 0.891000
-vn -0.698200 0.667600 0.258600
-vn 0.545600 -0.521400 -0.656100
-vn -0.038100 0.036200 -0.998600
-vn 0.351000 -0.334700 0.874500
-vn -0.691200 0.661000 0.292200
-vn 0.528600 -0.505400 -0.682000
-vn 0.372500 -0.355800 0.857100
-vn -0.683200 0.653400 0.326100
-vn 0.510600 -0.488700 -0.707400
-vn -0.088000 0.084200 -0.992600
-vn 0.393400 -0.376200 0.838800
-vn -0.674600 0.645300 0.358500
-vn 0.492600 -0.471200 -0.731600
-vn -0.113300 0.108200 -0.987700
-vn 0.415100 -0.396300 0.818900
-vn -0.665800 0.635900 0.390300
-vn 0.474400 -0.453300 -0.754600
-vn -0.137300 0.132000 -0.981700
-vn 0.435100 -0.415800 0.798600
-vn -0.654800 0.626700 0.422500
-vn 0.455200 -0.434900 -0.777000
-vn -0.162900 0.155400 -0.974300
-vn 0.455200 -0.434900 0.777000
-vn -0.644600 0.615500 0.453600
-vn 0.435100 -0.415800 -0.798600
-vn -0.187200 0.179000 -0.965900
-vn 0.474300 -0.453300 0.754700
-vn -0.631900 0.604400 0.485200
-vn 0.415100 -0.396300 -0.818900
-vn -0.211200 0.201900 -0.956400
-vn 0.493200 -0.471000 0.731400
-vn -0.619400 0.592300 0.515300
-vn 0.393800 -0.376200 -0.838700
-vn -0.235300 0.225100 -0.945500
-vn 0.511200 -0.488500 0.707100
-vn -0.605800 0.579500 0.545200
-vn 0.372500 -0.355800 -0.857100
-vn -0.258500 0.247600 -0.933700
-vn 0.529100 -0.505200 0.681800
-vn -0.592000 0.566200 0.573500
-vn 0.350500 -0.335100 -0.874600
-vn -0.282500 0.269900 -0.920500
-vn 0.545300 -0.521500 0.656200
-vn -0.577300 0.551900 0.601800
-vn 0.328700 -0.313800 -0.890800
-vn -0.305900 0.292100 -0.906200
-vn 0.562000 -0.536900 0.629100
-vn -0.561800 0.537000 0.629300
-vn 0.305500 -0.292100 -0.906300
-vn -0.328800 0.313400 -0.890900
-vn 0.577300 -0.551900 0.601800
-vn -0.545500 0.521500 0.656100
-vn 0.282100 -0.270000 -0.920600
-vn -0.350500 0.335200 -0.874500
-vn 0.592400 -0.565700 0.573600
-vn -0.528600 0.505400 0.682000
-vn 0.259400 -0.247800 -0.933500
-vn -0.372800 0.355800 -0.857000
-vn 0.606800 -0.579300 0.544300
-vn -0.510600 0.488700 0.707400
-vn 0.235700 -0.225100 -0.945400
-vn -0.393400 0.376200 -0.838800
-vn 0.619500 -0.592200 0.515300
-vn -0.492600 0.471300 0.731600
-vn 0.211700 -0.202100 -0.956200
-vn -0.414500 0.396500 -0.819100
-vn 0.632600 -0.604400 0.484300
-vn -0.474300 0.453300 0.754700
-vn 0.187200 -0.178800 -0.965900
-vn -0.435100 0.415900 -0.798600
-vn 0.643600 -0.615800 0.454600
-vn -0.454900 0.434800 0.777200
-vn 0.161600 -0.155400 -0.974500
-vn -0.454900 0.434800 -0.777200
-vn 0.655600 -0.626000 0.422200
-vn -0.435100 0.415900 0.798600
-vn 0.137200 -0.131700 -0.981800
-vn -0.473800 0.453100 -0.755100
-vn 0.665100 -0.636100 0.391200
-vn -0.414500 0.396300 0.819300
-vn 0.113600 -0.108200 -0.987600
-vn -0.492700 0.471300 -0.731600
-vn 0.674900 -0.645100 0.358400
-vn -0.394000 0.376600 0.838400
-vn 0.088000 -0.084200 -0.992600
-vn -0.511400 0.488400 -0.707100
-vn 0.683600 -0.653400 0.325200
-vn -0.528800 0.505300 -0.681900
-vn 0.691600 -0.660700 0.292000
-vn -0.350300 0.335000 0.874700
-vn 0.037700 -0.036000 -0.998600
-vn -0.545600 0.521400 -0.656100
-vn 0.698300 -0.667400 0.258600
-vn -0.327300 0.313800 0.891300
-vn 0.013000 -0.012100 -0.999800
-vn -0.561500 0.537200 -0.629400
-vn 0.704300 -0.673300 0.225100
-vn -0.305500 0.292200 0.906300
-vn -0.577600 0.551700 -0.601700
-vn 0.709500 -0.678200 0.191400
-vn -0.282800 0.269900 0.920400
-vn -0.592300 0.566100 -0.573400
-vn 0.714300 -0.682200 0.156100
-vn -0.258800 0.247600 0.933700
-vn -0.606100 0.579600 -0.544800
-vn 0.717100 -0.686200 0.122300
-vn -0.235700 0.225100 0.945400
-vn -0.619200 0.592400 -0.515300
-vn 0.720200 -0.688300 0.087400
-vn -0.211200 0.201900 0.956400
-vn -0.632400 0.604200 -0.484900
-vn 0.722000 -0.689900 0.052600
-vn -0.187200 0.178800 0.965900
-vn -0.643900 0.615900 -0.454000
-vn 0.723000 -0.690700 0.017800
-vn -0.162500 0.155400 0.974400
-vn -0.654900 0.626300 -0.422900
-vn 0.723100 -0.690600 -0.017100
-vn -0.138000 0.132000 0.981600
-vn -0.665500 0.635800 -0.391100
-vn 0.721800 -0.690100 -0.052500
-vn -0.113500 0.107900 0.987700
-vn -0.674400 0.645400 -0.358600
-vn 0.719900 -0.688700 -0.086600
-vn -0.683100 0.653400 -0.326100
-vn 0.717700 -0.685600 -0.122100
-vn -0.062500 0.060200 0.996200
-vn -0.691000 0.660800 -0.293000
-vn 0.714100 -0.682400 -0.156000
-vn -0.037700 0.036200 0.998600
-vn -0.698200 0.667600 -0.258600
-vn 0.709600 -0.678300 -0.190700
-vn -0.012600 0.012100 0.999800
-vn -0.703900 0.673600 -0.225300
-vn 0.704700 -0.672900 -0.225000
-vn 0.013000 -0.012100 0.999800
-vn -0.709600 0.678300 -0.190600
-vn 0.698400 -0.667300 -0.258700
-vn 0.037800 -0.036100 0.998600
-vn -0.713900 0.682600 -0.156200
-vn 0.691700 -0.660600 -0.291800
-vn 0.063700 -0.060200 0.996200
-vn -0.717500 0.685900 -0.121400
-vn 0.683700 -0.653200 -0.325300
-vn 0.088000 -0.084200 0.992600
-vn -0.720200 0.688300 -0.087300
-usemtl None
-s off
-f 12128//9148 12308//9148 12309//9148
-f 12078//9149 12077//9149 12257//9149
-f 12026//9150 12206//9150 12207//9150
-f 12130//9151 12129//9151 12309//9151
-f 12079//9152 12078//9152 12258//9152
-f 12027//9153 12207//9153 12208//9153
-f 12130//9154 12310//9154 12311//9154
-f 12079//9155 12259//9155 12260//9155
-f 12028//9156 12208//9156 12209//9156
-f 12131//9157 12311//9157 12312//9157
-f 12080//9158 12260//9158 12261//9158
-f 12029//9159 12209//9159 12210//9159
-f 12132//9160 12312//9160 12313//9160
-f 12082//9161 12081//9161 12261//9161
-f 12030//9162 12210//9162 12211//9162
-f 12134//9163 12133//9163 12313//9163
-f 12083//9164 12082//9164 12262//9164
-f 12031//9165 12211//9165 12212//9165
-f 12134//9166 12314//9166 12315//9166
-f 12083//9167 12263//9167 12264//9167
-f 12032//9168 12212//9168 12213//9168
-f 12136//9169 12135//9169 12315//9169
-f 12084//9170 12264//9170 12265//9170
-f 12034//9171 12033//9171 12213//9171
-f 12136//9172 12316//9172 12317//9172
-f 12085//9173 12265//9173 12266//9173
-f 12034//9174 12214//9174 12215//9174
-f 12137//9175 12317//9175 12318//9175
-f 11983//9176 12163//9176 12164//9176
-f 12086//9177 12266//9177 12267//9177
-f 12035//9178 12215//9178 12216//9178
-f 12138//9179 12318//9179 12319//9179
-f 11984//9180 12164//9180 12165//9180
-f 12088//9181 12087//9181 12267//9181
-f 12036//9182 12216//9182 12217//9182
-f 12140//9183 12139//9183 12319//9183
-f 11985//9184 12165//9184 12166//9184
-f 12088//9185 12268//9185 12269//9185
-f 12037//9186 12217//9186 12218//9186
-f 12140//9187 12320//9187 12321//9187
-f 11987//9188 11986//9188 12166//9188
-f 12089//9189 12269//9189 12270//9189
-f 12038//9190 12218//9190 12219//9190
-f 12141//9191 12321//9191 12322//9191
-f 11988//9192 11987//9192 12167//9192
-f 12090//9193 12270//9193 12271//9193
-f 12039//9194 12219//9194 12220//9194
-f 12142//9195 12322//9195 12323//9195
-f 11988//9196 12168//9196 12169//9196
-f 12091//9197 12271//9197 12272//9197
-f 12041//9198 12040//9198 12220//9198
-f 12143//9199 12323//9199 12324//9199
-f 11989//9200 12169//9200 12170//9200
-f 12092//9201 12272//9201 12273//9201
-f 12042//9202 12041//9202 12221//9202
-f 12144//9203 12324//9203 12325//9203
-f 11991//9204 11990//9204 12170//9204
-f 12094//9205 12093//9205 12273//9205
-f 12042//9206 12222//9206 12223//9206
-f 12145//9207 12325//9207 12326//9207
-f 11991//9208 12171//9208 12172//9208
-f 12094//9209 12274//9209 12275//9209
-f 12044//9210 12043//9210 12223//9210
-f 12146//9211 12326//9211 12327//9211
-f 11992//9212 12172//9212 12173//9212
-f 12096//9213 12095//9213 12275//9213
-f 12044//9214 12224//9214 12225//9214
-f 12147//9215 12327//9215 12328//9215
-f 11993//9216 12173//9216 12174//9216
-f 12096//9217 12276//9217 12277//9217
-f 12045//9218 12225//9218 12226//9218
-f 12148//9219 12328//9219 12329//9219
-f 11994//9220 12174//9220 12175//9220
-f 12097//9221 12277//9221 12278//9221
-f 12046//9222 12226//9222 12227//9222
-f 12150//9223 12149//9223 12329//9223
-f 11995//9224 12175//9224 12176//9224
-f 12098//9225 12278//9225 12279//9225
-f 12047//9226 12227//9226 12228//9226
-f 12150//9227 12330//9227 12331//9227
-f 11996//9228 12176//9228 12177//9228
-f 12099//9229 12279//9229 12280//9229
-f 12048//9230 12228//9230 12229//9230
-f 12151//9231 12331//9231 12332//9231
-f 11997//9232 12177//9232 12178//9232
-f 12100//9233 12280//9233 12281//9233
-f 12049//9234 12229//9234 12230//9234
-f 12152//9235 12332//9235 12333//9235
-f 11999//9236 11998//9236 12178//9236
-f 12102//9237 12101//9237 12281//9237
-f 12050//9238 12230//9238 12231//9238
-f 12154//9239 12153//9239 12333//9239
-f 11999//9240 12179//9240 12180//9240
-f 12102//9241 12282//9241 12283//9241
-f 12051//9242 12231//9242 12232//9242
-f 12154//9243 12334//9243 12335//9243
-f 12001//9244 12000//9244 12180//9244
-f 12103//9245 12283//9245 12284//9245
-f 12052//9246 12232//9246 12233//9246
-f 12156//9247 12155//9247 12335//9247
-f 12001//9248 12181//9248 12182//9248
-f 12104//9249 12284//9249 12285//9249
-f 12053//9250 12233//9250 12234//9250
-f 12156//9251 12336//9251 12337//9251
-f 12002//9252 12182//9252 12183//9252
-f 12106//9253 12105//9253 12285//9253
-f 12055//9254 12054//9254 12234//9254
-f 12158//9255 12157//9255 12337//9255
-f 12004//9256 12003//9256 12183//9256
-f 12106//9257 12286//9257 12287//9257
-f 12056//9258 12055//9258 12235//9258
-f 12158//9259 12338//9259 12339//9259
-f 12005//9260 12004//9260 12184//9260
-f 12107//9261 12287//9261 12288//9261
-f 12057//9262 12056//9262 12236//9262
-f 12159//9263 12339//9263 12340//9263
-f 12005//9264 12185//9264 12186//9264
-f 12109//9265 12108//9265 12288//9265
-f 12058//9266 12057//9266 12237//9266
-f 12161//9267 12160//9267 12340//9267
-f 12007//9268 12006//9268 12186//9268
-f 12109//9269 12289//9269 12290//9269
-f 12058//9270 12238//9270 12239//9270
-f 12162//9271 12161//9271 12341//9271
-f 12007//9272 12187//9272 12188//9272
-f 12110//9273 12290//9273 12291//9273
-f 12059//9274 12239//9274 12240//9274
-f 12162//9275 12342//9275 12163//9275
-f 12008//9276 12188//9276 12189//9276
-f 12111//9277 12291//9277 12292//9277
-f 12060//9278 12240//9278 12241//9278
-f 12009//9279 12189//9279 12190//9279
-f 12112//9280 12292//9280 12293//9280
-f 12062//9281 12061//9281 12241//9281
-f 12010//9282 12190//9282 12191//9282
-f 12113//9283 12293//9283 12294//9283
-f 12062//9284 12242//9284 12243//9284
-f 12012//9285 12011//9285 12191//9285
-f 12115//9286 12114//9286 12294//9286
-f 12063//9287 12243//9287 12244//9287
-f 12013//9288 12012//9288 12192//9288
-f 12116//9289 12115//9289 12295//9289
-f 12064//9290 12244//9290 12245//9290
-f 12014//9291 12013//9291 12193//9291
-f 12116//9292 12296//9292 12297//9292
-f 12065//9293 12245//9293 12246//9293
-f 12014//9294 12194//9294 12195//9294
-f 12118//9295 12117//9295 12297//9295
-f 12066//9296 12246//9296 12247//9296
-f 12015//9297 12195//9297 12196//9297
-f 12118//9298 12298//9298 12299//9298
-f 12067//9299 12247//9299 12248//9299
-f 12017//9300 12016//9300 12196//9300
-f 12119//9301 12299//9301 12300//9301
-f 12068//9302 12248//9302 12249//9302
-f 12018//9303 12017//9303 12197//9303
-f 12120//9304 12300//9304 12301//9304
-f 12070//9305 12069//9305 12249//9305
-f 12018//9306 12198//9306 12199//9306
-f 12122//9307 12121//9307 12301//9307
-f 12070//9308 12250//9308 12251//9308
-f 12020//9309 12019//9309 12199//9309
-f 12122//9310 12302//9310 12303//9310
-f 12071//9311 12251//9311 12252//9311
-f 12020//9312 12200//9312 12201//9312
-f 12124//9313 12123//9313 12303//9313
-f 12072//9314 12252//9314 12253//9314
-f 12021//9315 12201//9315 12202//9315
-f 12124//9316 12304//9316 12305//9316
-f 12074//9317 12073//9317 12253//9317
-f 12022//9318 12202//9318 12203//9318
-f 12125//9319 12305//9319 12306//9319
-f 12075//9320 12074//9320 12254//9320
-f 12024//9321 12023//9321 12203//9321
-f 12126//9322 12306//9322 12307//9322
-f 12075//9323 12255//9323 12256//9323
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-usemtl Shape
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diff --git a/data/meshes/plane.stl b/data/meshes/plane.stl
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index d32023cb2187a4bf18469e6f537259c4107130e4..0000000000000000000000000000000000000000
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diff --git a/data/meshes/polaris.stl b/data/meshes/polaris.stl
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diff --git a/data/meshes/polaris_reduced.stl b/data/meshes/polaris_reduced.stl
deleted file mode 100644
index 9a69f335c40a43662aa01065602607469c394aff..0000000000000000000000000000000000000000
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diff --git a/data/meshes/robot_box.stl b/data/meshes/robot_box.stl
deleted file mode 100755
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diff --git a/data/meshes/roomWall.stl b/data/meshes/roomWall.stl
deleted file mode 100644
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diff --git a/data/meshes/sideWall.stl b/data/meshes/sideWall.stl
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diff --git a/data/meshes/sideWall_long.stl b/data/meshes/sideWall_long.stl
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diff --git a/data/meshes/siggraph_asia/chair.stl b/data/meshes/siggraph_asia/chair.stl
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diff --git a/data/meshes/siggraph_asia/down.stl b/data/meshes/siggraph_asia/down.stl
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diff --git a/data/meshes/siggraph_asia/grasp.stl b/data/meshes/siggraph_asia/grasp.stl
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diff --git a/data/meshes/siggraph_asia/grasp_spidey.stl b/data/meshes/siggraph_asia/grasp_spidey.stl
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diff --git a/data/meshes/siggraph_asia/mountain.stl b/data/meshes/siggraph_asia/mountain.stl
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diff --git a/data/meshes/siggraph_asia/overview.stl b/data/meshes/siggraph_asia/overview.stl
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diff --git a/data/meshes/siggraph_asia/plane_hole.stl b/data/meshes/siggraph_asia/plane_hole.stl
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diff --git a/data/meshes/siggraph_asia/scale.stl b/data/meshes/siggraph_asia/scale.stl
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diff --git a/data/meshes/siggraph_asia/scale_spidey.stl b/data/meshes/siggraph_asia/scale_spidey.stl
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diff --git a/data/meshes/siggraph_asia/stairs_lower.stl b/data/meshes/siggraph_asia/stairs_lower.stl
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diff --git a/data/meshes/siggraph_asia/wall.stl b/data/meshes/siggraph_asia/wall.stl
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diff --git a/data/meshes/slalom.stl b/data/meshes/slalom.stl
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diff --git a/data/meshes/spaces.stl b/data/meshes/spaces.stl
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diff --git a/data/meshes/stair_bauzil.stl b/data/meshes/stair_bauzil.stl
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diff --git a/data/meshes/stair_bauzil_reduced.stl b/data/meshes/stair_bauzil_reduced.stl
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diff --git a/data/meshes/stair_bauzil_save.stl b/data/meshes/stair_bauzil_save.stl
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diff --git a/data/meshes/stepladder.mtl b/data/meshes/stepladder.mtl
deleted file mode 100755
index 84db9906288940223c40be904340bb627aa77f80..0000000000000000000000000000000000000000
--- a/data/meshes/stepladder.mtl
+++ /dev/null
@@ -1,11 +0,0 @@
-# Blender MTL File: ''
-# Material Count: 1
-newmtl
-Ns 0
-Ka 0.000000 0.000000 0.000000
-Kd 0.8 0.8 0.8
-Ks 0.8 0.8 0.8
-d 1
-illum 2
-
-
diff --git a/data/meshes/stepladder.stl b/data/meshes/stepladder.stl
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diff --git a/data/meshes/truck.stl b/data/meshes/truck.stl
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diff --git a/data/meshes/truck_vision.stl b/data/meshes/truck_vision.stl
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diff --git a/data/package.xml b/data/package.xml
deleted file mode 100755
index 7a0a5abe356a4ae0d921f30c7a552130f8515ddc..0000000000000000000000000000000000000000
--- a/data/package.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<package>
- <name>hpp-rbprm-corba</name>
- <version>0.1.0</version>
- <description>
- Corba server bindings for rbprm.
- </description>
- <author>Steve Tonneau</author>
- <maintainer email="hpp@laas.fr">Steve Tonneau</maintainer>
- <license>LGPL v2</license>
- <build_depend>hpp-rbprm</build_depend>
-</package>
diff --git a/data/spiderman/meshes/lfoot_rom.stl b/data/spiderman/meshes/lfoot_rom.stl
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diff --git a/data/spiderman/meshes/lhand_rom.stl b/data/spiderman/meshes/lhand_rom.stl
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diff --git a/data/spiderman/meshes/rfoot_rom.stl b/data/spiderman/meshes/rfoot_rom.stl
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diff --git a/data/spiderman/meshes/rhand_rom.stl b/data/spiderman/meshes/rhand_rom.stl
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diff --git a/data/spiderman/meshes/spiderman-LFoot.stl b/data/spiderman/meshes/spiderman-LFoot.stl
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diff --git a/data/spiderman/meshes/spiderman-LFootToe.stl b/data/spiderman/meshes/spiderman-LFootToe.stl
deleted file mode 100644
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diff --git a/data/spiderman/meshes/spiderman-LForearm.stl b/data/spiderman/meshes/spiderman-LForearm.stl
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diff --git a/data/spiderman/meshes/spiderman-LHand.stl b/data/spiderman/meshes/spiderman-LHand.stl
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diff --git a/data/spiderman/meshes/spiderman-LHumerus.stl b/data/spiderman/meshes/spiderman-LHumerus.stl
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diff --git a/data/spiderman/meshes/spiderman-LShank.stl b/data/spiderman/meshes/spiderman-LShank.stl
deleted file mode 100644
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diff --git a/data/spiderman/meshes/spiderman-LThigh.stl b/data/spiderman/meshes/spiderman-LThigh.stl
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diff --git a/data/spiderman/meshes/spiderman-RFoot.stl b/data/spiderman/meshes/spiderman-RFoot.stl
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diff --git a/data/spiderman/meshes/spiderman-RFootToe.stl b/data/spiderman/meshes/spiderman-RFootToe.stl
deleted file mode 100644
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diff --git a/data/spiderman/meshes/spiderman-RForearm.stl b/data/spiderman/meshes/spiderman-RForearm.stl
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diff --git a/data/spiderman/meshes/spiderman-RHand.stl b/data/spiderman/meshes/spiderman-RHand.stl
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diff --git a/data/spiderman/meshes/spiderman-RHumerus.stl b/data/spiderman/meshes/spiderman-RHumerus.stl
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diff --git a/data/spiderman/meshes/spiderman-RShank.stl b/data/spiderman/meshes/spiderman-RShank.stl
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diff --git a/data/spiderman/meshes/spiderman-pelvis.stl b/data/spiderman/meshes/spiderman-pelvis.stl
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diff --git a/data/spiderman/meshes/spiderman-pelvis_box.stl b/data/spiderman/meshes/spiderman-pelvis_box.stl
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diff --git a/data/spiderman/meshes/spiderman-skull.stl b/data/spiderman/meshes/spiderman-skull.stl
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diff --git a/data/spiderman/meshes/spiderman-skull_box.stl b/data/spiderman/meshes/spiderman-skull_box.stl
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diff --git a/data/spiderman/meshes/spiderman-thorax.stl b/data/spiderman/meshes/spiderman-thorax.stl
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diff --git a/data/spiderman/meshes/spiderman-thorax_box.stl b/data/spiderman/meshes/spiderman-thorax_box.stl
deleted file mode 100644
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diff --git a/data/spiderman/srdf/SpidermanLFootSphere.srdf b/data/spiderman/srdf/SpidermanLFootSphere.srdf
deleted file mode 100644
index 9ad80f453087cfefa2a5ac5608d19c2a0d348614..0000000000000000000000000000000000000000
--- a/data/spiderman/srdf/SpidermanLFootSphere.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanLFootSphere"/>
diff --git a/data/spiderman/srdf/SpidermanLHandSphere.srdf b/data/spiderman/srdf/SpidermanLHandSphere.srdf
deleted file mode 100644
index 3dfe94d5731c01b5179c5ee22c814c31f4f84314..0000000000000000000000000000000000000000
--- a/data/spiderman/srdf/SpidermanLHandSphere.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanLHandSphere"/>
diff --git a/data/spiderman/srdf/SpidermanRFootSphere.srdf b/data/spiderman/srdf/SpidermanRFootSphere.srdf
deleted file mode 100644
index 69352839bead7103c898caece3ea029bda7ea38a..0000000000000000000000000000000000000000
--- a/data/spiderman/srdf/SpidermanRFootSphere.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanRFootSphere"/>
diff --git a/data/spiderman/srdf/SpidermanRHandSphere.srdf b/data/spiderman/srdf/SpidermanRHandSphere.srdf
deleted file mode 100644
index dfdadfa9323d8db178d0f32e14fb0c49ad6e4d47..0000000000000000000000000000000000000000
--- a/data/spiderman/srdf/SpidermanRHandSphere.srdf
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanRHandSphere"/>
diff --git a/data/spiderman/srdf/spiderman.srdf b/data/spiderman/srdf/spiderman.srdf
deleted file mode 100644
index 4c3d13a4f8ef526db679e7a9967506e63a5962a3..0000000000000000000000000000000000000000
--- a/data/spiderman/srdf/spiderman.srdf
+++ /dev/null
@@ -1,31 +0,0 @@
-<?xml version="1.0"?>
-<robot name="spiderman">
-
-<!-- Disable collision pairs of inner links -->
-<!-- torso -->
-<disable_collisions link1="Pelvis" link2="Thorax" />
-<disable_collisions link1="Thorax" link2="Skull" />
-
-<!-- Left leg -->
-<disable_collisions link1="Pelvis" link2="LThigh" />
-<disable_collisions link1="LThigh" link2="LShank" />
-<disable_collisions link1="LShank" link2="LFoot" />
-<disable_collisions link1="LFoot" link2="LFootToe" />
-
-<!-- Right leg -->
-<disable_collisions link1="Pelvis" link2="RThigh" />
-<disable_collisions link1="RThigh" link2="RShank" />
-<disable_collisions link1="RShank" link2="RFoot" />
-<disable_collisions link1="RFoot" link2="RFootToe" />
-
-<!-- Left arm -->
-<disable_collisions link1="Thorax" link2="LHumerus" />
-<disable_collisions link1="LHumerus" link2="LForearm" />
-<disable_collisions link1="LForearm" link2="LHand" />
-
-<!-- Right arm -->
-<disable_collisions link1="Thorax" link2="RHumerus" />
-<disable_collisions link1="RHumerus" link2="RForearm" />
-<disable_collisions link1="RForearm" link2="RHand" />
-
-</robot>
diff --git a/data/spiderman/srdf/spiderman_trunk.srdf b/data/spiderman/srdf/spiderman_trunk.srdf
deleted file mode 100644
index 1d7d23e22060580245b36aaa94e56027bf9e43f9..0000000000000000000000000000000000000000
--- a/data/spiderman/srdf/spiderman_trunk.srdf
+++ /dev/null
@@ -1,10 +0,0 @@
-<?xml version="1.0"?>
-<robot name="spiderman_trunk">
-
-<!-- Disable collision pairs of inner links -->
-<!-- torso -->
-<disable_collisions link1="Pelvis" link2="Thorax" />
-<disable_collisions link1="Thorax" link2="Skull" />
-
-
-</robot>
diff --git a/data/spiderman/urdf/SpidermanLFootSphere.urdf b/data/spiderman/urdf/SpidermanLFootSphere.urdf
deleted file mode 100644
index 25f2f3d478bf189e1d1277fde76e4af32c623635..0000000000000000000000000000000000000000
--- a/data/spiderman/urdf/SpidermanLFootSphere.urdf
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanLFootSphere">
-
- <link name="base_link"/>
- <joint name="base_link_J" type="fixed">
- <parent link="base_link"/>
- <child link="Pelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="Pelvis"/>
-
- <joint name="pelvis_lfoot_rom_joint" type="fixed">
- <parent link="Pelvis"/>
- <child link="pelvis_lfoot_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="pelvis_lfoot_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lfoot_rom.stl"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lfoot_rom.stl"/>
- </geometry>
- </collision>
- </link>
-
- <link name="Thorax_rx"/>
- <link name="Thorax_ry"/>
- <link name="Thorax"/>
- <link name="Skull_rx"/>
- <link name="Skull_ry"/>
- <link name="Skull"/>
-
- <joint name="A_Thorax_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Pelvis"/>
- <child link="Thorax_rx"/>
- <origin rpy="0 0 0" xyz="0.0373 0.0006 0.0788"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1" upper="1" velocity="1.0"/>
- </joint>
- <joint name="Thorax_ry" type="revolute">
- <parent link="Thorax_rx"/>
- <child link="Thorax_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.8" upper="0.8" velocity="1.0"/>
- </joint>
- <joint name="Thorax_rz" type="revolute">
- <parent link="Thorax_ry"/>
- <child link="Thorax"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="A_Skull_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Thorax"/>
- <child link="Skull_rx"/>
- <origin rpy="0 0 0" xyz="0.0711 -0.0005 0.6039"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-0.3" upper="0.3" velocity="1.0"/>
- </joint>
- <joint name="Skull_ry" type="revolute">
- <parent link="Skull_rx"/>
- <child link="Skull_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="Skull_rz" type="revolute">
- <parent link="Skull_ry"/>
- <child link="Skull"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.4" upper="1." velocity="1.0"/>
- </joint>
-</robot>
diff --git a/data/spiderman/urdf/SpidermanLHandSphere.urdf b/data/spiderman/urdf/SpidermanLHandSphere.urdf
deleted file mode 100644
index 0033256722e812603f4faee208e8fbf5894e0867..0000000000000000000000000000000000000000
--- a/data/spiderman/urdf/SpidermanLHandSphere.urdf
+++ /dev/null
@@ -1,84 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanLHandSphere">
-
- <link name="base_link"/>
- <joint name="base_link_J" type="fixed">
- <parent link="base_link"/>
- <child link="Pelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="Pelvis"/>
- <link name="Thorax_rx"/>
- <link name="Thorax_ry"/>
- <link name="Thorax"/>
-
- <joint name="thorax_lhand_rom_joint" type="fixed">
- <parent link="Thorax"/>
- <child link="thorax_lhand_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="thorax_lhand_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lhand_rom.stl"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lhand_rom.stl"/>
- </geometry>
- </collision>
- </link>
-
-
- <link name="Skull_rx"/>
- <link name="Skull_ry"/>
- <link name="Skull"/>
-
- <joint name="A_Thorax_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Pelvis"/>
- <child link="Thorax_rx"/>
- <origin rpy="0 0 0" xyz="0.0373 0.0006 0.0788"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1" upper="1" velocity="1.0"/>
- </joint>
- <joint name="Thorax_ry" type="revolute">
- <parent link="Thorax_rx"/>
- <child link="Thorax_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.8" upper="0.8" velocity="1.0"/>
- </joint>
- <joint name="Thorax_rz" type="revolute">
- <parent link="Thorax_ry"/>
- <child link="Thorax"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="A_Skull_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Thorax"/>
- <child link="Skull_rx"/>
- <origin rpy="0 0 0" xyz="0.0711 -0.0005 0.6039"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-0.3" upper="0.3" velocity="1.0"/>
- </joint>
- <joint name="Skull_ry" type="revolute">
- <parent link="Skull_rx"/>
- <child link="Skull_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="Skull_rz" type="revolute">
- <parent link="Skull_ry"/>
- <child link="Skull"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.4" upper="1." velocity="1.0"/>
- </joint>
-</robot>
diff --git a/data/spiderman/urdf/SpidermanRFootSphere.urdf b/data/spiderman/urdf/SpidermanRFootSphere.urdf
deleted file mode 100644
index 7c55d6828e7838984fb75b175d1ddf5d10db5d8e..0000000000000000000000000000000000000000
--- a/data/spiderman/urdf/SpidermanRFootSphere.urdf
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanRFootSphere">
-
- <link name="base_link"/>
- <joint name="base_link_J" type="fixed">
- <parent link="base_link"/>
- <child link="Pelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="Pelvis"/>
-
- <joint name="pelvis_rfoot_rom_joint" type="fixed">
- <parent link="Pelvis"/>
- <child link="pelvis_rfoot_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="pelvis_rfoot_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rfoot_rom.stl"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rfoot_rom.stl"/>
- </geometry>
- </collision>
- </link>
-
- <link name="Thorax_rx"/>
- <link name="Thorax_ry"/>
- <link name="Thorax"/>
- <link name="Skull_rx"/>
- <link name="Skull_ry"/>
- <link name="Skull"/>
-
- <joint name="A_Thorax_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Pelvis"/>
- <child link="Thorax_rx"/>
- <origin rpy="0 0 0" xyz="0.0373 0.0006 0.0788"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1" upper="1" velocity="1.0"/>
- </joint>
- <joint name="Thorax_ry" type="revolute">
- <parent link="Thorax_rx"/>
- <child link="Thorax_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.8" upper="0.8" velocity="1.0"/>
- </joint>
- <joint name="Thorax_rz" type="revolute">
- <parent link="Thorax_ry"/>
- <child link="Thorax"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="A_Skull_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Thorax"/>
- <child link="Skull_rx"/>
- <origin rpy="0 0 0" xyz="0.0711 -0.0005 0.6039"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-0.3" upper="0.3" velocity="1.0"/>
- </joint>
- <joint name="Skull_ry" type="revolute">
- <parent link="Skull_rx"/>
- <child link="Skull_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="Skull_rz" type="revolute">
- <parent link="Skull_ry"/>
- <child link="Skull"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.4" upper="1." velocity="1.0"/>
- </joint>
-</robot>
diff --git a/data/spiderman/urdf/SpidermanRHandSphere.urdf b/data/spiderman/urdf/SpidermanRHandSphere.urdf
deleted file mode 100644
index 3b27da7b4c9d31caef564c8eecae108124144fd2..0000000000000000000000000000000000000000
--- a/data/spiderman/urdf/SpidermanRHandSphere.urdf
+++ /dev/null
@@ -1,84 +0,0 @@
-<?xml version="1.0"?>
-<robot name="SpidermanRHandSphere">
-
- <link name="base_link"/>
- <joint name="base_link_J" type="fixed">
- <parent link="base_link"/>
- <child link="Pelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="Pelvis"/>
- <link name="Thorax_rx"/>
- <link name="Thorax_ry"/>
- <link name="Thorax"/>
-
- <joint name="thorax_rhand_rom_joint" type="fixed">
- <parent link="Thorax"/>
- <child link="thorax_rhand_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="thorax_rhand_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rhand_rom.stl"/>
- </geometry>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rhand_rom.stl"/>
- </geometry>
- </collision>
- </link>
-
-
- <link name="Skull_rx"/>
- <link name="Skull_ry"/>
- <link name="Skull"/>
-
- <joint name="A_Thorax_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Pelvis"/>
- <child link="Thorax_rx"/>
- <origin rpy="0 0 0" xyz="0.0373 0.0006 0.0788"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1" upper="1" velocity="1.0"/>
- </joint>
- <joint name="Thorax_ry" type="revolute">
- <parent link="Thorax_rx"/>
- <child link="Thorax_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.8" upper="0.8" velocity="1.0"/>
- </joint>
- <joint name="Thorax_rz" type="revolute">
- <parent link="Thorax_ry"/>
- <child link="Thorax"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="A_Skull_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Thorax"/>
- <child link="Skull_rx"/>
- <origin rpy="0 0 0" xyz="0.0711 -0.0005 0.6039"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-0.3" upper="0.3" velocity="1.0"/>
- </joint>
- <joint name="Skull_ry" type="revolute">
- <parent link="Skull_rx"/>
- <child link="Skull_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="Skull_rz" type="revolute">
- <parent link="Skull_ry"/>
- <child link="Skull"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.4" upper="1." velocity="1.0"/>
- </joint>
-</robot>
diff --git a/data/spiderman/urdf/spiderman.urdf b/data/spiderman/urdf/spiderman.urdf
deleted file mode 100644
index d5de888bf3ffc7383ab991b7b0099fe304167284..0000000000000000000000000000000000000000
--- a/data/spiderman/urdf/spiderman.urdf
+++ /dev/null
@@ -1,753 +0,0 @@
-<?xml version="1.0"?>
-<!-- meshes from http://tf3dm.com/ -->
-<robot name="spiderman">
- <material name="Blue"> <!-- for spheres -->
- <color rgba="0 0 1 0.5"/>
- </material>
- <material name="White"> <!-- for bones -->
- <color rgba="1 1 1 1"/>
- </material>
- <material name="Green"> <!-- for bones -->
- <color rgba="0 1 0.1 0.2"/>
- </material>
-
- <link name="base_link"/>
- <joint name="base_link_J" type="fixed">
- <parent link="base_link"/>
- <child link="Pelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="virtualPelvis"/> <!-- for Blender Armature export -->
- <joint name="virtualPelvis" type="fixed">
- <parent link="base_link"/>
- <child link="virtualPelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="Pelvis">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="8.4552"/>
- <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-pelvis.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-pelvis.stl"/>
- </geometry>
- </collision>
- </link>
-
- <!--<joint name="pelvis_rfoot_rom_joint" type="fixed">
- <parent link="Pelvis"/>
- <child link="pelvis_rfoot_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="pelvis_rfoot_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rfoot_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>-->
-
- <!--<joint name="pelvis_lfoot_rom_joint" type="fixed">
- <parent link="Pelvis"/>
- <child link="pelvis_lfoot_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="pelvis_lfoot_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lfoot_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>-->
-
- <link name="Thorax_rx"/>
- <link name="Thorax_ry"/>
- <link name="Thorax">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="19.8372"/>
- <inertia ixx="-0.16485" ixy="0.25777" ixz="0.0015499" iyy="0.20309" iyz="-0.0061998" izz="-0.18263"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-thorax.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-thorax.stl"/>
- </geometry>
- </collision>
- </link>
-
- <!--<joint name="thorax_rhand_rom_joint" type="fixed">
- <parent link="Thorax"/>
- <child link="thorax_rhand_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="thorax_rhand_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rhand_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>
-
- <joint name="thorax_lhand_rom_joint" type="fixed">
- <parent link="Thorax"/>
- <child link="thorax_lhand_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
- <link name="thorax_lhand_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lhand_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>-->
-
- <link name="Skull_rx"/>
- <link name="Skull_ry"/>
- <link name="Skull">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="4.2276"/>
- <inertia ixx="0.0071027" ixy="-0.00059867" ixz="-2.9564e-05" iyy="0.0046194" iyz="6.6519e-05" izz="0.0080488"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-skull.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-skull.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="RThigh_rx"/>
- <link name="RThigh_ry"/>
- <link name="RThigh">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="7.3797"/>
- <inertia ixx="0.11501" ixy="0.0067008" ixz="-0.000547" iyy="0.030769" iyz="-0.0067008" izz="0.12308"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RThigh.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RThigh.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="RShank">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="2.8801"/>
- <inertia ixx="0.042617" ixy="-0.00086974" ixz="-0.00021743" iyy="0.0054359" iyz="0.001359" izz="0.042617"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RShank.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RShank.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="RFoot_ry"/>
- <link name="RFoot">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.52"/>
- <inertia ixx="0.0035454" ixy="0.00043767" ixz="0" iyy="0.00074844" iyz="-0.00016575" izz="0.0033563"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RFoot.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RFoot.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="RFootToe">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.2"/>
- <inertia ixx="0.0035454" ixy="0.00043767" ixz="0" iyy="0.00074844" iyz="-0.00016575" izz="0.0033563"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RFootToe.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RFootToe.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="SpidermanRFootSphere">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <sphere radius="0.01"/>
- </geometry>
- <material name="Blue"/>
- </visual>
- </link>
- <link name="LThigh_rx"/>
- <link name="LThigh_ry"/>
- <link name="LThigh">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="7.3797"/>
- <inertia ixx="0.11501" ixy="0.0067008" ixz="-0.000547" iyy="0.030769" iyz="-0.0067008" izz="0.12308"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LThigh.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LThigh.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="LShank">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="2.8801"/>
- <inertia ixx="0.042617" ixy="-0.00086974" ixz="-0.00021743" iyy="0.0054359" iyz="0.001359" izz="0.042617"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LShank.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LShank.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="LFoot_ry"/>
- <link name="LFoot">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.52"/>
- <inertia ixx="0.0035454" ixy="0.00043767" ixz="0" iyy="0.00074844" iyz="-0.00016575" izz="0.0033563"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LFoot.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LFoot.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="LFootToe">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.2"/>
- <inertia ixx="0.0035454" ixy="0.00043767" ixz="0" iyy="0.00074844" iyz="-0.00016575" izz="0.0033563"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LFootToe.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LFootToe.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="SpidermanLFootSphere">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <sphere radius="0.01"/>
- </geometry>
- <material name="Blue"/>
- </visual>
- </link>
- <link name="RHumerus_rx"/>
- <link name="RHumerus_ry"/>
- <link name="RHumerus">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="1.4399"/>
- <inertia ixx="-0.022156" ixy="0.00051827" ixz="0.00035991" iyy="0.0028217" iyz="5.7586e-05" izz="-0.021249"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RHumerus.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RHumerus.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="RForearm_ry"/>
- <link name="RForearm">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="1.02"/>
- <inertia ixx="-0.0082187" ixy="5.6551e-05" ixz="2.5134e-05" iyy="0.0007603" iyz="-0.00040214" izz="-0.0085643"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RForearm.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RForearm.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="RHand_rx"/>
- <link name="RHand">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.36011"/>
- <inertia ixx="0.0036215" ixy="0.00058753" ixz="0.00027313" iyy="0.0017529" iyz="-0.00048556" izz="0.0029113"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RHand.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-RHand.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="SpidermanRHandSphere">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <sphere radius = "0.01"/>
- </geometry>
- <material name="Blue"/>
- </visual>
- </link>
-
- <link name="LHumerus_rx"/>
- <link name="LHumerus_ry"/>
- <link name="LHumerus">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="1.4399"/>
- <inertia ixx="-0.022156" ixy="0.00051827" ixz="0.00035991" iyy="0.0028217" iyz="5.7586e-05" izz="-0.021249"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LHumerus.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LHumerus.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="LForearm_ry"/>
- <link name="LForearm">
- <inertial>
- <origin rpy="0 0 0" xyz="0 -0.11352 0"/>
- <mass value="1.02"/>
- <inertia ixx="-0.0082187" ixy="5.6551e-05" ixz="2.5134e-05" iyy="0.0007603" iyz="-0.00040214" izz="-0.0085643"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LForearm.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LForearm.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="LHand_rx"/>
- <link name="LHand">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="0.36011"/>
- <inertia ixx="0.0036215" ixy="0.00058753" ixz="0.00027313" iyy="0.0017529" iyz="-0.00048556" izz="0.0029113"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LHand.stl"/>
- </geometry>
- <material name="White"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-LHand.stl"/>
- </geometry>
- </collision>
- </link>
- <link name="SpidermanLHandSphere">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <sphere radius="0.01"/>
- </geometry>
- <material name="Blue"/>
- </visual>
- </link>
-
- <joint name="A_Thorax_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Pelvis"/>
- <child link="Thorax_rx"/>
- <origin rpy="0 0 0" xyz="0.0373 0.0006 0.0788"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1" upper="1" velocity="1.0"/>
- </joint>
- <joint name="Thorax_ry" type="revolute">
- <parent link="Thorax_rx"/>
- <child link="Thorax_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.8" upper="0.8" velocity="1.0"/>
- </joint>
- <joint name="Thorax_rz" type="revolute">
- <parent link="Thorax_ry"/>
- <child link="Thorax"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="A_Skull_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Thorax"/>
- <child link="Skull_rx"/>
- <origin rpy="0 0 0" xyz="0.0711 -0.0005 0.6039"/>
- <axis xyz="1 0 0"/>
-<!--
- <limit effort="0" lower="-0.3" upper="0.3" velocity="1.0"/>
--->
- <limit effort="0" lower="-0" upper="0" velocity="1.0"/>
- </joint>
- <joint name="Skull_ry" type="revolute">
- <parent link="Skull_rx"/>
- <child link="Skull_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="0" upper="0" velocity="1.0"/>
-<!--
- <limit effort="0" lower="-1.1" upper="0.6" velocity="1.0"/>
--->
- </joint>
- <joint name="Skull_rz" type="revolute">
- <parent link="Skull_ry"/>
- <child link="Skull"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
-<!--
- <limit effort="0" lower="-1.4" upper="1." velocity="1.0"/>
--->
- <limit effort="0" lower="-0" upper="0" velocity="1.0"/>
- </joint>
- <joint name="RThigh_rx" type="revolute">
- <parent link="Pelvis"/>
- <child link="RThigh_rx"/>
- <origin rpy="0 0 0" xyz="0.0367 -0.0943 -0.0844"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1.6" upper="1.2" velocity="1.0"/>
- </joint>
- <joint name="RThigh_ry" type="revolute">
- <parent link="RThigh_rx"/>
- <child link="RThigh_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-2.5" upper="0.7" velocity="1.0"/>
- </joint>
- <joint name="RThigh_rz" type="revolute">
- <parent link="RThigh_ry"/>
- <child link="RThigh"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.6" upper="1.2" velocity="1.0"/>
- </joint>
- <joint name="RShank_ry" type="revolute">
- <parent link="RThigh"/>
- <child link="RShank"/>
- <origin rpy="0 0 0" xyz="-0.0385 0.0012 -0.4586"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.05" upper="2.4" velocity="1.0"/>
- </joint>
- <joint name="RFoot_ry" type="revolute">
- <parent link="RShank"/>
- <child link="RFoot_ry"/>
- <origin rpy="0 0 0" xyz="-0.0310 0.0070 -0.4016"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="1.1" velocity="1.0"/>
- </joint>
- <joint name="RFoot_rz" type="revolute">
- <parent link="RFoot_ry"/>
- <child link="RFoot"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.6" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="RFootToe_ry" type="revolute">
- <parent link="RFoot"/>
- <child link="RFootToe"/>
- <origin rpy="0 0 0" xyz="0.1259 -0.0047 -0.0639"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1" upper="0.2" velocity="1.0"/>
- </joint>
- <joint name="SpidermanRFootSphere" type="fixed">
- <parent link="RFootToe"/>
- <child link="SpidermanRFootSphere"/>
- <origin rpy="0 0 0" xyz="0.0229 0.0022 -0.0306"/>
- </joint>
- <joint name="LThigh_rx" type="revolute">
- <parent link="Pelvis"/>
- <child link="LThigh_rx"/>
- <origin rpy="0 0 0" xyz="0.0355 0.0908 -0.0850"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1.2" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="LThigh_ry" type="revolute">
- <parent link="LThigh_rx"/>
- <child link="LThigh_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-2.5" upper="0.7" velocity="1.0"/>
- </joint>
- <joint name="LThigh_rz" type="revolute">
- <parent link="LThigh_ry"/>
- <child link="LThigh"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.2" upper="1.6" velocity="1.0"/>
- </joint>
- <joint name="LShank_ry" type="revolute">
- <parent link="LThigh"/>
- <child link="LShank"/>
- <origin rpy="0 0 0" xyz="-0.0308 0 -0.4471"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.05" upper="2.4" velocity="1.0"/>
- </joint>
- <joint name="LFoot_ry" type="revolute">
- <parent link="LShank"/>
- <child link="LFoot_ry"/>
- <origin rpy="0 0 0" xyz="-0.0393 0.0026 -0.4117"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="1.1" velocity="1.0"/>
- </joint>
- <joint name="LFoot_rz" type="revolute">
- <parent link="LFoot_ry"/>
- <child link="LFoot"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-0.6" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="LFootToe_ry" type="revolute">
- <parent link="LFoot"/>
- <child link="LFootToe"/>
- <origin rpy="0 0 0" xyz="0.1277 0.0052 -0.0646"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1" upper="0.2" velocity="1.0"/>
- </joint>
- <joint name="SpidermanLFootSphere" type="fixed">
- <parent link="LFootToe"/>
- <child link="SpidermanLFootSphere"/>
- <origin rpy="0 0 0" xyz="0.0229 -0.0001 -0.0306"/>
- </joint>
- <joint name="RHumerus_rx" type="revolute">
- <parent link="Thorax"/>
- <child link="RHumerus_rx"/>
- <origin rpy="0 0 0" xyz="-0.0467 -0.1906 0.3285"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-2.3" upper="0.3" velocity="1.0"/>
- </joint>
- <joint name="RHumerus_ry" type="revolute">
- <parent link="RHumerus_rx"/>
- <child link="RHumerus_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-2.8" upper="1.6" velocity="1.0"/>
- </joint>
- <joint name="RHumerus_rz" type="revolute">
- <parent link="RHumerus_ry"/>
- <child link="RHumerus"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="RForearm_ry" type="revolute">
- <parent link="RHumerus"/>
- <child link="RForearm_ry"/>
- <origin rpy="0 0 0" xyz="0.0088 -0.0307 -0.2504"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-2.3" upper="0.01" velocity="1.0"/>
- </joint>
- <joint name="RForearm_rz" type="revolute">
- <parent link="RForearm_ry"/>
- <child link="RForearm"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1" upper="1.4" velocity="1.0"/>
- </joint>
- <joint name="RHand_rx" type="revolute">
- <parent link="RForearm"/>
- <child link="RHand_rx"/>
- <origin rpy="0 0 0" xyz="0.038 -0.0018 -0.2731"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1.6" upper="1.4" velocity="1.0"/>
- </joint>
- <joint name="RHand_ry" type="revolute">
- <parent link="RHand_rx"/>
- <child link="RHand"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.6" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="SpidermanRHandSphere" type="fixed">
- <parent link="RHand"/>
- <child link="SpidermanRHandSphere"/>
- <origin rpy="0 0 0" xyz="0.0183 0.0517 -0.0678"/>
- </joint>
- <joint name="LHumerus_rx" type="revolute">
- <parent link="Thorax"/>
- <child link="LHumerus_rx"/>
- <origin rpy="0 0 0" xyz="-0.0467 0.1854 0.3285"/> <!-- inv L R -->
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-0.3" upper="2.3" velocity="1.0"/>
- </joint>
- <joint name="LHumerus_ry" type="revolute">
- <parent link="LHumerus_rx"/>
- <child link="LHumerus_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-2.8" upper="1.6" velocity="1.0"/> <!-- same L R -->
- </joint>
- <joint name="LHumerus_rz" type="revolute">
- <parent link="LHumerus_ry"/>
- <child link="LHumerus"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/> <!-- inv L R -->
- </joint>
- <joint name="LForearm_ry" type="revolute">
- <parent link="LHumerus"/>
- <child link="LForearm_ry"/>
- <origin rpy="0 0 0" xyz="-0.0011 0.0454 -0.2573"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-2.3" upper="0.01" velocity="1.0"/>
- </joint>
- <joint name="LForearm_rz" type="revolute">
- <parent link="LForearm_ry"/>
- <child link="LForearm"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.4" upper="1" velocity="1.0"/>
- </joint>
- <joint name="LHand_rx" type="revolute">
- <parent link="LForearm"/>
- <child link="LHand_rx"/>
- <origin rpy="0 0 0" xyz="0.0351 0.0088 -0.2751"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1.4" upper="1.6" velocity="1.0"/>
- </joint>
- <joint name="LHand_ry" type="revolute">
- <parent link="LHand_rx"/>
- <child link="LHand"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.6" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="SpidermanLHandSphere" type="fixed">
- <parent link="LHand"/>
- <child link="SpidermanLHandSphere"/>
- <origin rpy="0 0 0" xyz="0.021 -0.0589 -0.0591"/>
- </joint>
-</robot>
diff --git a/data/spiderman/urdf/spiderman_trunk.urdf b/data/spiderman/urdf/spiderman_trunk.urdf
deleted file mode 100644
index 3da0d3c553e2caf1fd8c155e70f56b10e8f63bc2..0000000000000000000000000000000000000000
--- a/data/spiderman/urdf/spiderman_trunk.urdf
+++ /dev/null
@@ -1,193 +0,0 @@
-<?xml version="1.0"?>
-<robot name="spiderman_trunk">
- <material name="White"> <!-- for bones -->
- <color rgba="1 1 1 1"/>
- </material>
- <material name="Green"> <!-- for bones -->
- <color rgba="0 1 0.1 0.2"/>
- </material>
- <material name="Red"> <!-- for bones -->
- <color rgba="1 0 0 1"/>
- </material>
-
- <link name="base_link"/>
- <joint name="base_link_J" type="fixed">
- <parent link="base_link"/>
- <child link="Pelvis"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="Pelvis">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="8.4552"/>
- <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-pelvis_box.stl"/>
- </geometry>
- <material name="Red"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-pelvis_box.stl"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="pelvis_rfoot_rom_joint" type="fixed">
- <parent link="Pelvis"/>
- <child link="pelvis_rfoot_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="pelvis_rfoot_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rfoot_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>
-
- <joint name="pelvis_lfoot_rom_joint" type="fixed">
- <parent link="Pelvis"/>
- <child link="pelvis_lfoot_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="pelvis_lfoot_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lfoot_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>
-
- <link name="Thorax_rx"/>
- <link name="Thorax_ry"/>
- <link name="Thorax">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="19.8372"/>
- <inertia ixx="-0.16485" ixy="0.25777" ixz="0.0015499" iyy="0.20309" iyz="-0.0061998" izz="-0.18263"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-thorax_box.stl"/>
- </geometry>
- <material name="Red"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-thorax_box.stl"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="thorax_rhand_rom_joint" type="fixed">
- <parent link="Thorax"/>
- <child link="thorax_rhand_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="thorax_rhand_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/rhand_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>
-
- <joint name="thorax_lhand_rom_joint" type="fixed">
- <parent link="Thorax"/>
- <child link="thorax_lhand_rom"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- </joint>
-
- <link name="thorax_lhand_rom">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/lhand_rom.stl"/>
- </geometry>
- <material name="Green"/>
- </visual>
- </link>
-
- <link name="Skull_rx"/>
- <link name="Skull_ry"/>
- <link name="Skull">
- <inertial>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <mass value="4.2276"/>
- <inertia ixx="0.0071027" ixy="-0.00059867" ixz="-2.9564e-05" iyy="0.0046194" iyz="6.6519e-05" izz="0.0080488"/>
- </inertial>
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-skull_box.stl"/>
- </geometry>
- <material name="Red"/>
- </visual>
- <collision>
- <origin xyz="0 0 0" rpy="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/spiderman/spiderman-skull_box.stl"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="A_Thorax_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Pelvis"/>
- <child link="Thorax_rx"/>
- <origin rpy="0 0 0" xyz="0.0373 0.0006 0.0788"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-1" upper="1" velocity="1.0"/>
- </joint>
- <joint name="Thorax_ry" type="revolute">
- <parent link="Thorax_rx"/>
- <child link="Thorax_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-0.8" upper="0.8" velocity="1.0"/>
- </joint>
- <joint name="Thorax_rz" type="revolute">
- <parent link="Thorax_ry"/>
- <child link="Thorax"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.5" upper="1.5" velocity="1.0"/>
- </joint>
- <joint name="A_Skull_rx" type="revolute"> <!-- A_ added for order while parsing with ROS -->
- <parent link="Thorax"/>
- <child link="Skull_rx"/>
- <origin rpy="0 0 0" xyz="0.0711 -0.0005 0.6039"/>
- <axis xyz="1 0 0"/>
- <limit effort="0" lower="-0.3" upper="0.3" velocity="1.0"/>
- </joint>
- <joint name="Skull_ry" type="revolute">
- <parent link="Skull_rx"/>
- <child link="Skull_ry"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 1 0"/>
- <limit effort="0" lower="-1.1" upper="0.6" velocity="1.0"/>
- </joint>
- <joint name="Skull_rz" type="revolute">
- <parent link="Skull_ry"/>
- <child link="Skull"/>
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <axis xyz="0 0 1"/>
- <limit effort="0" lower="-1.4" upper="1." velocity="1.0"/>
- </joint>
-</robot>
diff --git a/data/srdf/bauzil_stairs.srdf b/data/srdf/bauzil_stairs.srdf
deleted file mode 100755
index 4665f9b4318286397ba9ea8eb77facaa236b0fec..0000000000000000000000000000000000000000
--- a/data/srdf/bauzil_stairs.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs.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/bauzil_stairs.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/bauzil_stairs_10cm.srdf b/data/srdf/bauzil_stairs_10cm.srdf
deleted file mode 100644
index 78a6d9eb640285135fb25496b779f2c0b80b67f0..0000000000000000000000000000000000000000
--- a/data/srdf/bauzil_stairs_10cm.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs_10cm.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/bauzil_stairs_10cm.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/bauzil_stairs_collision.srdf b/data/srdf/bauzil_stairs_collision.srdf
deleted file mode 100755
index 4665f9b4318286397ba9ea8eb77facaa236b0fec..0000000000000000000000000000000000000000
--- a/data/srdf/bauzil_stairs_collision.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs.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/bauzil_stairs.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/box.srdf b/data/srdf/box.srdf
deleted file mode 100755
index 47f8c5fa640d951f66064b83e0dcb1f130b9a6e3..0000000000000000000000000000000000000000
--- a/data/srdf/box.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="box">
- <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/box_rom.srdf b/data/srdf/box_rom.srdf
deleted file mode 100755
index 47f8c5fa640d951f66064b83e0dcb1f130b9a6e3..0000000000000000000000000000000000000000
--- a/data/srdf/box_rom.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="box">
- <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/car.srdf b/data/srdf/car.srdf
deleted file mode 100755
index 365e50300eab977adf665566ce7ffa75b9a56bf2..0000000000000000000000000000000000000000
--- a/data/srdf/car.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="car">
- <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/climb.srdf b/data/srdf/climb.srdf
deleted file mode 100755
index bad813a7f140e08b5170f3ecb76847c33bf594bc..0000000000000000000000000000000000000000
--- a/data/srdf/climb.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="climb">
- <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/cross_gap.srdf b/data/srdf/cross_gap.srdf
deleted file mode 100755
index e157d63e373b15d105144459e3bcbb5807245dca..0000000000000000000000000000000000000000
--- a/data/srdf/cross_gap.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="cross_gap">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/cross_gap.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/cross_gap.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/darpa.srdf b/data/srdf/darpa.srdf
deleted file mode 100755
index c383c19425b3b3b12ab1f735c693273bf1a0cd44..0000000000000000000000000000000000000000
--- a/data/srdf/darpa.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="darpa">
- <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/darpa_no_ctc_mid.srdf b/data/srdf/darpa_no_ctc_mid.srdf
deleted file mode 100644
index 7606c95464182b635449f8a87ec500f7b7836299..0000000000000000000000000000000000000000
--- a/data/srdf/darpa_no_ctc_mid.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/darpa_no_ctc_mid.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/darpa_no_ctc_mid.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/darpa_no_mid.srdf b/data/srdf/darpa_no_mid.srdf
deleted file mode 100644
index 02c75c03666f1302999677789b5d61fb232f0a35..0000000000000000000000000000000000000000
--- a/data/srdf/darpa_no_mid.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/darpa_no_mid.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/darpa_no_mid.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/downSlope.srdf b/data/srdf/downSlope.srdf
deleted file mode 100755
index 89dff1575f5edd00f59e914de220b262cf1523d6..0000000000000000000000000000000000000000
--- a/data/srdf/downSlope.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/downSlope.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/downSlope.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/downSlope_easy.srdf b/data/srdf/downSlope_easy.srdf
deleted file mode 100755
index 2d88c7950dcc3ef0a515db6aaa7c24bb14a7ba42..0000000000000000000000000000000000000000
--- a/data/srdf/downSlope_easy.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/downSlope_easy.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/downSlope_easy.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/downSlope_easy20.srdf b/data/srdf/downSlope_easy20.srdf
deleted file mode 100755
index 6e8c6fb3cf55e89e00207dc913e86f3743c5d72c..0000000000000000000000000000000000000000
--- a/data/srdf/downSlope_easy20.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/downSlope_easy20.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/downSlope_easy20.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/flat_hole.srdf b/data/srdf/flat_hole.srdf
deleted file mode 100644
index b2331e7911efdc79189ce179c136aaf4c8cb83e6..0000000000000000000000000000000000000000
--- a/data/srdf/flat_hole.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="flat_hole">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/flat_hole.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/flat_hole.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/flat_step.srdf b/data/srdf/flat_step.srdf
deleted file mode 100755
index 9fa72839eba4873eaa6c2a2b16f82eac6378c127..0000000000000000000000000000000000000000
--- a/data/srdf/flat_step.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/flat_step.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/flat_step.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/floor_bauzil.srdf b/data/srdf/floor_bauzil.srdf
deleted file mode 100644
index 4c41314d332189d4bf792ee4d5854c879943192f..0000000000000000000000000000000000000000
--- a/data/srdf/floor_bauzil.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil.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/floor_bauzil.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/floor_bauzil_obstacles.srdf b/data/srdf/floor_bauzil_obstacles.srdf
deleted file mode 100644
index 459cc63ab5b1a7243fe721f303bc2c1cf4de92eb..0000000000000000000000000000000000000000
--- a/data/srdf/floor_bauzil_obstacles.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil_obstacles.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/floor_bauzil_obstacles.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/ground.srdf b/data/srdf/ground.srdf
deleted file mode 100755
index 05913e8b60a99a5e96b882bdb43faea445a264fe..0000000000000000000000000000000000000000
--- a/data/srdf/ground.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="chair">
- <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/ground_bigStep.srdf b/data/srdf/ground_bigStep.srdf
deleted file mode 100644
index f8a2b31a5909d9e2710c13e780f40646a50ad1f4..0000000000000000000000000000000000000000
--- a/data/srdf/ground_bigStep.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_bigstep">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_bigStep.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/ground_bigStep.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/ground_jump_bar.srdf b/data/srdf/ground_jump_bar.srdf
deleted file mode 100644
index 91f5b37f2d309b57b733436b26c673aee0c2f11e..0000000000000000000000000000000000000000
--- a/data/srdf/ground_jump_bar.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_jump_bar">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_bar.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/ground_jump_bar.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/ground_jump_easy.srdf b/data/srdf/ground_jump_easy.srdf
deleted file mode 100644
index 3831723336c61b3d4e240aa58de564e431587268..0000000000000000000000000000000000000000
--- a/data/srdf/ground_jump_easy.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_jump_easy">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_easy.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/ground_jump_easy.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/ground_jump_low.srdf b/data/srdf/ground_jump_low.srdf
deleted file mode 100644
index 2006c89675cd7c9f240e0f7c30b15cf77a2a7ddc..0000000000000000000000000000000000000000
--- a/data/srdf/ground_jump_low.srdf
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="ground_jump_easy">
- <link name="ground"> </link>
- <joint name="ground_start_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="ground"/>
- <child link="groundStart"/>
- </joint>
- <link name="groundStart">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_easyStart.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/ground_jump_easyStart.stl"/>
- </geometry>
- </collision>
- </link>
- <joint name="ground_goal_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="ground"/>
- <child link="groundGoal"/>
- </joint>
- <link name="groundGoal">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_lowGoal.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/ground_jump_lowGoal.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/ground_jump_med.srdf b/data/srdf/ground_jump_med.srdf
deleted file mode 100644
index c367dd064c628fc88c634418c7e6e5d4c3b45d0f..0000000000000000000000000000000000000000
--- a/data/srdf/ground_jump_med.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_jump_med">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_med.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/ground_jump_med.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/ground_with_bridge.srdf b/data/srdf/ground_with_bridge.srdf
deleted file mode 100644
index 6013f9681f6735ced4076195d1dc3ba4c929e1da..0000000000000000000000000000000000000000
--- a/data/srdf/ground_with_bridge.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_bigstep">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_with_bridge.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/ground_with_bridge.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/groundcrouch.srdf b/data/srdf/groundcrouch.srdf
deleted file mode 100755
index 36f8dce58c11c5c1a48ec8c844833ae20f11b4fb..0000000000000000000000000000000000000000
--- a/data/srdf/groundcrouch.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="groundcrouch">
- <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/plane.srdf b/data/srdf/plane.srdf
deleted file mode 100644
index 08190d21981a3ebce024d2fd40e30322183fa7d5..0000000000000000000000000000000000000000
--- a/data/srdf/plane.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="plane">
-</robot>
diff --git a/data/srdf/plane_hole.srdf b/data/srdf/plane_hole.srdf
deleted file mode 100644
index 93624032243113d0ac76fb3c133c2327fe2a74c9..0000000000000000000000000000000000000000
--- a/data/srdf/plane_hole.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="plane_hole">
-</robot>
diff --git a/data/srdf/polaris.srdf b/data/srdf/polaris.srdf
deleted file mode 100644
index 967700e64711ad8be590cdcad459d53a43c28604..0000000000000000000000000000000000000000
--- a/data/srdf/polaris.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="polaris">
-</robot>
diff --git a/data/srdf/roomWall.srdf b/data/srdf/roomWall.srdf
deleted file mode 100644
index 51a8e34d200b4af83adb7b76bab7c8e4c58baa4d..0000000000000000000000000000000000000000
--- a/data/srdf/roomWall.srdf
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<robot name="cubeWorld">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/roomWall.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/roomWall.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/scene.srdf b/data/srdf/scene.srdf
deleted file mode 100755
index 1d22c96be1ed3d540631a4b9dbaccc65f7a1330b..0000000000000000000000000000000000000000
--- a/data/srdf/scene.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="scene">
- <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/scene2.srdf b/data/srdf/scene2.srdf
deleted file mode 100755
index 1d22c96be1ed3d540631a4b9dbaccc65f7a1330b..0000000000000000000000000000000000000000
--- a/data/srdf/scene2.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="scene">
- <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/scene_wall.srdf b/data/srdf/scene_wall.srdf
deleted file mode 100755
index cc6599f442ac2ced1ccdfe3fa601a54f49fda6c4..0000000000000000000000000000000000000000
--- a/data/srdf/scene_wall.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="scene_wall">
- <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/scene_wall2.srdf b/data/srdf/scene_wall2.srdf
deleted file mode 100644
index 74de58a888ef096739c04eae1c99d9b39143b81f..0000000000000000000000000000000000000000
--- a/data/srdf/scene_wall2.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="scene_wall2">
- <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/sideWall.srdf b/data/srdf/sideWall.srdf
deleted file mode 100755
index 2c99e24fd8b6c553d63078a7227ed3d16aa7d1ef..0000000000000000000000000000000000000000
--- a/data/srdf/sideWall.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/sideWall.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/sideWall.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/sideWall_long.srdf b/data/srdf/sideWall_long.srdf
deleted file mode 100755
index d308d8c1d9b4840d6b1e06fb584e4880b626ce28..0000000000000000000000000000000000000000
--- a/data/srdf/sideWall_long.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/sideWall_long.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/sideWall_long.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/siggraph_asia/chair.srdf b/data/srdf/siggraph_asia/chair.srdf
deleted file mode 100644
index c42d4d62acaf85fea286b95886a3e7c71391e42d..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/chair.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="chair">
-</robot>
diff --git a/data/srdf/siggraph_asia/down.srdf b/data/srdf/siggraph_asia/down.srdf
deleted file mode 100755
index 40838145d37efd9f6a5dbf3cd9eea684ccc24944..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/down.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="down">
-</robot>
diff --git a/data/srdf/siggraph_asia/grasp.srdf b/data/srdf/siggraph_asia/grasp.srdf
deleted file mode 100644
index 94553c608f67cde363aec22454fe3739c3b1b8af..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/grasp.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="grasp">
-</robot>
diff --git a/data/srdf/siggraph_asia/mount.srdf b/data/srdf/siggraph_asia/mount.srdf
deleted file mode 100644
index 378b249ac60a103540145f33c1055a8c35a34ed7..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/mount.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="mount">
-</robot>
diff --git a/data/srdf/siggraph_asia/overview.srdf b/data/srdf/siggraph_asia/overview.srdf
deleted file mode 100644
index f755fb3dbc0b4ecb10851820fd5e3953f5d06a91..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/overview.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="overview">
-</robot>
diff --git a/data/srdf/siggraph_asia/plane_hole.srdf b/data/srdf/siggraph_asia/plane_hole.srdf
deleted file mode 100644
index 93624032243113d0ac76fb3c133c2327fe2a74c9..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/plane_hole.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="plane_hole">
-</robot>
diff --git a/data/srdf/siggraph_asia/scale.srdf b/data/srdf/siggraph_asia/scale.srdf
deleted file mode 100644
index 114223fe8bdb1f152d7d773ccd628eb3f258ef9b..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/scale.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="scale">
-</robot>
diff --git a/data/srdf/siggraph_asia/scale_spidey.srdf b/data/srdf/siggraph_asia/scale_spidey.srdf
deleted file mode 100644
index 44ec95b456631ecbd55cc0b8e9f03b9694df95fd..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/scale_spidey.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="scale_spidey">
-</robot>
diff --git a/data/srdf/siggraph_asia/stairs_lower.srdf b/data/srdf/siggraph_asia/stairs_lower.srdf
deleted file mode 100644
index 83804686b49909b031b3dc654dfb4808042d2a8c..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/stairs_lower.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="stairs_lower">
-</robot>
diff --git a/data/srdf/siggraph_asia/twister.srdf b/data/srdf/siggraph_asia/twister.srdf
deleted file mode 100644
index c2d5e91e5d50782b2f6b934bfe7fcb6e6fdd75ca..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/twister.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="twister">
-</robot>
diff --git a/data/srdf/siggraph_asia/wall.srdf b/data/srdf/siggraph_asia/wall.srdf
deleted file mode 100644
index 71f33283e4dd36ba26d7f59fc508daa690d815c7..0000000000000000000000000000000000000000
--- a/data/srdf/siggraph_asia/wall.srdf
+++ /dev/null
@@ -1,3 +0,0 @@
-<?xml version="1.0"?>
-<robot name="wall">
-</robot>
diff --git a/data/srdf/slalom.srdf b/data/srdf/slalom.srdf
deleted file mode 100755
index 79e2d8f729f2dd587cc5fd445da945b6efd899b5..0000000000000000000000000000000000000000
--- a/data/srdf/slalom.srdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/slalom.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/slalom.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/srdf/stair_bauzil.srdf b/data/srdf/stair_bauzil.srdf
deleted file mode 100755
index 7d3b2c8551e0f243c9424c10eec50951d62b6483..0000000000000000000000000000000000000000
--- a/data/srdf/stair_bauzil.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="stair_bauzil">
- <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/stepladder.srdf b/data/srdf/stepladder.srdf
deleted file mode 100755
index 03e40d82812a8b679c989da4e458dbfa39d77844..0000000000000000000000000000000000000000
--- a/data/srdf/stepladder.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="stepladder">
- <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/table.srdf b/data/srdf/table.srdf
deleted file mode 100644
index 3dddcbd7c672e1e34a174a8e50c106ad21423ef3..0000000000000000000000000000000000000000
--- a/data/srdf/table.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="table">
- <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/truck.srdf b/data/srdf/truck.srdf
deleted file mode 100755
index c658b8bd970e1ef5ea3b0dfb7c9b457e78029bbb..0000000000000000000000000000000000000000
--- a/data/srdf/truck.srdf
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot name="truck">
- <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/urdf/bauzil_stairs.urdf b/data/urdf/bauzil_stairs.urdf
deleted file mode 100755
index abf45d1540c8a2cde11af6d50833b6a75fb39c95..0000000000000000000000000000000000000000
--- a/data/urdf/bauzil_stairs.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs.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/bauzil_stairs_noRamp_simplified.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/bauzil_stairs_10cm.urdf b/data/urdf/bauzil_stairs_10cm.urdf
deleted file mode 100644
index 78a6d9eb640285135fb25496b779f2c0b80b67f0..0000000000000000000000000000000000000000
--- a/data/urdf/bauzil_stairs_10cm.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs_10cm.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/bauzil_stairs_10cm.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/bauzil_stairs_collision.urdf b/data/urdf/bauzil_stairs_collision.urdf
deleted file mode 100755
index add3306b750d32836b324f79a1a2a436ad0bd0c2..0000000000000000000000000000000000000000
--- a/data/urdf/bauzil_stairs_collision.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/bauzil_stairs_noRamp.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/bauzil_stairs_noRamp.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/box.urdf b/data/urdf/box.urdf
deleted file mode 100755
index 3719abad200f76f886a85b36ef09a23ab85b9d17..0000000000000000000000000000000000000000
--- a/data/urdf/box.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="box">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/robot_box.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/box.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/box_rom.urdf b/data/urdf/box_rom.urdf
deleted file mode 100755
index bbf27ab394fcdfdb33aa9def77b5550d781149b8..0000000000000000000000000000000000000000
--- a/data/urdf/box_rom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="box">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/box_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/box_rom.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/car.urdf b/data/urdf/car.urdf
deleted file mode 100755
index 635207feab97ffe2dfbdee000ce365924441fc9e..0000000000000000000000000000000000000000
--- a/data/urdf/car.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="car">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/car.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/car.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/climb.urdf b/data/urdf/climb.urdf
deleted file mode 100755
index d628069ddb74a2b17076f9ad5280c0768dbc683a..0000000000000000000000000000000000000000
--- a/data/urdf/climb.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="climb">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/climb.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/climb.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/cross_gap.urdf b/data/urdf/cross_gap.urdf
deleted file mode 100755
index 57ffe436ae9cde6cd305d27d4ebe6930bccc4c04..0000000000000000000000000000000000000000
--- a/data/urdf/cross_gap.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="cross_gap">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/cross_gap2.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/cross_gap2.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/darpa.urdf b/data/urdf/darpa.urdf
deleted file mode 100755
index 9ec29cd10994a5c593da2ac4e10fbbcf3ec79175..0000000000000000000000000000000000000000
--- a/data/urdf/darpa.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/darpareduced.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/darpareduced.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/darpa_no_ctc_mid.urdf b/data/urdf/darpa_no_ctc_mid.urdf
deleted file mode 100644
index 648d308e36b5ba99242bcf5c38258943484426a7..0000000000000000000000000000000000000000
--- a/data/urdf/darpa_no_ctc_mid.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/darpa_no_ctc_mid_collision.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/darpa_no_ctc_mid_collision.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/darpa_no_mid.urdf b/data/urdf/darpa_no_mid.urdf
deleted file mode 100644
index 02c75c03666f1302999677789b5d61fb232f0a35..0000000000000000000000000000000000000000
--- a/data/urdf/darpa_no_mid.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/darpa_no_mid.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/darpa_no_mid.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/downSlope.urdf b/data/urdf/downSlope.urdf
deleted file mode 100755
index 8b448cf256825ecb83348d5af0def27b8f29ccc8..0000000000000000000000000000000000000000
--- a/data/urdf/downSlope.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/downSlope2.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/downSlope2.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/downSlope_easy.urdf b/data/urdf/downSlope_easy.urdf
deleted file mode 100644
index 2d88c7950dcc3ef0a515db6aaa7c24bb14a7ba42..0000000000000000000000000000000000000000
--- a/data/urdf/downSlope_easy.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/downSlope_easy.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/downSlope_easy.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/downSlope_easy20.urdf b/data/urdf/downSlope_easy20.urdf
deleted file mode 100644
index 6e8c6fb3cf55e89e00207dc913e86f3743c5d72c..0000000000000000000000000000000000000000
--- a/data/urdf/downSlope_easy20.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/downSlope_easy20.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/downSlope_easy20.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/flat_hole.urdf b/data/urdf/flat_hole.urdf
deleted file mode 100644
index b2331e7911efdc79189ce179c136aaf4c8cb83e6..0000000000000000000000000000000000000000
--- a/data/urdf/flat_hole.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="flat_hole">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/flat_hole.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/flat_hole.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/flat_step.urdf b/data/urdf/flat_step.urdf
deleted file mode 100755
index 9fa72839eba4873eaa6c2a2b16f82eac6378c127..0000000000000000000000000000000000000000
--- a/data/urdf/flat_step.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/flat_step.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/flat_step.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/floor_bauzil.urdf b/data/urdf/floor_bauzil.urdf
deleted file mode 100755
index 4c41314d332189d4bf792ee4d5854c879943192f..0000000000000000000000000000000000000000
--- a/data/urdf/floor_bauzil.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil.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/floor_bauzil.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/floor_bauzil_obstacles.urdf b/data/urdf/floor_bauzil_obstacles.urdf
deleted file mode 100755
index 459cc63ab5b1a7243fe721f303bc2c1cf4de92eb..0000000000000000000000000000000000000000
--- a/data/urdf/floor_bauzil_obstacles.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/floor_bauzil_obstacles.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/floor_bauzil_obstacles.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground.urdf b/data/urdf/ground.urdf
deleted file mode 100755
index 18fff29f54d35df0e1fbd6aa039ef38e2f52fc0b..0000000000000000000000000000000000000000
--- a/data/urdf/ground.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground.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/ground.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground_bigStep.urdf b/data/urdf/ground_bigStep.urdf
deleted file mode 100644
index f8a2b31a5909d9e2710c13e780f40646a50ad1f4..0000000000000000000000000000000000000000
--- a/data/urdf/ground_bigStep.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_bigstep">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_bigStep.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/ground_bigStep.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground_jump_bar.urdf b/data/urdf/ground_jump_bar.urdf
deleted file mode 100644
index 91f5b37f2d309b57b733436b26c673aee0c2f11e..0000000000000000000000000000000000000000
--- a/data/urdf/ground_jump_bar.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_jump_bar">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_bar.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/ground_jump_bar.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground_jump_easy.urdf b/data/urdf/ground_jump_easy.urdf
deleted file mode 100644
index 3db48d5a836d2268793feeb103669ebb7977bd3a..0000000000000000000000000000000000000000
--- a/data/urdf/ground_jump_easy.urdf
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="ground_jump_easy">
- <link name="ground"> </link>
- <joint name="ground_start_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="ground"/>
- <child link="groundStart"/>
- </joint>
- <link name="groundStart">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_easyStart2.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/ground_jump_easyStart2.stl"/>
- </geometry>
- </collision>
- </link>
- <joint name="ground_goal_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="ground"/>
- <child link="groundGoal"/>
- </joint>
- <link name="groundGoal">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_easyGoal.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/ground_jump_easyGoal.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground_jump_low.urdf b/data/urdf/ground_jump_low.urdf
deleted file mode 100644
index 2006c89675cd7c9f240e0f7c30b15cf77a2a7ddc..0000000000000000000000000000000000000000
--- a/data/urdf/ground_jump_low.urdf
+++ /dev/null
@@ -1,48 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="ground_jump_easy">
- <link name="ground"> </link>
- <joint name="ground_start_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="ground"/>
- <child link="groundStart"/>
- </joint>
- <link name="groundStart">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_easyStart.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/ground_jump_easyStart.stl"/>
- </geometry>
- </collision>
- </link>
- <joint name="ground_goal_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="ground"/>
- <child link="groundGoal"/>
- </joint>
- <link name="groundGoal">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_lowGoal.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/ground_jump_lowGoal.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground_jump_med.urdf b/data/urdf/ground_jump_med.urdf
deleted file mode 100644
index c367dd064c628fc88c634418c7e6e5d4c3b45d0f..0000000000000000000000000000000000000000
--- a/data/urdf/ground_jump_med.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="ground_jump_med">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_jump_med.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/ground_jump_med.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/ground_with_bridge.urdf b/data/urdf/ground_with_bridge.urdf
deleted file mode 100644
index 8ef9d9063f1ba46a199f162d2717e9fafccb7411..0000000000000000000000000000000000000000
--- a/data/urdf/ground_with_bridge.urdf
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="ground_with_bridge">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_with_bridge.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/ground_with_bridge.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/groundcrouch.urdf b/data/urdf/groundcrouch.urdf
deleted file mode 100755
index 45cf09ede2dd652b451ee3b2d202fa42bb61fa6b..0000000000000000000000000000000000000000
--- a/data/urdf/groundcrouch.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/groundcrouch.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/groundcrouch.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/plane.urdf b/data/urdf/plane.urdf
deleted file mode 100644
index 4b0c1d04d2d20ca5397167218e2eaa1b9c5e28fe..0000000000000000000000000000000000000000
--- a/data/urdf/plane.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="plane">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/plane.obj"/>
- </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/plane.obj"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/polaris.urdf b/data/urdf/polaris.urdf
deleted file mode 100644
index c73477653a8b00c783011902a55900ae6ce02d05..0000000000000000000000000000000000000000
--- a/data/urdf/polaris.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="polaris">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/polaris.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/polaris.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/roomWall.urdf b/data/urdf/roomWall.urdf
deleted file mode 100644
index 51a8e34d200b4af83adb7b76bab7c8e4c58baa4d..0000000000000000000000000000000000000000
--- a/data/urdf/roomWall.urdf
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<robot name="cubeWorld">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/roomWall.stl"/>
- </geometry>
- <material name="white">
- <color rgba="1 1 1 1"/>
- </material>
- </visual>
- <collision>
- <origin xyz="0 0 0"/>
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/roomWall.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/scene.urdf b/data/urdf/scene.urdf
deleted file mode 100755
index d0bcbb674c19944c0f2d6c09a50f7be26646b702..0000000000000000000000000000000000000000
--- a/data/urdf/scene.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="scene">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/ground.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/ground.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/scene2.urdf b/data/urdf/scene2.urdf
deleted file mode 100755
index 6275b4c6e1b0609d04ef18cd372d2d536a559b9e..0000000000000000000000000000000000000000
--- a/data/urdf/scene2.urdf
+++ /dev/null
@@ -1,100 +0,0 @@
-<robot name="scene">
-
- <!-- This is the top level joint /tf frame. -->
- <link name="base_link">
- <!--<sphere_inertia radius="0.001" mass="1"/>-->
- </link>
- <joint name="ground_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="base_link"/>
- <child link="ground_link"/>
- </joint>
- <link name="ground_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/ground.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/ground.stl"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="board_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="base_link"/>
- <child link="board_link"/>
- </joint>
- <link name="board_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/board.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/board.stl"/>
- </geometry>
- </collision>
- </link>
-
-
- <joint name="chair_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="base_link"/>
- <child link="chair_link"/>
- </joint>
- <link name="chair_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/chair_simple.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/chair_simple.stl"/>
- </geometry>
- </collision>
- </link>
-
- <joint name="pedal_joint" type="fixed">
- <origin rpy="0 0 0" xyz="0 0 0"/>
- <parent link="base_link"/>
- <child link="pedal_link"/>
- </joint>
- <link name="pedal_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/pedal.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/pedal.stl"/>
- </geometry>
- </collision>
- </link>
-
-</robot>
diff --git a/data/urdf/scene_wall.urdf b/data/urdf/scene_wall.urdf
deleted file mode 100755
index 5ea8c1321ee196c7767718152e6dd6481ea69b09..0000000000000000000000000000000000000000
--- a/data/urdf/scene_wall.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="scene_wall">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_table.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/ground_table.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/scene_wall2.urdf b/data/urdf/scene_wall2.urdf
deleted file mode 100644
index 3196ebe20b9cc66ebdccb3b201f6177b39ce7c44..0000000000000000000000000000000000000000
--- a/data/urdf/scene_wall2.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="scene_wall2">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/ground_table2.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/ground_table2.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/sideWall.urdf b/data/urdf/sideWall.urdf
deleted file mode 100755
index 2c99e24fd8b6c553d63078a7227ed3d16aa7d1ef..0000000000000000000000000000000000000000
--- a/data/urdf/sideWall.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/sideWall.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/sideWall.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/sideWall_long.urdf b/data/urdf/sideWall_long.urdf
deleted file mode 100755
index d308d8c1d9b4840d6b1e06fb584e4880b626ce28..0000000000000000000000000000000000000000
--- a/data/urdf/sideWall_long.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/sideWall_long.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/sideWall_long.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/chair.urdf b/data/urdf/siggraph_asia/chair.urdf
deleted file mode 100644
index 9c741cb7353233328e0f1d6a221cd9ebcfad2fe4..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/chair.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="chair">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/chair.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/chair.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/down.urdf b/data/urdf/siggraph_asia/down.urdf
deleted file mode 100755
index 353ae69c628d54e0cffc537ee933fba2718b1ff2..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/down.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="down">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/down.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/down.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/grasp.urdf b/data/urdf/siggraph_asia/grasp.urdf
deleted file mode 100644
index 5e5955716ea671e6ba9bb98a6fdb718445bb558f..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/grasp.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="grasp">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/grasp.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/grasp.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/mount.urdf b/data/urdf/siggraph_asia/mount.urdf
deleted file mode 100644
index ecf2de919637d10f64e4f55bed17a365030e58a0..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/mount.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="mount">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/mountain.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/mountain.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/overview.urdf b/data/urdf/siggraph_asia/overview.urdf
deleted file mode 100644
index b52ecd9fc4cedc87ac6aca4a7af9e0a6089a457a..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/overview.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="overview">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/overview.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/overview.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/plane_hole.urdf b/data/urdf/siggraph_asia/plane_hole.urdf
deleted file mode 100644
index 4860cd82ee5f77d758625a68aa36c83bc050819a..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/plane_hole.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="plane_hole">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/plane_hole.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/plane_hole.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/scale.urdf b/data/urdf/siggraph_asia/scale.urdf
deleted file mode 100644
index 25c381eb92c3cab2ba4c94416a9de275c4c10164..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/scale.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="scale">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/scale.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/scale.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/scale_spidey.urdf b/data/urdf/siggraph_asia/scale_spidey.urdf
deleted file mode 100644
index 5eba4308f144872c136868d3be8bfa24eef1cc41..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/scale_spidey.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="scale_spidey">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/scale_spidey.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/scale_spidey.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/stairs_lower.urdf b/data/urdf/siggraph_asia/stairs_lower.urdf
deleted file mode 100644
index 871663de5c7fe950dfaad9f6eff10303994a9cf0..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/stairs_lower.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stairs_lower">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/stairs_lower.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/stairs_lower.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/twister.urdf b/data/urdf/siggraph_asia/twister.urdf
deleted file mode 100644
index dfd31b863dbaef59207e88320bfe9701d232cc7a..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/twister.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="twister">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/twister.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/twister.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/siggraph_asia/wall.urdf b/data/urdf/siggraph_asia/wall.urdf
deleted file mode 100644
index e3d6eca60899d316f98d2064b2fc25828fe85e1f..0000000000000000000000000000000000000000
--- a/data/urdf/siggraph_asia/wall.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="wall">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/wall.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/wall.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/slalom.urdf b/data/urdf/slalom.urdf
deleted file mode 100755
index 79e2d8f729f2dd587cc5fd445da945b6efd899b5..0000000000000000000000000000000000000000
--- a/data/urdf/slalom.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/slalom.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/slalom.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/stair_bauzil.urdf b/data/urdf/stair_bauzil.urdf
deleted file mode 100755
index 3b9ef3ab1944dc9f4b599222e6ea9c1a4fef7e81..0000000000000000000000000000000000000000
--- a/data/urdf/stair_bauzil.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/stair_bauzil.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/stair_bauzil_reduced.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/stepladder.urdf b/data/urdf/stepladder.urdf
deleted file mode 100755
index f861e56c4d688cfa2acdc3f91b2d222afc544e8a..0000000000000000000000000000000000000000
--- a/data/urdf/stepladder.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stepladder">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package:///../hpp-rbprm-corba/meshes/stepladder.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/stepladder.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/table.urdf b/data/urdf/table.urdf
deleted file mode 100644
index 3b9ef3ab1944dc9f4b599222e6ea9c1a4fef7e81..0000000000000000000000000000000000000000
--- a/data/urdf/table.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="stair_bauzil">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/stair_bauzil.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/stair_bauzil_reduced.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/data/urdf/truck.urdf b/data/urdf/truck.urdf
deleted file mode 100755
index de45136e550d2a28cac57e632b67f640e0e9dac0..0000000000000000000000000000000000000000
--- a/data/urdf/truck.urdf
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot name="truck">
- <link name="base_link">
- <visual>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <geometry>
- <mesh filename="package://hpp-rbprm-corba/meshes/truck_vision.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/truck.stl"/>
- </geometry>
- </collision>
- </link>
-</robot>
diff --git a/doc/Doxyfile.extra.in b/doc/Doxyfile.extra.in
old mode 100755
new mode 100644
diff --git a/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl b/idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
old mode 100755
new mode 100644
diff --git a/include/hpp/corbaserver/rbprm/doc.hh.in b/include/hpp/corbaserver/rbprm/doc.hh.in
old mode 100755
new mode 100644
diff --git a/include/hpp/corbaserver/rbprm/server.hh b/include/hpp/corbaserver/rbprm/server.hh
old mode 100755
new mode 100644
diff --git a/script/__init__.py b/script/__init__.py
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/script/scenarios/demos/darpa_hyq.py b/script/scenarios/demos/darpa_hyq.py
index eab116f7868f6e5fe15afc81bda3978c6aeee3f9..390ecd6de4c178d12c703d08a10300ec90a0706d 100644
--- a/script/scenarios/demos/darpa_hyq.py
+++ b/script/scenarios/demos/darpa_hyq.py
@@ -1,5 +1,5 @@
#Importing helper class for RBPRM
-from hpp.corbaserver.rbprm.hyq import Robot
+from hpp.corbaserver.rbprm.hyq_contact6D import Robot
from hpp.corbaserver.problem_solver import ProblemSolver
from hpp.gepetto import Viewer
@@ -18,51 +18,35 @@ from hpp.corbaserver import Client
# This time we load the full body model of HyQ
fullBody = Robot ()
fullBody.setJointBounds ("root_joint", [-2,5, -1, 1, 0.3, 4])
+fullBody.client.robot.setDimensionExtraConfigSpace(6)
+fullBody.client.robot.setExtraConfigSpaceBounds([0,0,0,0,0,0,0,0,0,0,0,0])
# Setting a number of sample configurations used
nbSamples = 10000
ps = tp.ProblemSolver(fullBody)
-r = tp.Viewer (ps, viewerClient=tp.r.client)
+v = tp.Viewer (ps, viewerClient=tp.v.client)
rootName = 'base_joint_xyz'
-cType = "_3_DOF"
+cType = "_6_DOF"
def addLimbDb(limbId, heuristicName, loadValues = True, disableEffectorCollision = False):
fullBody.addLimbDatabase(str(db_dir+limbId+'.db'), limbId, heuristicName,loadValues, disableEffectorCollision)
-fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.1, cType)
-fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.05, cType)
-fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.05, cType)
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "forward", 0.1, cType)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "forward", 0.05, cType)
+fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "forward", 0.05, cType)
fullBody.addLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "random", 0.05, cType)
#~ fullBody.runLimbSampleAnalysis(rLegId, "jointLimitsDistance", True)
#~ fullBody.runLimbSampleAnalysis(lLegId, "jointLimitsDistance", True)
#~ fullBody.runLimbSampleAnalysis(rarmId, "jointLimitsDistance", True)
#~ fullBody.runLimbSampleAnalysis(larmId, "jointLimitsDistance", True)
-"""
-q_init = [-2.0,
- 0.0,
- 0.6838277139631803,
- 0.0,
- 0.0,
- 0.0,
- 1.0,
- 0.14279812395541294,
- 0.934392553166556,
- -0.9968239786882757,
- -0.06521258938340457,
- -0.8831796268418511,
- 1.150049183494211,
- -0.06927610020154493,
- 0.9507443168724581,
- -0.8739975339028809,
- 0.03995660287873871,
- -0.9577096766517215,
- 0.9384602821326071]
-"""
-q_init=fullBody.referenceConfig[::]; q_init[0:7] = tp.q_init[0:7]; q_init[2]=fullBody.referenceConfig[2]+0.02
-q_goal = fullBody.referenceConfig[::]; q_goal[0:7] = tp.q_goal[0:7]; q_goal[2]=fullBody.referenceConfig[2]+0.02
+
+q_init=fullBody.referenceConfig[::] + [0]*6; q_init[0:7] = tp.q_init[0:7];
+#q_init[2]=fullBody.referenceConfig[2]
+q_goal = fullBody.referenceConfig[::]+ [0]*6; q_goal[0:7] = tp.q_goal[0:7];
+#q_goal[2]=fullBody.referenceConfig[2]
q_init = fullBody.generateContacts(q_init, [0,0,1])
@@ -73,12 +57,13 @@ fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lArmId,fullBody.lLegId,f
fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lArmId,fullBody.lLegId,fullBody.rArmId])
-r(q_init)
+
+v(q_init)
configs = []
from hpp.gepetto import PathPlayer
-pp = PathPlayer (fullBody.client, r)
+pp = PathPlayer (fullBody.client, v)
import time
@@ -86,49 +71,49 @@ import time
#DEMO METHODS
def initConfig():
- r.client.gui.setVisibility("hyq", "ON")
+ v.client.gui.setVisibility("hyq", "ON")
tp.cl.problem.selectProblem("default")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- r(q_init)
+ tp.v.client.gui.setVisibility("toto", "OFF")
+ tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
+ v(q_init)
def endConfig():
- r.client.gui.setVisibility("hyq", "ON")
+ v.client.gui.setVisibility("hyq", "ON")
tp.cl.problem.selectProblem("default")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- r(q_goal)
+ tp.v.client.gui.setVisibility("toto", "OFF")
+ tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
+ v(q_goal)
def rootPath():
- r.client.gui.setVisibility("hyq", "OFF")
+ v.client.gui.setVisibility("hyq", "OFF")
tp.cl.problem.selectProblem("rbprm_path")
- tp.r.client.gui.setVisibility("toto", "OFF")
- r.client.gui.setVisibility("hyq", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "ON")
+ tp.v.client.gui.setVisibility("toto", "OFF")
+ v.client.gui.setVisibility("hyq", "OFF")
+ tp.v.client.gui.setVisibility("hyq_trunk_large", "ON")
tp.pp(0)
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
- r.client.gui.setVisibility("hyq", "ON")
+ tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
+ v.client.gui.setVisibility("hyq", "ON")
tp.cl.problem.selectProblem("default")
def genPlan(stepsize=0.06):
tp.cl.problem.selectProblem("default")
- r.client.gui.setVisibility("hyq", "ON")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
+ v.client.gui.setVisibility("hyq", "ON")
+ tp.v.client.gui.setVisibility("toto", "OFF")
+ tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
global configs
- start = time.clock()
- configs = fullBody.interpolate(stepsize, 8, 0, filterStates = False, testReachability=False, quasiStatic=True)
- end = time.clock()
+ start = time.time()
+ configs = fullBody.interpolate(stepsize, 5, 0., filterStates = True,testReachability = False)
+ end = time.time()
print "Contact plan generated in " + str(end-start) + "seconds"
def contactPlan(step = 0.5):
- r.client.gui.setVisibility("hyq", "ON")
+ v.client.gui.setVisibility("hyq", "ON")
tp.cl.problem.selectProblem("default")
- tp.r.client.gui.setVisibility("toto", "OFF")
- tp.r.client.gui.setVisibility("hyq_trunk_large", "OFF")
+ tp.v.client.gui.setVisibility("toto", "OFF")
+ tp.v.client.gui.setVisibility("hyq_trunk_large", "OFF")
for i in range(0,len(configs)):
- r(configs[i]);
+ v(configs[i]);
time.sleep(step)
diff --git a/script/scenarios/demos/darpa_hyq_path.py b/script/scenarios/demos/darpa_hyq_path.py
index 984461592a7ff6f6b078e56e85e6b1e2c94b9fab..60f30022f032979e710df35c8d46179246a08869 100644
--- a/script/scenarios/demos/darpa_hyq_path.py
+++ b/script/scenarios/demos/darpa_hyq_path.py
@@ -21,13 +21,24 @@ rbprmBuilder.boundSO3([-0.4,0.4,-0.3,0.3,-0.3,0.3])
# Creating an instance of HPP problem solver and the viewer
from hpp.corbaserver.problem_solver import ProblemSolver
ps = ProblemSolver( rbprmBuilder )
-r = Viewer (ps)
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+#~ afftool.loadObstacleModel (packageName, "darpa", "planning", r, reduceSizes=[0.05,0.,0.])
+afftool.loadObstacleModel("hpp_environments", "multicontact/darpa", "planning", vf,reduceSizes=[0.1,0,0])
+v = vf.createViewer()
+#afftool.visualiseAffordances('Support', v, [0.25, 0.5, 0.5])
+
+
# Setting initial and goal configurations
q_init = rbprmBuilder.getCurrentConfig ();
-q_init [0:3] = [-2, 0, 0.63]; rbprmBuilder.setCurrentConfig (q_init); r (q_init)
+q_init [0:3] = [-2, 0, 0.64]; rbprmBuilder.setCurrentConfig (q_init); v (q_init)
q_goal = q_init [::]
-q_goal [0:3] = [3, 0, 0.63]; r (q_goal)
+q_goal [0:3] = [3, 0, 0.64]; v (q_goal)
#~ q_goal [0:3] = [-1.5, 0, 0.75]; r (q_goal)
# Choosing a path optimizer
@@ -35,12 +46,6 @@ ps.addPathOptimizer("RandomShortcut")
ps.setInitialConfig (q_init)
ps.addGoalConfig (q_goal)
-from hpp.corbaserver.affordance.affordance import AffordanceTool
-afftool = AffordanceTool ()
-#~ afftool.loadObstacleModel (packageName, "darpa", "planning", r, reduceSizes=[0.05,0.,0.])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "darpa", "planning", r)
-afftool.visualiseAffordances('Support', r, [0.25, 0.5, 0.5])
-
# Choosing RBPRM shooter and path validation methods.
# Note that the standard RRT algorithm is used.
ps.client.problem.selectConfigurationShooter("RbprmShooter")
@@ -56,11 +61,11 @@ print "computation time for root path ", t
# Playing the computed path
from hpp.gepetto import PathPlayer
-pp = PathPlayer (r)
+pp = PathPlayer (v)
q_far = q_init [::]
-q_far [0:3] = [-2, -3, 0.63];
-r(q_far)
+q_far [0:3] = [-2, -3, 0.6];
+v(q_far)
for i in range(1,10):
rbprmBuilder.client.problem.optimizePath(i)
@@ -76,6 +81,6 @@ rbprmBuilder2 = Robot ("toto")
ps2 = ProblemSolver( rbprmBuilder2 )
cl.problem.selectProblem("default")
cl.problem.movePathToProblem(8,"rbprm_path",rbprmBuilder.getAllJointNames()[1:])
-r2 = Viewer (ps2, viewerClient=r.client)
+r2 = Viewer (ps2, viewerClient=v.client)
r2(q_far)
diff --git a/script/scenarios/demos/hyq_slalom_debris.py b/script/scenarios/demos/hyq_slalom_debris.py
new file mode 100644
index 0000000000000000000000000000000000000000..7befb9d868b8c8f21ab923c095fee2301b7ce908
--- /dev/null
+++ b/script/scenarios/demos/hyq_slalom_debris.py
@@ -0,0 +1,100 @@
+from hpp.corbaserver.rbprm.hyq_contact6D import Robot
+from hpp.gepetto import Viewer
+from tools.display_tools import *
+import time
+print "Plan guide trajectory ..."
+import hyq_slalom_debris_path as tp
+print "Done."
+import time
+
+pId = tp.ps.numberPaths() -1
+fullBody = Robot ()
+
+# Set the bounds for the root
+root_bounds = tp.root_bounds
+root_bounds[4] -= 0.05
+root_bounds[5] += 0.05
+fullBody.setJointBounds ("root_joint", root_bounds)
+# add the 6 extraDof for velocity and acceleration (see *_path.py script)
+fullBody.client.robot.setDimensionExtraConfigSpace(tp.extraDof)
+fullBody.client.robot.setExtraConfigSpaceBounds([-tp.vMax,tp.vMax,-tp.vMax,tp.vMax,0,0,-tp.aMax,tp.aMax,-tp.aMax,tp.aMax,0,0])
+ps = tp.ProblemSolver( fullBody )
+ps.setParameter("Kinodynamic/velocityBound",tp.vMax)
+ps.setParameter("Kinodynamic/accelerationBound",tp.aMax)
+#load the viewer
+v = tp.Viewer (ps,viewerClient=tp.v.client, displayCoM = True)
+
+# load a reference configuration
+q_ref = fullBody.referenceConfig[::]+[0]*6
+q_init = q_ref[::]
+fullBody.setReferenceConfig(q_ref)
+fullBody.setCurrentConfig (q_init)
+
+print "Generate limb DB ..."
+tStart = time.time()
+# generate databases :
+
+nbSamples = 10000
+
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.rArmId,fullBody.rarm,fullBody.rhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+fullBody.addLimb(fullBody.lArmId,fullBody.larm,fullBody.lhand,fullBody.offset,fullBody.normal, fullBody.legx, fullBody.legy, nbSamples, "fixedStep06", 0.01)
+
+for limbId in fullBody.limbNames :
+ fullBody.runLimbSampleAnalysis(limbId, "ReferenceConfiguration", True)
+
+
+tGenerate = time.time() - tStart
+print "Done."
+print "Databases generated in : "+str(tGenerate)+" s"
+
+#define initial and final configurations :
+configSize = fullBody.getConfigSize() -fullBody.client.robot.getDimensionExtraConfigSpace()
+
+q_init[0:7] = tp.ps.configAtParam(pId,0.01)[0:7] # use this to get the correct orientation
+q_goal = q_init[::]; q_goal[0:7] = tp.ps.configAtParam(pId,tp.ps.pathLength(pId))[0:7]
+dir_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS:tp.indexECS+3]
+acc_init = tp.ps.configAtParam(pId,0.01)[tp.indexECS+3:tp.indexECS+6]
+dir_goal = tp.ps.configAtParam(pId,tp.ps.pathLength(pId)-0.01)[tp.indexECS:tp.indexECS+3]
+acc_goal = [0,0,0]
+
+robTreshold = 3
+# copy extraconfig for start and init configurations
+q_init[configSize:configSize+3] = dir_init[::]
+q_init[configSize+3:configSize+6] = acc_init[::]
+q_goal[configSize:configSize+3] = dir_goal[::]
+q_goal[configSize+3:configSize+6] = [0,0,0]
+
+
+fullBody.setStaticStability(True)
+fullBody.setCurrentConfig (q_init)
+
+fullBody.setCurrentConfig (q_goal)
+
+v.addLandmark('hyq/base_link',0.3)
+
+
+q_init[2] = fullBody.referenceConfig[2]
+q_goal[2] = fullBody.referenceConfig[2]
+v(q_init)
+#q_init = fullBody.generateContacts(q_init, [0,0,1])
+#q_goal = fullBody.generateContacts(q_goal, [0,0,1])
+
+# specify the full body configurations as start and goal state of the problem
+fullBody.setStartState(q_init,[fullBody.rLegId,fullBody.lArmId,fullBody.rArmId,fullBody.lLegId])
+fullBody.setEndState(q_goal,[fullBody.rLegId,fullBody.lArmId,fullBody.rArmId,fullBody.lLegId])
+
+
+print "Generate contact plan ..."
+tStart = time.time()
+configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True,testReachability = False)
+tInterpolateConfigs = time.time() - tStart
+print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
+print "number of configs :", len(configs)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
+
+
+
diff --git a/script/scenarios/demos/hyq_slalom_debris_path.py b/script/scenarios/demos/hyq_slalom_debris_path.py
new file mode 100644
index 0000000000000000000000000000000000000000..07e8ba7aec3217c8800e4c5abe448d40aee92b63
--- /dev/null
+++ b/script/scenarios/demos/hyq_slalom_debris_path.py
@@ -0,0 +1,101 @@
+from hpp.corbaserver.rbprm.hyq_abstract import Robot
+from hpp.gepetto import Viewer
+from hpp.corbaserver import ProblemSolver
+import time
+
+
+
+vMax = 0.2# linear velocity bound for the root
+aMax = 0.1# linear acceleration bound for the root
+extraDof = 6
+mu=0.5# coefficient of friction
+# Creating an instance of the helper class, and loading the robot
+# Creating an instance of the helper class, and loading the robot
+rbprmBuilder = Robot ()
+# Define bounds for the root : bounding box of the scenario
+root_bounds = [-1.7,2.5, -0.2, 2, 0.63, 0.63]
+rbprmBuilder.setJointBounds ("root_joint",root_bounds)
+
+# The following lines set constraint on the valid configurations:
+# a configuration is valid only if all limbs can create a contact with the corresponding afforcances type
+rbprmBuilder.setFilter(['hyq_rhleg_rom', 'hyq_lfleg_rom', 'hyq_rfleg_rom','hyq_lhleg_rom'])
+rbprmBuilder.setAffordanceFilter('hyq_rhleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hyq_rfleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hyq_lhleg_rom', ['Support'])
+rbprmBuilder.setAffordanceFilter('hyq_lfleg_rom', ['Support'])
+# We also bound the rotations of the torso. (z, y, x)
+rbprmBuilder.boundSO3([-4,4,-0.1,0.1,-0.1,0.1])
+# Add 6 extraDOF to the problem, used to store the linear velocity and acceleration of the root
+rbprmBuilder.client.robot.setDimensionExtraConfigSpace(extraDof)
+# We set the bounds of this extraDof with velocity and acceleration bounds (expect on z axis)
+rbprmBuilder.client.robot.setExtraConfigSpaceBounds([-vMax,vMax,-vMax,vMax,0,0,-aMax,aMax,-aMax,aMax,0,0])
+indexECS = rbprmBuilder.getConfigSize() - rbprmBuilder.client.robot.getDimensionExtraConfigSpace()
+
+# Creating an instance of HPP problem solver
+ps = ProblemSolver( rbprmBuilder )
+# define parameters used by various methods :
+ps.setParameter("Kinodynamic/velocityBound",vMax)
+ps.setParameter("Kinodynamic/accelerationBound",aMax)
+ps.setParameter("DynamicPlanner/sizeFootX",0.01)
+ps.setParameter("DynamicPlanner/sizeFootY",0.01)
+ps.setParameter("DynamicPlanner/friction",0.5)
+ps.setParameter("Kinodynamic/forceOrientation",True)
+# sample only configuration with null velocity and acceleration :
+ps.setParameter("ConfigurationShooter/sampleExtraDOF",False)
+ps.setParameter("PathOptimization/RandomShortcut/NumberOfLoops",50)
+
+# initialize the viewer :
+from hpp.gepetto import ViewerFactory
+vf = ViewerFactory (ps)
+
+# load the module to analyse the environnement and compute the possible contact surfaces
+from hpp.corbaserver.affordance.affordance import AffordanceTool
+afftool = AffordanceTool ()
+afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
+afftool.loadObstacleModel ("hpp_environments", "multicontact/slalom_debris", "planning", vf,reduceSizes=[0.05,0,0])
+v = vf.createViewer(displayArrows = True)
+#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
+
+# Setting initial configuration
+q_init = rbprmBuilder.getCurrentConfig ();
+q_init [0:3] = [-1.5, 0, 0.63]
+q_init[3:7] = [0,0,0,1]
+q_init[-6] = 0.05
+v (q_init)
+ps.setInitialConfig (q_init)
+# set goal config
+rbprmBuilder.setCurrentConfig (q_init)
+q_goal = q_init [::]
+q_goal[0] = 2.2
+v(q_goal)
+ps.addGoalConfig (q_goal)
+
+# Choosing RBPRM shooter and path validation methods.
+ps.selectConfigurationShooter("RbprmShooter")
+ps.addPathOptimizer ("RandomShortcutDynamic")
+ps.selectPathValidation("RbprmPathValidation",0.05)
+# Choosing kinodynamic methods :
+ps.selectSteeringMethod("RBPRMKinodynamic")
+ps.selectDistance("Kinodynamic")
+ps.selectPathPlanner("DynamicPlanner")
+
+# Solve the planning problem :
+t = ps.solve ()
+print "Guide planning time : ",t
+
+ps.optimizePath(1)
+pid = ps.numberPaths()-1
+# display solution :
+from hpp.gepetto import PathPlayer
+pp = PathPlayer (v)
+pp.dt=0.1
+#pp.displayVelocityPath(pid)
+#v.client.gui.setVisibility("path_2_root","ALWAYS_ON_TOP")
+pp.dt=0.01
+#pp(0)
+
+# move the robot out of the view before computing the contacts
+q_far = q_init[::]
+q_far[2] = -2
+v(q_far)
+
diff --git a/script/scenarios/demos/talos_flatGround.py b/script/scenarios/demos/talos_flatGround.py
index fbde162c439913b12f27caffa6ba6a7d4f9ed7c6..9561a96fefed2333c28d9af802f725f6d2692248 100644
--- a/script/scenarios/demos/talos_flatGround.py
+++ b/script/scenarios/demos/talos_flatGround.py
@@ -32,9 +32,9 @@ tStart = time.time()
# generate databases :
nbSamples = 50000
-fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
+fullBody.addLimb(fullBody.rLegId,fullBody.rleg,fullBody.rfoot,fullBody.rLegOffset,fullBody.rLegNormal, fullBody.rLegx, fullBody.rLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.rLegKinematicConstraints)
fullBody.runLimbSampleAnalysis(fullBody.rLegId, "ReferenceConfiguration", True)
-fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep1", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
+fullBody.addLimb(fullBody.lLegId,fullBody.lleg,fullBody.lfoot,fullBody.lLegOffset,fullBody.rLegNormal, fullBody.lLegx, fullBody.lLegy, nbSamples, "fixedStep08", 0.01,kinematicConstraintsPath=fullBody.lLegKinematicConstraints)
fullBody.runLimbSampleAnalysis(fullBody.lLegId, "ReferenceConfiguration", True)
@@ -84,9 +84,10 @@ tStart = time.time()
configs = fullBody.interpolate(0.01,pathId=pId,robustnessTreshold = 2, filterStates = True)
tInterpolateConfigs = time.time() - tStart
print "Done."
+print "Contact plan generated in : "+str(tInterpolateConfigs)+" s"
print "number of configs :", len(configs)
-raw_input("Press Enter to display the contact sequence ...")
-displayContactSequence(v,configs)
+#raw_input("Press Enter to display the contact sequence ...")
+#displayContactSequence(v,configs)
diff --git a/script/scenarios/demos/talos_flatGround_path.py b/script/scenarios/demos/talos_flatGround_path.py
index 5049bfa3a3da5a65f77351b4441345df9ab84ca7..c82ed471eb812d4d996f93e661b10d13463ddc08 100644
--- a/script/scenarios/demos/talos_flatGround_path.py
+++ b/script/scenarios/demos/talos_flatGround_path.py
@@ -1,6 +1,5 @@
from hpp.corbaserver.rbprm.talos_abstract import Robot
from hpp.gepetto import Viewer
-from hpp.corbaserver import Client
from hpp.corbaserver import ProblemSolver
import time
@@ -48,7 +47,7 @@ vf = ViewerFactory (ps)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "ground", "planning", vf)
+afftool.loadObstacleModel ("hpp_environments", "multicontact/ground", "planning", vf)
v = vf.createViewer(displayArrows = True)
#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
@@ -84,9 +83,10 @@ print "Guide planning time : ",t
# display solution :
from hpp.gepetto import PathPlayer
pp = PathPlayer (v)
-pp.dt=0.03
-pp.displayVelocityPath(0)
+pp.dt=0.1
+#pp.displayVelocityPath(0)
v.client.gui.setVisibility("path_0_root","ALWAYS_ON_TOP")
+pp.dt=0.01
#pp(0)
# move the robot out of the view before computing the contacts
diff --git a/script/scenarios/demos/talos_navBauzil_hard_path.py b/script/scenarios/demos/talos_navBauzil_hard_path.py
index 1976e889969473d31851b20cf51081e6c8fc9c04..c0a95fa3123d5621879c2c8758ed161780a3957b 100644
--- a/script/scenarios/demos/talos_navBauzil_hard_path.py
+++ b/script/scenarios/demos/talos_navBauzil_hard_path.py
@@ -54,7 +54,7 @@ vf = ViewerFactory (ps)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "floor_bauzil", "planning", vf)
+afftool.loadObstacleModel ("hpp_environments", "multicontact/floor_bauzil", "planning", vf)
v = vf.createViewer(displayArrows = True)
#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
v.addLandmark(v.sceneName,1)
diff --git a/script/scenarios/demos/talos_navBauzil_path.py b/script/scenarios/demos/talos_navBauzil_path.py
index 640938c94d5ab8aedbdbca30d14d6c330eed54e6..80a19f99d793d10857bc2f35289bce6b69978c5a 100644
--- a/script/scenarios/demos/talos_navBauzil_path.py
+++ b/script/scenarios/demos/talos_navBauzil_path.py
@@ -54,7 +54,7 @@ vf = ViewerFactory (ps)
from hpp.corbaserver.affordance.affordance import AffordanceTool
afftool = AffordanceTool ()
afftool.setAffordanceConfig('Support', [0.5, 0.03, 0.00005])
-afftool.loadObstacleModel ("hpp-rbprm-corba", "floor_bauzil", "planning", vf)
+afftool.loadObstacleModel ("hpp_environments", "multicontact/floor_bauzil", "planning", vf)
v = vf.createViewer(displayArrows = True)
#afftool.visualiseAffordances('Support', v, v.color.lightBrown)
v.addLandmark(v.sceneName,1)
diff --git a/script/scenarios/sandbox/ground_crouch_hyq_interp.py b/script/scenarios/sandbox/ground_crouch_hyq_interp.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/ground_crouch_hyq_path.py b/script/scenarios/sandbox/ground_crouch_hyq_path.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/siggraph_asia/plane_hole/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/plane_hole/stair_bauzil_hrp2_interp.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/siggraph_asia/plane_hole/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/plane_hole/stair_bauzil_hrp2_path.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_interp.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/stair_bauzil_hrp2_path.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_interp.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/siggraph_asia/stairs/stair_bauzil_hrp2_path.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/stair_bauzil_hrp2_interp.py b/script/scenarios/sandbox/stair_bauzil_hrp2_interp.py
old mode 100755
new mode 100644
diff --git a/script/scenarios/sandbox/stair_bauzil_hrp2_path.py b/script/scenarios/sandbox/stair_bauzil_hrp2_path.py
old mode 100755
new mode 100644
diff --git a/script/tools/admissibleRootPositionsFromEffector.py b/script/tools/admissibleRootPositionsFromEffector.py
old mode 100755
new mode 100644
diff --git a/script/tools/check_motion.py b/script/tools/check_motion.py
old mode 100755
new mode 100644
diff --git a/script/tools/disp_bezier.py b/script/tools/disp_bezier.py
index 778b9a06e337e7c75b7f76bc2fd0768d4b29b682..1f0d107953262b1c88d0a04529abae82f85c0287 100644
--- a/script/tools/disp_bezier.py
+++ b/script/tools/disp_bezier.py
@@ -1,4 +1,4 @@
-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
+from hpp_spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
from numpy import matrix
from numpy.linalg import norm
diff --git a/script/tools/generateROMsHyq.py b/script/tools/generateROMsHyq.py
old mode 100755
new mode 100644
diff --git a/script/tools/generateROMsPhantom.py b/script/tools/generateROMsPhantom.py
old mode 100755
new mode 100644
diff --git a/script/tools/matlab/effectorRomToObj.m b/script/tools/matlab/effectorRomToObj.m
old mode 100755
new mode 100644
diff --git a/script/tools/matlab/vertface2obj.m b/script/tools/matlab/vertface2obj.m
old mode 100755
new mode 100644
diff --git a/script/tools/polyBezier.py b/script/tools/polyBezier.py
deleted file mode 100644
index 524746dcff8423322f488336e822d6992774e806..0000000000000000000000000000000000000000
--- a/script/tools/polyBezier.py
+++ /dev/null
@@ -1,129 +0,0 @@
-from spline import bezier, bezier6, polynom, exact_cubic, curve_constraints, spline_deriv_constraint, from_bezier
-import inspect
-
-class PolyBezier:
-
- def __init__(self,curves):
- if not isinstance(curves,list): # deal with single bezier curve input
- curves = [curves]
- self.curves=curves
- self.times=[]
- self.times +=[0]
- self.d_curves=[]
- self.dd_curves=[]
- self.jerk_curves=[]
- for i in range(len(curves)):
- if not isinstance(curves[i],bezier):
- raise TypeError("PolyBezier must be called with a list of bezier curves (or a single bezier curve)")
- self.times+=[curves[i].max() + self.times[-1]]
-
- def findInterval(self,t):
- if t>self.times[-1] or t<0:
- raise ValueError("Parameter is outside of definition range of the curves, t = "+str(t) )
- for cit in range(len(self.times)):
- if t<=self.times[cit+1]:
- return cit
- raise ValueError("Error in times intervals for t = "+str(t))
-
- def findIntervalAdjustTime(self,t):
- id = self.findInterval(t)
- t -= self.times[id]
- return id,t
-
- def getBezierAt(self,t):
- id = self.findInterval(t)
- return self.curves[id]
-
- def __call__(self,t):
- id = self.findInterval(t)
- tc = t-self.times[id]
- return self.curves[id](tc)
-
- def numCurves(self):
- return len(self.curves)
-
- def length(self):
- return self.times[-1]
-
- def max(self):
- return self.length()
-
- def lengthNonZero(self):
- length = 0
- for c in self.curves:
- if c.degree > 0:
- length += (c.max() - c.min())
- return length
-
- def isInFirst(self,t):
- id = self.findInterval(t)
- return id==0
-
- def isInLast(self,t):
- id = self.findInterval(t)
- return id == (len(self.curves)-1)
-
- def idFirstNonZero(self):
- id_nonZero = 0
- while (self.curves[id_nonZero].degree == 0):
- id_nonZero += 1
- return id_nonZero
-
- def idLastNonZero(self):
- id_nonZero = len(self.curves)-1
- while (self.curves[id_nonZero].degree == 0):
- id_nonZero -= 1
- return id_nonZero
-
- def isInFirstNonZero(self,t):
- id = self.findInterval(t)
- id_nonZero = self.idFirstNonZero()
- return id <= id_nonZero
-
- def isInLastNonZero(self,t):
- id = self.findInterval(t)
- id_nonZero = self.idLastNonZero()
- return id >= id_nonZero
-
- def firstNonZero(self):
- return self.curves[self.idFirstNonZero()]
-
- def lastNonZero(self):
- return self.curves[self.idLastNonZero()]
-
-
- def isInExtermities(self,t):
- return self.isInFirst(t) or self.isInLast(t)
-
- def computeDerivates(self):
- if len(self.d_curves)!=len(self.curves) or len(self.dd_curves)!=len(self.curves) :
- self.d_curves=[]
- self.dd_curves=[]
- for c in self.curves:
- self.d_curves += [c.compute_derivate(1)]
- self.dd_curves += [c.compute_derivate(2)]
- self.jerk_curves +=[c.compute_derivate(3)]
- else:
- print "Derivatives curves were already computed"
-
- def d(self,t):
- id,t = self.findIntervalAdjustTime(t)
- if len(self.d_curves) == len(self.curves):
- return self.d_curves[id](t)
- else :
- return self.curves[id].derivate(t,1)
-
-
- def dd(self,t):
- id,t = self.findIntervalAdjustTime(t)
- if len(self.dd_curves) == len(self.curves):
- return self.dd_curves[id](t)
- else :
- return self.curves[id].derivate(t,2)
-
- def jerk(self,t):
- id,t = self.findIntervalAdjustTime(t)
- if len(self.jerk_curves) == len(self.curves):
- return self.jerk_curves[id](t)
- else :
- return self.curves[id].derivate(t,3)
diff --git a/script/tools/quaternion.py b/script/tools/quaternion.py
old mode 100755
new mode 100644
diff --git a/script/tools/tro_capture_point/quaternion.py b/script/tools/tro_capture_point/quaternion.py
old mode 100755
new mode 100644
diff --git a/script/tools/tro_capture_point/stair_bauzil_hrp2_interp.py b/script/tools/tro_capture_point/stair_bauzil_hrp2_interp.py
old mode 100755
new mode 100644
diff --git a/script/tools/tro_capture_point/stair_bauzil_hrp2_path.py b/script/tools/tro_capture_point/stair_bauzil_hrp2_path.py
old mode 100755
new mode 100644
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
old mode 100755
new mode 100644
index c4e4015329053f39f0b229f924383c4d7d6872dc..786dbdbf630ca66a74043fff6ea3651060801e40
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -95,7 +95,7 @@ INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
INSTALL(
FILES
- ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/corba.py
+ ${CMAKE_CURRENT_SOURCE_DIR}/hpp/corbaserver/rbprm/__init__.py
DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm
)
INSTALL(
diff --git a/src/fwd.hh b/src/fwd.hh
old mode 100755
new mode 100644
diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
old mode 100755
new mode 100644
diff --git a/src/hpp/corbaserver/rbprm/corba.py b/src/hpp/corbaserver/rbprm/__init__.py
old mode 100755
new mode 100644
similarity index 100%
rename from src/hpp/corbaserver/rbprm/corba.py
rename to src/hpp/corbaserver/rbprm/__init__.py
diff --git a/src/hpp/corbaserver/rbprm/tools/__init__.py b/src/hpp/corbaserver/rbprm/tools/__init__.py
old mode 100755
new mode 100644
diff --git a/src/hpp/corbaserver/rbprm/tools/generateROMs.py b/src/hpp/corbaserver/rbprm/tools/generateROMs.py
old mode 100755
new mode 100644
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
old mode 100755
new mode 100644
index c5c6160693ad84f4015589bef41daddf9cef53df..b82a0a66a9ab0afeef0834642922e01bf732dc72
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -2361,7 +2361,8 @@ namespace hpp {
core::segment_t interval(0, p1->initial().rows()-1);
core::segments_t intervals;
intervals.push_back(interval);
- PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals);
+ core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof()));
+ PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals, velIntervals);
resPath->appendPath(reducedPath);
pathsIds.push_back(AddPath(p1,problemSolver()));
}
@@ -2383,7 +2384,8 @@ namespace hpp {
core::segment_t interval(0, p2->initial().rows()-1);
core::segments_t intervals;
intervals.push_back(interval);
- PathPtr_t reducedPath = core::SubchainPath::create(p2,intervals);
+ core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof()));
+ PathPtr_t reducedPath = core::SubchainPath::create(p2,intervals,velIntervals);
resPath->appendPath(reducedPath);
}
catch(std::runtime_error& e)
@@ -2401,7 +2403,8 @@ namespace hpp {
core::segment_t interval(0, p3->initial().rows()-1);
core::segments_t intervals;
intervals.push_back(interval);
- PathPtr_t reducedPath = core::SubchainPath::create(p3,intervals);
+ core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof()));
+ PathPtr_t reducedPath = core::SubchainPath::create(p3,intervals,velIntervals);
resPath->appendPath(reducedPath);
pathsIds.push_back(AddPath(p3,problemSolver()));
}
@@ -2504,7 +2507,8 @@ namespace hpp {
core::segment_t interval(0, p2->initial().rows()-1);
core::segments_t intervals;
intervals.push_back(interval);
- PathPtr_t reducedPath = core::SubchainPath::create(p2,intervals);
+ core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof()));
+ PathPtr_t reducedPath = core::SubchainPath::create(p2,intervals,velIntervals);
core::PathVectorPtr_t resPath = core::PathVector::create(fullBody()->device_->configSize(), fullBody()->device_->numberDof());
resPath->appendPath(reducedPath);
@@ -2558,7 +2562,8 @@ namespace hpp {
core::segment_t interval(0, p1->initial().rows()-1);
core::segments_t intervals;
intervals.push_back(interval);
- PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals);
+ core::segments_t velIntervals (1, core::segment_t (0, fullBody()->device_->numberDof()));
+ PathPtr_t reducedPath = core::SubchainPath::create(p1,intervals, velIntervals);
resPath->appendPath(reducedPath);
pathsIds.push_back((CORBA::Short)problemSolver()->addPath(resPath));
@@ -3417,7 +3422,7 @@ namespace hpp {
}else{
res = reachability::isReachableDynamic(fullBody(),lastStatesComputed_[stateFrom],lastStatesComputed_[stateTo],false,std::vector<double>(),numPointPerPhase);
}
- if (res.success()){
+ if (res.success() && res.path_){
std::vector<std::size_t> ids;
core::PathVectorPtr_t pathVector_full = core::PathVector::create(res.path_->outputSize(),res.path_->outputDerivativeSize());
pathVector_full->appendPath(res.path_);
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
old mode 100755
new mode 100644
diff --git a/src/server.cc b/src/server.cc
old mode 100755
new mode 100644