diff --git a/.travis.yml b/.travis.yml new file mode 100644 index 00000000..dc20cf3d --- /dev/null +++ b/.travis.yml @@ -0,0 +1,54 @@ +sudo: required +dist: trusty +language: cpp +cache: ccache + +before_script: + # Start in the parent directory of icub-model-generator + - cd .. + - sudo apt-get install --assume-yes --force-yes python-lxml python-yaml python-numpy python-setuptools + # probably python on the path return a python interpreter and the find_package(PythonInterp) in CMake another, + # let's install both debian packages and pip packages to be sure + - sudo pip install lxml numpy pyyaml + # install urdf_parser_py + - git clone https://github.com/ros/urdf_parser_py + - cd urdf_parser_py + - sudo python setup.py install + - cd ../ + # install simmechanics-to-urdf + - git clone https://github.com/robotology/simmechanics-to-urdf + - cd simmechanics-to-urdf + - sudo python setup.py install + - cd ../ + # use superbuild for getting icub-model-generator C++ dependencies + - git clone https://github.com/robotology/codyco-superbuild + - cd codyco-superbuild + # install dependencies using the codyco-superbuild script + - chmod +x ./.ci/travis-deps.sh + - sh .ci/travis-deps.sh + - mkdir build + - cd build + - export CMAKE_PREFIX_PATH=`pwd`/install + # using the YCM_EP_MAINTAINER_MODE variable to enable the subproject-dependees target + - cmake -DCODYCO_TRAVIS_CI:BOOL=ON -DYCM_EP_MAINTAINER_MODE:BOOL=ON -DNON_INTERACTIVE_BUILD:BOOL=TRUE .. + - cmake --build . + - pwd + - cd ../.. + # Install sdformat + - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu trusty main" > /etc/apt/sources.list.d/gazebo-latest.list' + - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - + - sudo apt-get update + - sudo apt-get install --assume-yes --force-yes libsdformat4-dev + # Prepare icub-model-generator build + - cd icub-model-generator + - mkdir build + - cd build + - cmake .. + +script: + - sudo cmake --build . + - ctest --output-on-failure + +notifications: + email: + - pegua1@gmail.com diff --git a/CMakeLists.txt b/CMakeLists.txt index dcc1510e..f95a20ab 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,3 +1,37 @@ -cmake_minimum_required(VERSION 2.6) +# Copyright: (C) 2016 iCub Facility - Fondazione Istituto Italiano di Tecnologia +# Authors: Silvio Traversaro +# CopyPolicy: Released under the terms of the GNU LGPL v2+. -add_subdirectory(src) +cmake_minimum_required(VERSION 2.8.11) + +project(icub-model-generator) + +# Give error if add_dependencies is called on a non-existing target +if(POLICY CMP0046) + cmake_policy(SET CMP0046 NEW) +endif() + +option(ICUB_MODEL_GENERATE_DH "Generate models using the model generation pipeline from Denativ Hartenberg models" ON) +option(ICUB_MODEL_GENERATE_SIMMECHANICS "Generate models using the model generation pipeline from simmechanics" ON) + +if( ICUB_MODEL_GENERATE_DH ) + add_subdirectory(dh) +endif() + +if( ICUB_MODEL_GENERATE_SIMMECHANICS ) + add_subdirectory(simmechanics) +endif() + +add_custom_target(generate-models ALL) + +if(TARGET generate-models-dh) + add_dependencies(generate-models generate-models-dh) +endif() + +if(TARGET generate-models-simmechanics) + add_dependencies(generate-models generate-models-simmechanics) +endif() + +include( CTest ) +enable_testing() +add_subdirectory(tests) diff --git a/README.md b/README.md index b4accea8..84febc22 100644 --- a/README.md +++ b/README.md @@ -1,38 +1,10 @@ -icub-model-generator -================== +# icub-model-generator -This software repository is still in alpha stage, not ready for normal use. +Resources and programs to generated models (URDF,SDF) of the iCub robot. -Resources (./data/ folder) and programs (./src/) folder to generated models (URDF,SDF) of the iCub robot . +There are currently two different pipelines to generated the models. -Installation ------------- +The generation system from Denavit Hartenberg parametsrs based on data on robot models hardcoded in the iKin/iDyn source code and meshes postprocessed by ISIR at UPMC, Paris, available in `dh` directory. -##### Dependencies -- [YARP](https://github.com/robotology/yarp) -- [ICUB](https://github.com/robotology/icub-main) -- [iDynTree](https://github.com/robotology-playground/iDynTree) -- [SDFormat](https://bitbucket.org/osrf/sdformat) - -The easiest way to install this repository with almost all its dependencies is to use the [codyco-superbuild](https://github.com/robotology/codyco-superbuild). The SDFormat dependency is not -installed by the codyco-superbuild, but it should be already if you have installed the development files Gazebo (the -one that you need to compile [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins). - - -Example -------- - -### Model generation -After compiling and installing this repository, you can run: -``` -icub_urdf_sdf_generator --data_directory /path/to/codyco-superbuild/data/ --output_directory /path/to/icub-models/ -``` -Where the `/path/to/codyco-superbuild/data/ ` directory is the path to the data subdirectory of this repository. -`/path/to/icub-models/` is an arbitrary directory where you want to store the generated URDF and SDF models for the various iCubs (iCubGenova01, iCubGenova03, etc, etc). -The models available in `/path/to/icub-models/icub-models/urdf` are the one extracted directly from the iDyn models. - -### Use of generated models in Gazebo -In the directory `/path/to/icub-models/icub-models/gazebo-models` you will find the SDF models generated for use with the Gazebo simulator, and the URDF models that match the kinematic and dynamic parameters of the SDF models. As the `icub_urdf_sdf_generator` generates also the proper configuration files to create a Gazebo model database, you can simply add `/path/to/icub-models/icub-models/gazebo-models` to the enviroment variable `GAZEBO_MODEL_PATH`. - -**Warning: currently to use the database of generated models of the iCub you should also install the [icub-gazebo](https://github.com/robotology-playground/icub-gazebo) repository, as the generated models take configuration files and meshes from the `iCub` model present in the `icub-gazebo` repository.** +The generation system from actual CAD models converted to simmechanics file, described in http://wiki.icub.org/wiki/Creo_Mechanism_to_URDF , available in the `simmechanics` directory. diff --git a/dh/CMakeLists.txt b/dh/CMakeLists.txt new file mode 100644 index 00000000..d26c979a --- /dev/null +++ b/dh/CMakeLists.txt @@ -0,0 +1,51 @@ +cmake_minimum_required(VERSION 2.8.11) + +# Compile the actual dh --> URDF converter +add_subdirectory(generator) + + +# Generate URDF models for +# v1/v2 robots using the simmechanics-to-urdf script +macro(generate_icub_dh) + set(options) + set(oneValueArgs YARP_ROBOT_NAME) + set(multiValueArgs PARTS_VERSIONS) + cmake_parse_arguments(GIDH "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + + add_custom_command(OUTPUT ${GIDH_YARP_ROBOT_NAME}.urdf + COMMAND icub_urdf_sdf_from_dh_generator + ARGS ${GIDH_PARTS_VERSIONS} + --outputfile ${GIDH_YARP_ROBOT_NAME}.urdf + --YARP_ROBOT_NAME ${GIDH_YARP_ROBOT_NAME} + --data_directory ${CMAKE_CURRENT_SOURCE_DIR}/data/ + MAIN_DEPENDENCY "${CMAKE_CURRENT_SOURCE_DIR}/data/urdf_paris/icub/icub.xml") + + + # instead of just copyng, we also modify the com on the fly + add_custom_command(OUTPUT "${CMAKE_SOURCE_DIR}/generated/robots/${GIDH_YARP_ROBOT_NAME}/model.urdf" + MAIN_DEPENDENCY "${GIDH_YARP_ROBOT_NAME}.urdf" + COMMAND ${CMAKE_COMMAND} -E copy "${GIDH_YARP_ROBOT_NAME}.urdf" + "${CMAKE_SOURCE_DIR}/generated/robots/${GIDH_YARP_ROBOT_NAME}/model.urdf") + + + list(APPEND model-dh-generated-models "${CMAKE_SOURCE_DIR}/generated/robots/${GIDH_YARP_ROBOT_NAME}/model.urdf") +endmacro() + +set(model-dh-generated-models "") +generate_icub_dh(YARP_ROBOT_NAME iCubGenova03 + PARTS_VERSIONS --headV2 --armsV2 --legsV1 --feetV2) + +generate_icub_dh(YARP_ROBOT_NAME iCubParis01 + PARTS_VERSIONS --headV1 --armsV1 --legsV1 --feetV2) + +generate_icub_dh(YARP_ROBOT_NAME iCubParis02 + PARTS_VERSIONS --headV2 --armsV2 --legsV1 --feetV2 --iCubParis02) + +add_custom_target(generate-models-dh + ALL + DEPENDS ${model-dh-generated-models}) + + + + diff --git a/dh/README.md b/dh/README.md new file mode 100644 index 00000000..469d7378 --- /dev/null +++ b/dh/README.md @@ -0,0 +1,38 @@ +DH iCub Model Generator +================== + +This software repository is still in alpha stage, not ready for normal use. + +Resources (./data/ folder) and programs (./src/) folder to generated models (URDF,SDF) of the iCub robot from DH parameters. + +Installation +------------ + +##### Dependencies +- [YARP](https://github.com/robotology/yarp) +- [ICUB](https://github.com/robotology/icub-main) +- [iDynTree](https://github.com/robotology-playground/iDynTree) +- [SDFormat](https://bitbucket.org/osrf/sdformat) + +The easiest way to install this repository with almost all its dependencies is to use the [codyco-superbuild](https://github.com/robotology/codyco-superbuild). The SDFormat dependency is not +installed by the codyco-superbuild, but it should be already if you have installed the development files Gazebo (the +one that you need to compile [gazebo-yarp-plugins](https://github.com/robotology/gazebo-yarp-plugins). + + +Example +------- + +### Model generation +After compiling and installing this repository, you can run: +``` +icub_urdf_sdf_generator --data_directory /path/to/codyco-superbuild/data/ --output_directory /path/to/icub-models/ +``` +Where the `/path/to/codyco-superbuild/data/ ` directory is the path to the data subdirectory of this repository. +`/path/to/icub-models/` is an arbitrary directory where you want to store the generated URDF and SDF models for the various iCubs (iCubGenova01, iCubGenova03, etc, etc). +The models available in `/path/to/icub-models/icub-models/urdf` are the one extracted directly from the iDyn models. + +### Use of generated models in Gazebo +In the directory `/path/to/icub-models/icub-models/gazebo-models` you will find the SDF models generated for use with the Gazebo simulator, and the URDF models that match the kinematic and dynamic parameters of the SDF models. As the `icub_urdf_sdf_generator` generates also the proper configuration files to create a Gazebo model database, you can simply add `/path/to/icub-models/icub-models/gazebo-models` to the enviroment variable `GAZEBO_MODEL_PATH`. + +**Warning: currently to use the database of generated models of the iCub you should also install the [icub-gazebo](https://github.com/robotology-playground/icub-gazebo) repository, as the generated models take configuration files and meshes from the `iCub` model present in the `icub-gazebo` repository.** + diff --git a/data/icub_gazebo_data/conf/FT/gazebo_icub_left_arm_ft.ini b/dh/data/icub_gazebo_data/conf/FT/gazebo_icub_left_arm_ft.ini similarity index 100% rename from data/icub_gazebo_data/conf/FT/gazebo_icub_left_arm_ft.ini rename to dh/data/icub_gazebo_data/conf/FT/gazebo_icub_left_arm_ft.ini diff --git a/data/icub_gazebo_data/conf/FT/gazebo_icub_left_foot_ft.ini b/dh/data/icub_gazebo_data/conf/FT/gazebo_icub_left_foot_ft.ini similarity index 100% rename from data/icub_gazebo_data/conf/FT/gazebo_icub_left_foot_ft.ini rename to dh/data/icub_gazebo_data/conf/FT/gazebo_icub_left_foot_ft.ini diff --git a/data/icub_gazebo_data/conf/FT/gazebo_icub_left_leg_ft.ini b/dh/data/icub_gazebo_data/conf/FT/gazebo_icub_left_leg_ft.ini similarity index 100% rename from data/icub_gazebo_data/conf/FT/gazebo_icub_left_leg_ft.ini rename to dh/data/icub_gazebo_data/conf/FT/gazebo_icub_left_leg_ft.ini diff --git a/data/icub_gazebo_data/conf/FT/gazebo_icub_right_arm_ft.ini b/dh/data/icub_gazebo_data/conf/FT/gazebo_icub_right_arm_ft.ini similarity index 100% rename from data/icub_gazebo_data/conf/FT/gazebo_icub_right_arm_ft.ini rename to dh/data/icub_gazebo_data/conf/FT/gazebo_icub_right_arm_ft.ini diff --git a/data/icub_gazebo_data/conf/FT/gazebo_icub_right_foot_ft.ini b/dh/data/icub_gazebo_data/conf/FT/gazebo_icub_right_foot_ft.ini similarity index 100% rename from data/icub_gazebo_data/conf/FT/gazebo_icub_right_foot_ft.ini rename to dh/data/icub_gazebo_data/conf/FT/gazebo_icub_right_foot_ft.ini diff --git a/data/icub_gazebo_data/conf/FT/gazebo_icub_right_leg_ft.ini b/dh/data/icub_gazebo_data/conf/FT/gazebo_icub_right_leg_ft.ini similarity index 100% rename from data/icub_gazebo_data/conf/FT/gazebo_icub_right_leg_ft.ini rename to dh/data/icub_gazebo_data/conf/FT/gazebo_icub_right_leg_ft.ini diff --git a/data/icub_gazebo_data/conf/gazebo_icub_head.ini b/dh/data/icub_gazebo_data/conf/gazebo_icub_head.ini similarity index 100% rename from data/icub_gazebo_data/conf/gazebo_icub_head.ini rename to dh/data/icub_gazebo_data/conf/gazebo_icub_head.ini diff --git a/data/icub_gazebo_data/conf/gazebo_icub_inertial.ini b/dh/data/icub_gazebo_data/conf/gazebo_icub_inertial.ini similarity index 100% rename from data/icub_gazebo_data/conf/gazebo_icub_inertial.ini rename to dh/data/icub_gazebo_data/conf/gazebo_icub_inertial.ini diff --git a/data/icub_gazebo_data/conf/gazebo_icub_left_arm.ini 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dh/data/icub_gazebo_data/conf/gazebo_icub_right_leg.ini diff --git a/data/icub_gazebo_data/conf/gazebo_icub_torso.ini b/dh/data/icub_gazebo_data/conf/gazebo_icub_torso.ini similarity index 100% rename from data/icub_gazebo_data/conf/gazebo_icub_torso.ini rename to dh/data/icub_gazebo_data/conf/gazebo_icub_torso.ini diff --git a/data/icub_gazebo_data/model.config b/dh/data/icub_gazebo_data/model.config similarity index 100% rename from data/icub_gazebo_data/model.config rename to dh/data/icub_gazebo_data/model.config diff --git a/data/icub_gazebo_data/random_tags.sdf b/dh/data/icub_gazebo_data/random_tags.sdf similarity index 100% rename from data/icub_gazebo_data/random_tags.sdf rename to dh/data/icub_gazebo_data/random_tags.sdf diff --git a/data/urdf_paris/README b/dh/data/urdf_paris/README similarity index 100% rename from data/urdf_paris/README rename to dh/data/urdf_paris/README diff --git a/data/urdf_paris/icub/icub.xml b/dh/data/urdf_paris/icub/icub.xml similarity index 100% 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a/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_hip_2.dae b/dh/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_hip_2.dae similarity index 100% rename from data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_hip_2.dae rename to dh/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_hip_2.dae diff --git a/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shank.dae b/dh/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shank.dae similarity index 100% rename from data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shank.dae rename to dh/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shank.dae diff --git a/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shoulder_1.dae b/dh/data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shoulder_1.dae similarity index 100% rename from data/urdf_paris/icub/meshes/collision/icub_simple_collision_l_shoulder_1.dae rename to 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--git a/data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_shoulder_2.dae b/dh/data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_shoulder_2.dae similarity index 100% rename from data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_shoulder_2.dae rename to dh/data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_shoulder_2.dae diff --git a/data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_thigh.dae b/dh/data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_thigh.dae similarity index 100% rename from data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_thigh.dae rename to dh/data/urdf_paris/icub_simple/meshes/visual/icub_simple_r_thigh.dae diff --git a/data/urdf_paris/icub_simple/meshes/visual/icub_simple_root_link.dae b/dh/data/urdf_paris/icub_simple/meshes/visual/icub_simple_root_link.dae similarity index 100% rename from data/urdf_paris/icub_simple/meshes/visual/icub_simple_root_link.dae rename to dh/data/urdf_paris/icub_simple/meshes/visual/icub_simple_root_link.dae diff --git a/generate.sh b/dh/generate.sh similarity index 100% rename from generate.sh rename to dh/generate.sh diff --git a/generateCoDyCoSuperbuild.sh b/dh/generateCoDyCoSuperbuild.sh similarity index 100% rename from generateCoDyCoSuperbuild.sh rename to dh/generateCoDyCoSuperbuild.sh diff --git a/generated/gazebo_models/database.config b/dh/generated/gazebo_models/database.config similarity index 100% rename from generated/gazebo_models/database.config rename to dh/generated/gazebo_models/database.config diff --git a/generated/gazebo_models/iCubDarmstadt01/icub.sdf b/dh/generated/gazebo_models/iCubDarmstadt01/icub.sdf similarity index 100% rename from generated/gazebo_models/iCubDarmstadt01/icub.sdf rename to dh/generated/gazebo_models/iCubDarmstadt01/icub.sdf diff --git a/generated/gazebo_models/iCubDarmstadt01/icub_simulation.urdf b/dh/generated/gazebo_models/iCubDarmstadt01/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/iCubDarmstadt01/icub_simulation.urdf rename to dh/generated/gazebo_models/iCubDarmstadt01/icub_simulation.urdf diff --git a/generated/gazebo_models/iCubDarmstadt01/model.config b/dh/generated/gazebo_models/iCubDarmstadt01/model.config similarity index 100% rename from generated/gazebo_models/iCubDarmstadt01/model.config rename to dh/generated/gazebo_models/iCubDarmstadt01/model.config diff --git a/generated/gazebo_models/iCubGenova01/icub.sdf b/dh/generated/gazebo_models/iCubGenova01/icub.sdf similarity index 100% rename from generated/gazebo_models/iCubGenova01/icub.sdf rename to dh/generated/gazebo_models/iCubGenova01/icub.sdf diff --git a/generated/gazebo_models/iCubGenova01/icub_simulation.urdf b/dh/generated/gazebo_models/iCubGenova01/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/iCubGenova01/icub_simulation.urdf rename to dh/generated/gazebo_models/iCubGenova01/icub_simulation.urdf diff --git a/generated/gazebo_models/iCubGenova01/model.config b/dh/generated/gazebo_models/iCubGenova01/model.config similarity index 100% rename from generated/gazebo_models/iCubGenova01/model.config rename to dh/generated/gazebo_models/iCubGenova01/model.config diff --git a/generated/gazebo_models/iCubGenova03/icub.sdf b/dh/generated/gazebo_models/iCubGenova03/icub.sdf similarity index 100% rename from generated/gazebo_models/iCubGenova03/icub.sdf rename to dh/generated/gazebo_models/iCubGenova03/icub.sdf diff --git a/generated/gazebo_models/iCubGenova03/icub_simulation.urdf b/dh/generated/gazebo_models/iCubGenova03/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/iCubGenova03/icub_simulation.urdf rename to dh/generated/gazebo_models/iCubGenova03/icub_simulation.urdf diff --git a/generated/gazebo_models/iCubGenova03/model.config b/dh/generated/gazebo_models/iCubGenova03/model.config similarity index 100% rename from generated/gazebo_models/iCubGenova03/model.config rename to dh/generated/gazebo_models/iCubGenova03/model.config diff --git a/generated/gazebo_models/iCubParis01/icub.sdf b/dh/generated/gazebo_models/iCubParis01/icub.sdf similarity index 100% rename from generated/gazebo_models/iCubParis01/icub.sdf rename to dh/generated/gazebo_models/iCubParis01/icub.sdf diff --git a/generated/gazebo_models/iCubParis01/icub_simulation.urdf b/dh/generated/gazebo_models/iCubParis01/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/iCubParis01/icub_simulation.urdf rename to dh/generated/gazebo_models/iCubParis01/icub_simulation.urdf diff --git a/generated/gazebo_models/iCubParis01/model.config b/dh/generated/gazebo_models/iCubParis01/model.config similarity index 100% rename from generated/gazebo_models/iCubParis01/model.config rename to dh/generated/gazebo_models/iCubParis01/model.config diff --git a/generated/gazebo_models/iCubParis02/icub.sdf b/dh/generated/gazebo_models/iCubParis02/icub.sdf similarity index 100% rename from generated/gazebo_models/iCubParis02/icub.sdf rename to dh/generated/gazebo_models/iCubParis02/icub.sdf diff --git a/generated/gazebo_models/iCubParis02/icub_simulation.urdf b/dh/generated/gazebo_models/iCubParis02/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/iCubParis02/icub_simulation.urdf rename to dh/generated/gazebo_models/iCubParis02/icub_simulation.urdf diff --git a/generated/gazebo_models/iCubParis02/model.config b/dh/generated/gazebo_models/iCubParis02/model.config similarity index 100% rename from generated/gazebo_models/iCubParis02/model.config rename to dh/generated/gazebo_models/iCubParis02/model.config diff --git a/generated/gazebo_models/icubGazeboSim/icub.sdf b/dh/generated/gazebo_models/icubGazeboSim/icub.sdf similarity index 100% rename from generated/gazebo_models/icubGazeboSim/icub.sdf rename to dh/generated/gazebo_models/icubGazeboSim/icub.sdf diff --git a/generated/gazebo_models/icubGazeboSim/icub_simulation.urdf b/dh/generated/gazebo_models/icubGazeboSim/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/icubGazeboSim/icub_simulation.urdf rename to dh/generated/gazebo_models/icubGazeboSim/icub_simulation.urdf diff --git a/generated/gazebo_models/icubGazeboSim/model.config b/dh/generated/gazebo_models/icubGazeboSim/model.config similarity index 100% rename from generated/gazebo_models/icubGazeboSim/model.config rename to dh/generated/gazebo_models/icubGazeboSim/model.config diff --git a/generated/gazebo_models/icubGazeboSimNoFT/icub.sdf b/dh/generated/gazebo_models/icubGazeboSimNoFT/icub.sdf similarity index 100% rename from generated/gazebo_models/icubGazeboSimNoFT/icub.sdf rename to dh/generated/gazebo_models/icubGazeboSimNoFT/icub.sdf diff --git a/generated/gazebo_models/icubGazeboSimNoFT/icub_simulation.urdf b/dh/generated/gazebo_models/icubGazeboSimNoFT/icub_simulation.urdf similarity index 100% rename from generated/gazebo_models/icubGazeboSimNoFT/icub_simulation.urdf rename to dh/generated/gazebo_models/icubGazeboSimNoFT/icub_simulation.urdf diff --git a/generated/gazebo_models/icubGazeboSimNoFT/model.config b/dh/generated/gazebo_models/icubGazeboSimNoFT/model.config similarity index 100% rename from generated/gazebo_models/icubGazeboSimNoFT/model.config rename to dh/generated/gazebo_models/icubGazeboSimNoFT/model.config diff --git a/generated/urdf/iCubDarmstadt01/icub.urdf b/dh/generated/urdf/iCubDarmstadt01/icub.urdf similarity index 100% rename from generated/urdf/iCubDarmstadt01/icub.urdf rename to dh/generated/urdf/iCubDarmstadt01/icub.urdf diff --git a/generated/urdf/iCubGenova01/icub.urdf b/dh/generated/urdf/iCubGenova01/icub.urdf similarity index 100% rename from generated/urdf/iCubGenova01/icub.urdf rename to dh/generated/urdf/iCubGenova01/icub.urdf diff --git a/generated/urdf/iCubGenova03/icub.urdf b/dh/generated/urdf/iCubGenova03/icub.urdf similarity index 100% rename from generated/urdf/iCubGenova03/icub.urdf rename to dh/generated/urdf/iCubGenova03/icub.urdf diff --git a/generated/urdf/iCubParis01/icub.urdf b/dh/generated/urdf/iCubParis01/icub.urdf similarity index 100% rename from generated/urdf/iCubParis01/icub.urdf rename to dh/generated/urdf/iCubParis01/icub.urdf diff --git a/generated/urdf/iCubParis02/icub.urdf b/dh/generated/urdf/iCubParis02/icub.urdf similarity index 100% rename from generated/urdf/iCubParis02/icub.urdf rename to dh/generated/urdf/iCubParis02/icub.urdf diff --git a/generated/urdf/icubGazeboSim/icub.urdf b/dh/generated/urdf/icubGazeboSim/icub.urdf similarity index 100% rename from generated/urdf/icubGazeboSim/icub.urdf rename to dh/generated/urdf/icubGazeboSim/icub.urdf diff --git a/generated/urdf/icubGazeboSimNoFT/icub.urdf b/dh/generated/urdf/icubGazeboSimNoFT/icub.urdf similarity index 100% rename from generated/urdf/icubGazeboSimNoFT/icub.urdf rename to dh/generated/urdf/icubGazeboSimNoFT/icub.urdf diff --git a/dh/generator/CMakeLists.txt b/dh/generator/CMakeLists.txt new file mode 100644 index 00000000..896bd839 --- /dev/null +++ b/dh/generator/CMakeLists.txt @@ -0,0 +1,38 @@ +# Copyright (C) 2016 Fondazione Istituto Italiano di Tecnologia - iCub Facility +# CopyPolicy: Released under the terms of the GNU GPL v2.0. + +find_package(YCM REQUIRED) +find_package(YARP REQUIRED) +find_package(ICUB REQUIRED) + +find_package(urdfdom REQUIRED) +find_package(orocos_kdl REQUIRED) +find_package(Eigen3 REQUIRED) +find_package(TinyXML REQUIRED) + +find_package(SDFormat REQUIRED) +find_package(iDynTree 0.3.5 REQUIRED) + +set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}") +# Add Gazebo CXX flags, to support sdformat 3 reckless dependency on C++11 +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${SDFormat_CXX_FLAGS}") + +# add YARP include directories +include_directories(${urdfdom_INCLUDE_DIR} + ${orocos_kdl_INCLUDE_DIR} + ${EIGEN3_INCLUDE_DIR} ${YARP_INCLUDE_DIR} ${iDynTree_INCLUDE_DIRS} + ${iDyn_INCLUDE_DIRS} + ${YARP_INCLUDE_DIRS} + ${skinDynLib_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS} + ${urdfdom_INCLUDE_DIRS}) + +add_library(urdf_from_dh_utils STATIC urdf_utils.h + urdf_utils.cpp + urdf_sdf_from_dh_utils.h + urdf_sdf_from_dh_utils.cpp) + +add_executable(icub_urdf_sdf_from_dh_generator icub_urdf_sdf_from_dh_generator.cpp) + +target_link_libraries(icub_urdf_sdf_from_dh_generator urdf_from_dh_utils ${SDFormat_LIBRARIES} ${iDynTree_LIBRARIES} ${YARP_LIBRARIES} ${ICUB_LIBRARIES} ${kdl_codyco_LIBRARIES} ${orocos_kdl_LIBRARIES} ${urdfdom_LIBRARIES} ${iDynTree_LIBRARIES} ${TinyXML_LIBRARIES}) + +install(TARGETS icub_urdf_sdf_from_dh_generator DESTINATION bin) diff --git a/src/CMakeLists2.txt b/dh/generator/CMakeLists2.txt similarity index 100% rename from src/CMakeLists2.txt rename to dh/generator/CMakeLists2.txt diff --git a/src/README b/dh/generator/README similarity index 100% rename from src/README rename to dh/generator/README diff --git a/src/cmake/FindEigen3.cmake b/dh/generator/cmake/FindEigen3.cmake similarity index 100% rename from src/cmake/FindEigen3.cmake rename to dh/generator/cmake/FindEigen3.cmake diff --git a/src/cmake/FindTinyXML.cmake b/dh/generator/cmake/FindTinyXML.cmake similarity index 100% rename from src/cmake/FindTinyXML.cmake rename to dh/generator/cmake/FindTinyXML.cmake diff --git a/dh/generator/deprecated_icub_urdf_sdf_generator.cpp b/dh/generator/deprecated_icub_urdf_sdf_generator.cpp new file mode 100644 index 00000000..90840ca1 --- /dev/null +++ b/dh/generator/deprecated_icub_urdf_sdf_generator.cpp @@ -0,0 +1,112 @@ +/** + * Copyright (C) 2014 CoDyCo Project + * Author: Silvio Traversaro + * website: http://www.codyco.eu + */ + +#include "urdf_sdf_from_dh_utils.h" + +void printTree(urdf::LinkSharedPtr link,int level = 0) +{ + level+=2; + int count = 0; + for (std::vector< urdf::LinkSharedPtr >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + { + if (*child) + { + for(int j=0;jname << " with joint: " << (*child)->parent_joint->name << std::endl; + // first grandchild + printTree(*child,level); + } + else + { + for(int j=0;jname << " has a null child!" << *child << std::endl; + } + } + +} + +void printJoints(boost::shared_ptr urdf) +{ + std::cout << "printing " << urdf->joints_.size() << " size" << std::endl; + for(std::map >::const_iterator it = urdf->joints_.begin(); it != urdf->joints_.end(); it++ ) { + std::cout << it->first << " : " << it->second->name << std::endl; + } +} + +int main(int argc, char* argv[]) +{ + bool status = true; + + yarp::os::Property opt; + + opt.fromCommand(argc,argv); + + if( opt.check("help") || !opt.check("output_directory") || !opt.check("data_directory") ) { + std::cerr << "Utility for generating URDF and SDF models for iCub robots" << std::endl; + std::cerr << "Creating one URDF with data from CAD, and a SDF directory with parameters modified to work in Gazebo (with a URDF that matches the modified simulated model)" << std::endl; + std::cerr << "Usage: \t icub_urdf_sdf_generator --data_directory ./data/ --output_directory ./icub-models/" << std::endl; + std::cerr << "Additional options: --min_mass and --min_inertia are used to select the minimum mass and minimum inertia to a give to a link in Gazebo model (default: mass 0.1, inertia: 0.01)" << std::endl; + return EXIT_FAILURE; + } + + std::string output_directory = opt.find("output_directory").asString(); + std::string data_directory = opt.find("data_directory").asString(); + + if( *(output_directory.rbegin()) != '/' ) { + output_directory = output_directory + "/"; + } + + if( *(data_directory.rbegin()) != '/' ) { + data_directory = data_directory + "/"; + } + + double mass_epsilon = 0.1; + double inertia_epsilon = 0.01; + + if( opt.check("min_mass" ) ) mass_epsilon = opt.find("min_mass").asDouble(); + if( opt.check("min_inertia" ) ) inertia_epsilon = opt.find("min_inertia").asDouble(); + + //Generate model database + std::vector robot_names; + + //Generating model for black iCub + // robot_name directory head legs feet Paris02 gazeboSim + bool simple_meshes = false; + if( !generate_iCub_model("iCubGenova01",output_directory, 2 , 2 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; + robot_names.push_back("iCubGenova01"); + + //Generating model for red iCub + if( !generate_iCub_model("iCubGenova03",output_directory, 2 , 1 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; + robot_names.push_back("iCubGenova03"); + + if( !generate_iCub_model("iCubParis01",output_directory, 1 , 1 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; + robot_names.push_back("iCubParis01"); + + //Generating model for red iCub + if( !generate_iCub_model("iCubParis02",output_directory, 2 , 1 , 2 , true, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; + robot_names.push_back("iCubParis02"); + + //Generating model for Darmastad iCub + if( !generate_iCub_model("iCubDarmstadt01",output_directory, 2 , 2 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; + robot_names.push_back("iCubDarmstad01"); + + //Generating model for icubGazeboSim + if( !generate_iCub_model("icubGazeboSim",output_directory, 2 , 1 , 2 , false, true, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; + robot_names.push_back("icubGazeboSim"); + + //Generating model for icubGazeboSim + if( !generate_iCub_model("icubGazeboSimNoFT",output_directory, 2 , 1 , 2 , false, true, simple_meshes , data_directory,mass_epsilon,inertia_epsilon,true) ) return EXIT_FAILURE; + robot_names.push_back("icubGazeboSimNoFT"); + + + std::cerr << "iCub model files successfully created" << std::endl; + + std::cerr << "Generating gazebo database" << std::endl; + generate_gazebo_database(robot_names,output_directory); + + return EXIT_SUCCESS; +} + diff --git a/src/icub_urdf_from_iDyn.cpp b/dh/generator/icub_dh_to_urdf_sdf_utils.cpp similarity index 100% rename from src/icub_urdf_from_iDyn.cpp rename to dh/generator/icub_dh_to_urdf_sdf_utils.cpp diff --git a/dh/generator/icub_urdf_from_iDyn.cpp b/dh/generator/icub_urdf_from_iDyn.cpp new file mode 100644 index 00000000..c6511c72 --- /dev/null +++ b/dh/generator/icub_urdf_from_iDyn.cpp @@ -0,0 +1,114 @@ +/** + * Copyright (C) 2013 CoDyCo Project + * Author: Silvio Traversaro + * website: http://www.codyco.eu + */ + +#include + +#include +#include + +#include +#include + +#include + +#include + +#include +#include + +#include + +#include + +#include + +#define NAME "icub_urdf_from_iDyn" + +using namespace urdf; + +void printTree(boost::shared_ptr link,int level = 0) +{ + level+=2; + int count = 0; + for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + { + if (*child) + { + for(int j=0;jname << " FrameToTip " << urdf_export_helpers::values2str((*child)->parent_joint->parent_to_joint_origin_transform.position) << std::endl; + // first grandchild + printTree(*child,level); + } + else + { + for(int j=0;jname << " has a null child!" << *child << std::endl; + } + } + +} + + +int main(int argc, char* argv[]) +{ + bool status = true; + + yarp::os::Property opt; + + opt.fromCommand(argc,argv); + + if( opt.check("help") || !opt.check("output") ) { + std::cerr << "Usage: \t icub_urdf_from_iDyn --headV2 --legsV2 --output output.xml" << std::endl; + std::cerr << "Default values: head and legs v2" << std::endl; + return EXIT_FAILURE; + } + + std::string output_file = opt.find("output").asString().c_str(); + + iCub::iDyn::version_tag icub_type; + + icub_type.head_version = 2; + icub_type.legs_version = 2; + + if( opt.check("headV2") ) icub_type.head_version = 2; + if( opt.check("legsV2") ) icub_type.legs_version = 2; + if( opt.check("headV1") ) icub_type.head_version = 1; + if( opt.check("legsV1") ) icub_type.legs_version = 1; + + + iCub::iDyn::iCubWholeBody icub_idyn(icub_type); + + KDL::Tree icub_kdl; + + KDL::JntArray dummy1,dummy2; + + if( ! toKDL(icub_idyn,icub_type,icub_kdl,dummy1,dummy2,iCub::iDynTree::SKINDYNLIB_SERIALIZATION,false,true) ) { + std::cerr << "Fatal error in iDyn - KDL conversion" << std::endl; + return EXIT_FAILURE; + } + + boost::shared_ptr icub_ptr(new urdf::ModelInterface); + + //std::cout << "iCub KDL::Tree: " << std::endl; + //std::cout << icub_kdl << std::endl; + + if( ! iDynTree::treeToUrdfModel(icub_kdl,"test_icub",*icub_ptr) ) { + std::cerr << "Fatal error in KDL - URDF conversion" << std::endl; + return EXIT_FAILURE; + } + + boost::shared_ptr root_link=icub_ptr->getRoot(); + printTree(root_link); + + TiXmlDocument* xml_doc = exportURDF(icub_ptr); + if( ! xml_doc->SaveFile(output_file) ) { + std::cerr << "Fatal error in URDF xml saving" << std::endl; + } + + std::cerr << "URDF file successfully created" << std::endl; + + return EXIT_SUCCESS; +} diff --git a/dh/generator/icub_urdf_sdf_from_dh_generator.cpp b/dh/generator/icub_urdf_sdf_from_dh_generator.cpp new file mode 100644 index 00000000..4aedd10b --- /dev/null +++ b/dh/generator/icub_urdf_sdf_from_dh_generator.cpp @@ -0,0 +1,135 @@ +/** + * Copyright (C) 2014 CoDyCo Project + * Author: Silvio Traversaro + * website: http://www.codyco.eu + */ + +#include "urdf_sdf_from_dh_utils.h" + +int main(int argc, char* argv[]) +{ + bool status = true; + + yarp::os::Property opt; + + opt.fromCommand(argc,argv); + + if( opt.check("help") || + !opt.check("data_directory") || + !opt.check("YARP_ROBOT_NAME") || + !opt.check("outputfile") ) + { + std::cerr << "Utility for generating URDF and SDF models for iCub robots from DH parameters hardcoded in iKin/iDyn/iDynTree libraries." << std::endl; + std::cerr << "Creating one URDF with data from CAD, and a SDF directory with parameters modified to work in Gazebo (with a URDF that matches the modified simulated model)" << std::endl; + std::cerr << "Usage: \t icub_urdf_sdf_from_dh_generator --data_directory ./data/ --output_directory ./icub-models/" << std::endl; + std::cerr << "Additional options: --min_mass and --min_inertia are used to select the minimum mass and minimum inertia to a give to a link in Gazebo model (default: mass 0.1, inertia: 0.01)" << std::endl; + std::cerr << "\t\t --headV1/headV2 : specify the version of the head part" << std::endl; + std::cerr << "\t\t --armsV1/armsV2 : specify the version of the arm parts" << std::endl; + std::cerr << "\t\t --legsV1/legsV2 : specify the version of the leg parts" << std::endl; + std::cerr << "\t\t --feetV1/feetV2 : specify the version of the leg parts" << std::endl; + std::cerr << "\t\t --YARP_ROBOT_NAME : specify the YARP_ROBOT_NAME of the created robot." << std::endl; + std::cerr << "\t\t --iCubParis02 : specify if the generated model is iCubParis02" << std::endl; + std::cerr << "\t\t --outputfile : specify the path of the generated file" << std::endl; + + return EXIT_FAILURE; + } + + std::string output_file = opt.find("outputfile").asString(); + std::string data_directory = opt.find("data_directory").asString(); + + if( *(data_directory.rbegin()) != '/' ) { + data_directory = data_directory + "/"; + } + + double mass_epsilon = 0.1; + double inertia_epsilon = 0.01; + + if( opt.check("min_mass" ) ) mass_epsilon = opt.find("min_mass").asDouble(); + if( opt.check("min_inertia" ) ) inertia_epsilon = opt.find("min_inertia").asDouble(); + + // Parse part info + int version_head = -1; + if( opt.check("headV2") ) + { + version_head = 2; + } + if( opt.check("headV1") ) + { + version_head = 1; + } + if( version_head < 0 ) + { + std::cerr << "icub_urdf_sdf_from_dh_generator : missing head version" << std::endl; + return EXIT_FAILURE; + } + + + int version_arms = -1; + if( opt.check("armsV2") ) + { + version_arms = 2; + } + if( opt.check("armsV1") ) + { + version_arms = 1; + } + if( version_arms < 0 ) + { + std::cerr << "icub_urdf_sdf_from_dh_generator : missing arms version" << std::endl; + return EXIT_FAILURE; + } + + int version_legs = -1; + if( opt.check("legsV2") ) + { + version_legs = 2; + } + if( opt.check("legsV1") ) + { + version_legs = 1; + } + if( version_legs < 0 ) + { + std::cerr << "icub_urdf_sdf_from_dh_generator : missing legs version" << std::endl; + return EXIT_FAILURE; + } + + int version_feet = -1; + if( opt.check("feetV2") ) + { + version_feet = 2; + } + if( opt.check("feetV1") ) + { + version_feet = 1; + } + if( version_feet < 0 ) + { + std::cerr << "icub_urdf_sdf_from_dh_generator : missing feet version" << std::endl; + return EXIT_FAILURE; + } + + // iCubParis02 is a special robot, and needs a special options + bool isiCubParis02 = opt.check("iCubParis02"); + + + //Generating model for black iCub + // robot_name directory head legs feet Paris02 gazeboSim + bool simple_meshes = false; + boost::shared_ptr model; + bool ok = generate_iCub_urdf_model(opt.find("YARP_ROBOT_NAME").asString(), + version_head , version_legs , version_feet, + isiCubParis02, false, simple_meshes , + data_directory,mass_epsilon,inertia_epsilon,false,model,output_file); + + if( !ok ) + { + std::cerr << "Failure in generating URDF model for " << opt.find("YARP_ROBOT_NAME").asString() << std::endl; + return EXIT_FAILURE; + } + else + { + return EXIT_SUCCESS; + } +} + diff --git a/src/urdf_gazebo_cleanup.cpp b/dh/generator/urdf_gazebo_cleanup.cpp similarity index 100% rename from src/urdf_gazebo_cleanup.cpp rename to dh/generator/urdf_gazebo_cleanup.cpp diff --git a/src/urdf_get_limits.cpp b/dh/generator/urdf_get_limits.cpp similarity index 100% rename from src/urdf_get_limits.cpp rename to dh/generator/urdf_get_limits.cpp diff --git a/src/urdf_get_meshes.cpp b/dh/generator/urdf_get_meshes.cpp similarity index 100% rename from src/urdf_get_meshes.cpp rename to dh/generator/urdf_get_meshes.cpp diff --git a/src/urdf_get_total_mass.cpp b/dh/generator/urdf_get_total_mass.cpp similarity index 100% rename from src/urdf_get_total_mass.cpp rename to dh/generator/urdf_get_total_mass.cpp diff --git a/src/urdf_print_homogeneous_transformations.cpp b/dh/generator/urdf_print_homogeneous_transformations.cpp similarity index 100% rename from src/urdf_print_homogeneous_transformations.cpp rename to dh/generator/urdf_print_homogeneous_transformations.cpp diff --git a/src/icub_urdf_sdf_generator.cpp b/dh/generator/urdf_sdf_from_dh_utils.cpp similarity index 80% rename from src/icub_urdf_sdf_generator.cpp rename to dh/generator/urdf_sdf_from_dh_utils.cpp index b9ae074c..fed00dd7 100644 --- a/src/icub_urdf_sdf_generator.cpp +++ b/dh/generator/urdf_sdf_from_dh_utils.cpp @@ -1,73 +1,6 @@ -/** - * Copyright (C) 2014 CoDyCo Project - * Author: Silvio Traversaro - * website: http://www.codyco.eu - */ - -#include - -#include -#include -#include - -#include -#include - -#include - -#include - -#include -#include - -#include - -#include - -#include -#include - - -#include -#include - -#include "urdf_utils.h" - -#define NAME "icub_urdf_sdf_generator" - -#define ERROR_FT_SENSOR_JOINT "__error_ft_sensor_joint__" - -using namespace urdf; - -void printTree(boost::shared_ptr link,int level = 0) -{ - level+=2; - int count = 0; - for (std::vector >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) - { - if (*child) - { - for(int j=0;jname << " with joint: " << (*child)->parent_joint->name << std::endl; - // first grandchild - printTree(*child,level); - } - else - { - for(int j=0;jname << " has a null child!" << *child << std::endl; - } - } +#include "urdf_sdf_from_dh_utils.h" -} -void printJoints(boost::shared_ptr urdf) -{ - std::cout << "printing " << urdf->joints_.size() << " size" << std::endl; - for(std::map >::const_iterator it = urdf->joints_.begin(); it != urdf->joints_.end(); it++ ) { - std::cout << it->first << " : " << it->second->name << std::endl; - } -} bool addGazeboYarpPluginsControlboardToSDF(sdf::ElementPtr model, std::string part_name, std::string robot_name) { @@ -105,7 +38,7 @@ bool addGazeboYarpPluginsControlboardToSDF(sdf::ElementPtr model, std::string pa bool addGazeboYarpPluginsControlboardToSDF(sdf::SDFPtr icub_sdf, std::string part_name, std::string robot_name) { /// \todo add check on parts - return addGazeboYarpPluginsControlboardToSDF(icub_sdf->root->GetElement("model"),part_name,robot_name); + return addGazeboYarpPluginsControlboardToSDF(icub_sdf->Root()->GetElement("model"),part_name,robot_name); } /** @@ -114,7 +47,7 @@ bool addGazeboYarpPluginsControlboardToSDF(sdf::SDFPtr icub_sdf, std::string par */ bool addGazeboYarpPluginsIMUToSDF(sdf::SDFPtr icub_sdf, std::string sensor_name, std::string robot_name) { - assert( icub_sdf->root->HasElement("model")); + assert( icub_sdf->Root()->HasElement("model")); /* 1 @@ -129,7 +62,7 @@ bool addGazeboYarpPluginsIMUToSDF(sdf::SDFPtr icub_sdf, std::string sensor_name, */ if( sensor_name == "imu_sensor" ) { //imu sensor is child of link head - sdf::ElementPtr model_elem = icub_sdf->root->GetElement("model"); + sdf::ElementPtr model_elem = icub_sdf->Root()->GetElement("model"); for (sdf::ElementPtr link = model_elem->GetElement("link"); link; link = link->GetNextElement("link")) { if( link->GetAttribute("name")->GetAsString() == "head" ) { sdf::ElementPtr sensor = link->AddElement("sensor"); @@ -258,6 +191,62 @@ bool addGazeboYarpPluginsFTToURDF(TiXmlDocument* urdf_doc, std::string sensor_na return true; } +bool add_iDynTreeFTToURDF(TiXmlDocument* urdf_doc, std::string sensor_name) +{ + // FT sensors extracted from iDyn are defined with respect to child link reference frame child + // and they are measuring the wrench that the child link applies on the parent link child_to_parent + + //Get the URDF joint that models the FT sensor + std::string ft_sensor_joint = getFTJointName(sensor_name); + + if( ft_sensor_joint == ERROR_FT_SENSOR_JOINT ) { + return false; + } + + /* + + + + child + child_to_parent + + + */ + + TiXmlElement * robot_element = urdf_doc->FirstChildElement( "robot" ); + + TiXmlElement * sensor_element = new TiXmlElement( "sensor" ); + robot_element->LinkEndChild(sensor_element); + + sensor_element->SetAttribute("type","force_torque"); + sensor_element->SetAttribute("name",ft_sensor_joint.c_str()); + + sensor_element->SetAttribute("type","force_torque"); + + TiXmlElement * parent_element = new TiXmlElement( "parent" ); + sensor_element->LinkEndChild(parent_element); + + parent_element->SetAttribute("joint",ft_sensor_joint); + + TiXmlElement * force_torque_element = new TiXmlElement( "force_torque" ); + sensor_element->LinkEndChild(force_torque_element); + + TiXmlElement * frame_element = new TiXmlElement( "frame" ); + force_torque_element->LinkEndChild(frame_element); + + TiXmlText * frame_text = new TiXmlText( "child" ); + frame_element->LinkEndChild(frame_text); + + TiXmlElement * measure_direction_element = new TiXmlElement( "measure_direction" ); + force_torque_element->LinkEndChild(measure_direction_element); + + TiXmlText * measure_direction_text = new TiXmlText( "child_to_parent" ); + measure_direction_element->LinkEndChild(measure_direction_text); + + + return true; +} + void AddElementAndSetValue(sdf::ElementPtr parent, std::string childType, std::string value_type, std::string value) { sdf::ElementPtr child = parent->AddElement(childType); @@ -354,7 +343,7 @@ bool addGazeboSurfaceFrictionInformationToCollisionSDF(sdf::ElementPtr collision bool addGazeboSurfaceFrictionInformationToSDF(sdf::SDFPtr icub_sdf, std::string link_name) { - sdf::ElementPtr model_elem = icub_sdf->root->GetElement("model"); + sdf::ElementPtr model_elem = icub_sdf->Root()->GetElement("model"); for (sdf::ElementPtr link = model_elem->GetElement("link"); link; link = link->GetNextElement("link")) { @@ -415,7 +404,7 @@ bool addGazeboYarpPluginsFTToSDF(sdf::SDFPtr icub_sdf, std::string sensor_name, { bool ret; - sdf::ElementPtr model_elem = icub_sdf->root->GetElement("model"); + sdf::ElementPtr model_elem = icub_sdf->Root()->GetElement("model"); //Get the gazebo joint that models the FT sensor std::string ft_sensor_joint = getFTJointName(sensor_name); @@ -490,7 +479,7 @@ bool addGazeboODEContactsProperty(sdf::ElementPtr collision_elem) bool addGazeboODEContactsProperties(sdf::SDFPtr icub_sdf, std::string link_name, std::string collision_name) { - sdf::ElementPtr model_elem = icub_sdf->root->GetElement("model"); + sdf::ElementPtr model_elem = icub_sdf->Root()->GetElement("model"); for (sdf::ElementPtr link = model_elem->GetElement("link"); link; link = link->GetNextElement("link")) { if( link->GetAttribute("name")->GetAsString() == link_name ) { @@ -533,7 +522,7 @@ bool substituteCollisionWithBoxInSDF(sdf::SDFPtr icub_sdf, std::string new_box_collision_pose, std::string box_size) { - sdf::ElementPtr model_elem = icub_sdf->root->GetElement("model"); + sdf::ElementPtr model_elem = icub_sdf->Root()->GetElement("model"); for (sdf::ElementPtr link = model_elem->GetElement("link"); link; link = link->GetNextElement("link")) { @@ -569,38 +558,24 @@ std::string get_gazebo_model_directory(std::string root_directory) return root_directory+"gazebo_models/"; } - -/** - * Generate iCub URDF and SDF models, starting from UPMC meshes and kinematics/dynamics information from iDyn - * - * @param head_version can be 1 or 2 - * @param legs_version can be 1 or 2 - * @param feet_version can be 1 or 2 - * @param simple_meshes if true uses the simple visualization meshes, if false uses the heavy detailed one - */ -bool generate_iCub_model(std::string iCub_name, - std::string root_directory, - int head_version, - int legs_version, - int feet_version, - bool is_iCubParis02, - bool is_icubGazeboSim, - bool simple_meshes, - std::string data_directory, - double mass_epsilon, - double inertia_epsilon, - bool noFTsimulation = false - ) +bool generate_iCub_urdf_model(std::string iCub_name, + int head_version, + int legs_version, + int feet_version, + bool is_iCubParis02, + bool is_icubGazeboSim, + bool simple_meshes, + std::string data_directory, + double mass_epsilon, + double inertia_epsilon, + bool noFTsimulation, + boost::shared_ptr urdf_file, + std::string outputfilename + ) { - bool ft_feet; - if( feet_version == 1 ) { - ft_feet = false; - } else { - ft_feet = true; - } std::cout << "Generating iCub model for " << iCub_name << " (head: " << head_version << " , legs: " << legs_version << " , feet: " << feet_version << " )" << std::endl; - if( ft_feet ) { std::cout << "Generating FT sensor in the feet" << std::endl; } + if( feet_version == 2 ) { std::cout << "Generating FT sensor in the feet" << std::endl; } std::string paris_directory = data_directory+"urdf_paris/"; @@ -611,23 +586,6 @@ bool generate_iCub_model(std::string iCub_name, paris_subdirectory = "icub"; } - std::string urdf_general_directory = root_directory+"urdf/"; - std::string urdf_robot_directory = urdf_general_directory+iCub_name+"/"; - std::string filename_urdf = urdf_robot_directory+"icub.urdf"; - std::string gazebo_model_directory = get_gazebo_model_directory(root_directory); - std::string gazebo_robot_model_directory = gazebo_model_directory+iCub_name+"/"; - std::string filename_urdf_gazebo = gazebo_robot_model_directory+"icub_simulation.urdf"; - std::string gazebo_mesh_model_name = "icub"; - std::string gazebo_uri_prefix = "model://icub/"; - std::string gazebo_sdf_filename = gazebo_robot_model_directory+"icub.sdf"; - - //Creating needed directories - yarp::os::mkdir(root_directory.c_str()); - yarp::os::mkdir(urdf_general_directory.c_str()); - yarp::os::mkdir(urdf_robot_directory.c_str()); - yarp::os::mkdir(gazebo_model_directory.c_str()); - yarp::os::mkdir(gazebo_robot_model_directory.c_str()); - ////////////////////////////////// //Generating urdf from iDyn ////////////////////////////////// @@ -644,6 +602,13 @@ bool generate_iCub_model(std::string iCub_name, KDL::JntArray dummy1,dummy2; bool addRootWeight = true; bool debugFlag = false; + bool ft_feet = false; + + if( feet_version == 2 ) + { + ft_feet = true; + } + if( ! toKDL(icub_idyn,icub_type,icub_kdl,dummy1,dummy2,iCub::iDynTree::SKINDYNLIB_SERIALIZATION,ft_feet,addRootWeight,debugFlag,is_iCubParis02,is_icubGazeboSim) ) { std::cerr << "Fatal error in iDyn - KDL conversion" << std::endl; return false; @@ -671,7 +636,7 @@ bool generate_iCub_model(std::string iCub_name, std::ifstream t_um(filename_urdf_paris.c_str()); std::stringstream buffer_um; buffer_um << t_um.rdbuf(); - urdf_paris = parseURDF(buffer_um.str()); + urdf_paris = urdf::parseURDF(buffer_um.str()); std::cout << "Loading file " << filename_urdf_paris << std::endl; @@ -718,13 +683,46 @@ bool generate_iCub_model(std::string iCub_name, ret = ret && addGazeboYarpPluginsFTToURDF(xml_doc,"left_foot"); ret = ret && addGazeboYarpPluginsFTToURDF(xml_doc,"right_foot"); } + + ret = ret && add_iDynTreeFTToURDF(xml_doc,"left_arm"); + ret = ret && add_iDynTreeFTToURDF(xml_doc,"right_arm"); + ret = ret && add_iDynTreeFTToURDF(xml_doc,"left_leg"); + ret = ret && add_iDynTreeFTToURDF(xml_doc,"right_leg"); + if( ft_feet ) { + ret = ret && add_iDynTreeFTToURDF(xml_doc,"left_foot"); + ret = ret && add_iDynTreeFTToURDF(xml_doc,"right_foot"); + } + if( !ret ) { std::cerr << "Problem in adding ft sensors to the URDF file" << std::endl; return false; } - if( ! xml_doc->SaveFile(filename_urdf) ) { - std::cerr << "Fatal error in URDF xml saving filename " << filename_urdf << std::endl; + if( ! xml_doc->SaveFile(outputfilename) ) { + std::cerr << "Fatal error in URDF xml saving filename " << outputfilename << std::endl; return false; } + urdf_file = urdf_idyn; + + return true; +} + +bool generate_iCub_sdf_model(std::string iCub_name, + int head_version, + int legs_version, + int feet_version, + bool is_iCubParis02, + bool is_icubGazeboSim, + bool simple_meshes, + std::string data_directory, + double mass_epsilon, + double inertia_epsilon, + bool noFTsimulation, + boost::shared_ptr urdf_idyn, + std::string outputfilename + ) +{ + std::string gazebo_mesh_model_name = "icub"; + std::string gazebo_uri_prefix = "model://icub/"; + std::string gazebo_sdf_filename = outputfilename; ////////////////////////////////////////////////////////////////////////// ///// Creating gazebo file @@ -733,14 +731,15 @@ bool generate_iCub_model(std::string iCub_name, ////////////////////////////////////////////////////////////////////////// ////// Creating URDF file coherent with gazebo workarounds for use in iDynTree - ///////////////////////////////////////////////////////////////////////// - xml_doc = exportURDF(urdf_idyn); + /////////////////////////////////////////////////////////////////////// + /* + TiXmlDocument * xml_doc = exportURDF(urdf_idyn); - if( ! xml_doc->SaveFile(filename_urdf_gazebo) ) { + if( ! xml_doc->SaveFile(outputfilename) ) { std::cerr << "Fatal error in URDF xml saving" << std::endl; return false; - } + }*/ if( ! urdf_gazebo_cleanup_remove_massless_root(urdf_idyn) ) { std::cerr << "Error in removing massless root " << std::endl; return false; } //printTree(urdf_idyn->getRoot()); @@ -755,7 +754,7 @@ bool generate_iCub_model(std::string iCub_name, if( ! urdf_gazebo_cleanup_regularize_masses(urdf_idyn,mass_epsilon,inertia_epsilon) ) { std::cerr << "Error in regularizing masses root " << std::endl; return false; } if( ! urdf_gazebo_cleanup_add_model_uri(urdf_idyn,gazebo_uri_prefix) ) { std::cerr << "Error in adding model URIs " << std::endl; return false; } - xml_doc = exportURDF(urdf_idyn); + TiXmlDocument * xml_doc = xml_doc = exportURDF(urdf_idyn); /* if( ! xml_doc->SaveFile(filename_urdf_gazebo_conversion) ) { @@ -784,7 +783,7 @@ bool generate_iCub_model(std::string iCub_name, //if( ! sdf::readFile(gazebo_sdf_filename,icub_sdf) ) { std::cerr << "Problem in reading SDF file" << std::endl; return false; } if( ! sdf::readDoc(&sdf_xml,icub_sdf,"custom sdf xml") ) { std::cerr << "Problem in loading SDF file" << std::endl; return false; } - if( ! icub_sdf->root->HasElement("model") ) { std::cerr << "Problem in parsing SDF dom" << std::endl; return false; } + if( ! icub_sdf->Root()->HasElement("model") ) { std::cerr << "Problem in parsing SDF dom" << std::endl; return false; } // Substitute foot collisions with a box if( ! noFTsimulation ) @@ -803,12 +802,12 @@ bool generate_iCub_model(std::string iCub_name, if( ! addGazeboYarpPluginsIMUToSDF(icub_sdf,"imu_sensor",iCub_name) ) { std::cerr << "Problem in adding imu sensor" << std::endl; return false; } //Adding FT sensors (in all robots) - ret=true; + bool ret=true; ret = ret && addGazeboYarpPluginsFTToSDF(icub_sdf,"left_arm",iCub_name); ret = ret && addGazeboYarpPluginsFTToSDF(icub_sdf,"right_arm",iCub_name); ret = ret && addGazeboYarpPluginsFTToSDF(icub_sdf,"left_leg",iCub_name); ret = ret && addGazeboYarpPluginsFTToSDF(icub_sdf,"right_leg",iCub_name); - if( ft_feet ) { + if( feet_version == 2 ) { std::cerr << "Adding feet FT sensors" << std::endl; ret = ret && addGazeboYarpPluginsFTToSDF(icub_sdf,"left_foot",iCub_name); ret = ret && addGazeboYarpPluginsFTToSDF(icub_sdf,"right_foot",iCub_name); @@ -837,18 +836,44 @@ bool generate_iCub_model(std::string iCub_name, //Adding pose to avoid intersection with ground //0 0 0.70 0 0 0 - sdf::ElementPtr pose = icub_sdf->root->GetElement("model")->AddElement("pose"); + sdf::ElementPtr pose = icub_sdf->Root()->GetElement("model")->AddElement("pose"); pose->AddValue("string","0 0 0.70 0 0 0",false); - icub_sdf->Write(gazebo_sdf_filename); - generate_model_config_file(iCub_name,gazebo_robot_model_directory); - return true; } +/** + * Generate iCub URDF and SDF models, starting from UPMC meshes and kinematics/dynamics information from iDyn + * + * @param head_version can be 1 or 2 + * @param legs_version can be 1 or 2 + * @param feet_version can be 1 or 2 + * @param simple_meshes if true uses the simple visualization meshes, if false uses the heavy detailed one + */ +/* +bool generate_iCub_model(std::string iCub_name, + int head_version, + int legs_version, + int feet_version, + bool is_iCubParis02, + bool is_icubGazeboSim, + bool simple_meshes, + std::string data_directory, + double mass_epsilon, + double inertia_epsilon, + bool noFTsimulation) +{ + bool ok = true; + boost::shared_ptr urdf_file; + ok = ok && generate_iCub_urdf_model(iCub_name,head_version,legs_version,feet_version,is_iCubParis02,is_icubGazeboSim,simple_meshes,data_directory,mass_epsilon,inertia_epsilon,noFTsimulation,urdf_file,root_directory+"/icub.urdf"); + ok = ok && generate_iCub_sdf_model(iCub_name,head_version,legs_version,feet_version,is_iCubParis02,is_icubGazeboSim,simple_meshes,data_directory,mass_epsilon,inertia_epsilon,noFTsimulation,urdf_file); + return true; +}*/ + + bool generate_gazebo_database(const std::vector & robot_names, const std::string root_directory) { std::string gazebo_model_directory = get_gazebo_model_directory(root_directory); @@ -871,79 +896,3 @@ bool generate_gazebo_database(const std::vector & robot_names, cons database_file << "\n\n" << std::endl; database_file.close(); } - - -int main(int argc, char* argv[]) -{ - bool status = true; - - yarp::os::Property opt; - - opt.fromCommand(argc,argv); - - if( opt.check("help") || !opt.check("output_directory") || !opt.check("data_directory") ) { - std::cerr << "Utility for generating URDF and SDF models for iCub robots" << std::endl; - std::cerr << "Creating one URDF with data from CAD, and a SDF directory with parameters modified to work in Gazebo (with a URDF that matches the modified simulated model)" << std::endl; - std::cerr << "Usage: \t icub_urdf_sdf_generator --data_directory ./data/ --output_directory ./icub-models/" << std::endl; - std::cerr << "Additional options: --min_mass and --min_inertia are used to select the minimum mass and minimum inertia to a give to a link in Gazebo model (default: mass 0.1, inertia: 0.01)" << std::endl; - return EXIT_FAILURE; - } - - std::string output_directory = opt.find("output_directory").asString(); - std::string data_directory = opt.find("data_directory").asString(); - - if( *(output_directory.rbegin()) != '/' ) { - output_directory = output_directory + "/"; - } - - if( *(data_directory.rbegin()) != '/' ) { - data_directory = data_directory + "/"; - } - - double mass_epsilon = 0.1; - double inertia_epsilon = 0.01; - - if( opt.check("min_mass" ) ) mass_epsilon = opt.find("min_mass").asDouble(); - if( opt.check("min_inertia" ) ) inertia_epsilon = opt.find("min_inertia").asDouble(); - - //Generate model database - std::vector robot_names; - - //Generating model for black iCub - // robot_name directory head legs feet Paris02 gazeboSim - bool simple_meshes = false; - if( !generate_iCub_model("iCubGenova01",output_directory, 2 , 2 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; - robot_names.push_back("iCubGenova01"); - - //Generating model for red iCub - if( !generate_iCub_model("iCubGenova03",output_directory, 2 , 1 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; - robot_names.push_back("iCubGenova03"); - - if( !generate_iCub_model("iCubParis01",output_directory, 1 , 1 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; - robot_names.push_back("iCubParis01"); - - //Generating model for red iCub - if( !generate_iCub_model("iCubParis02",output_directory, 2 , 1 , 2 , true, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; - robot_names.push_back("iCubParis02"); - - //Generating model for Darmastad iCub - if( !generate_iCub_model("iCubDarmstadt01",output_directory, 2 , 2 , 2 , false, false, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; - robot_names.push_back("iCubDarmstad01"); - - //Generating model for icubGazeboSim - if( !generate_iCub_model("icubGazeboSim",output_directory, 2 , 1 , 2 , false, true, simple_meshes , data_directory,mass_epsilon,inertia_epsilon) ) return EXIT_FAILURE; - robot_names.push_back("icubGazeboSim"); - - //Generating model for icubGazeboSim - if( !generate_iCub_model("icubGazeboSimNoFT",output_directory, 2 , 1 , 2 , false, true, simple_meshes , data_directory,mass_epsilon,inertia_epsilon,true) ) return EXIT_FAILURE; - robot_names.push_back("icubGazeboSimNoFT"); - - - std::cerr << "iCub model files successfully created" << std::endl; - - std::cerr << "Generating gazebo database" << std::endl; - generate_gazebo_database(robot_names,output_directory); - - return EXIT_SUCCESS; -} - diff --git a/dh/generator/urdf_sdf_from_dh_utils.h b/dh/generator/urdf_sdf_from_dh_utils.h new file mode 100644 index 00000000..11c528c0 --- /dev/null +++ b/dh/generator/urdf_sdf_from_dh_utils.h @@ -0,0 +1,166 @@ +/** + * Copyright (C) 2013-2014 CoDyCo Project + * Author: Silvio Traversaro + * website: http://www.codyco.eu + */ + +#ifndef URDF_SDF_FROM_DH_UTILS +#define URDF_SDF_FROM_DH_UTILS + + +#include + +#include +#include +#include + +#include +#include + +#include + +#include + +#include +#include + +#include + +#include + +#include +#include + + +#include +#include + +#include "urdf_utils.h" + +#define NAME "icub_urdf_sdf_generator" + +#define ERROR_FT_SENSOR_JOINT "__error_ft_sensor_joint__" + + +bool addGazeboYarpPluginsControlboardToSDF(sdf::ElementPtr model, std::string part_name, std::string robot_name); + +/** + * + * @param part: head,torso,right_arm,left_arm,right_leg,left_leg + */ +bool addGazeboYarpPluginsControlboardToSDF(sdf::SDFPtr icub_sdf, std::string part_name, std::string robot_name); + +/** + * + * @param sensor: can be only imu_sensor + */ +bool addGazeboYarpPluginsIMUToSDF(sdf::SDFPtr icub_sdf, std::string sensor_name, std::string robot_name); + +/** + * + * @param sensor_name: left_arm,right_arm,left_leg,right_leg,left_foot,right_foot + */ +std::string getFTJointName(const std::string sensor_name); + +/** + * Add the force/torque sensor description to the URDF (using gazebo extentions) + * @param sensor_name: left_arm,right_arm,left_leg,right_leg,left_foot,right_foot + */ +bool addGazeboYarpPluginsFTToURDF(TiXmlDocument* urdf_doc, std::string sensor_name); + +/** + * Add the force/torque sensor description to the URDF (using iDynTree extentions, documented + * in https://github.com/robotology/idyntree/blob/master/doc/model_loading.md). + * + * @param sensor_name: left_arm,right_arm,left_leg,right_leg,left_foot,right_foot + */ +bool add_iDynTreeFTToURDF(TiXmlDocument* urdf_doc, std::string sensor_name); + +void AddElementAndSetValue(sdf::ElementPtr parent, std::string childType, std::string value_type, std::string value); + +bool addGazeboSurfaceFrictionInformationToCollisionSDF(sdf::ElementPtr collision_sdf); + +/** + * For a given link add surface friction informations to the SDF + * + */ +bool addGazeboSurfaceFrictionInformationToSDF(sdf::SDFPtr icub_sdf, std::string link_name); + +bool addGazeboYarpPluginsFTToSDF(sdf::ElementPtr joint_element, std::string sensor_name, std::string robot_name); + +/** + * Add the force/torque sensor description (with the relative gazebo_yarp_plugin) + * @param sensor_name: left_arm,right_arm,left_leg,right_leg,left_foot,right_foot + */ +bool addGazeboYarpPluginsFTToSDF(sdf::SDFPtr icub_sdf, std::string sensor_name, std::string robot_name); + +bool addGazeboODEContactsProperty(sdf::ElementPtr collision_elem); +bool addGazeboODEContactsProperties(sdf::SDFPtr icub_sdf, std::string link_name, std::string collision_name); + +bool substituteCollisionWithBoxInCollisionSDF(sdf::ElementPtr collision, + std::string new_box_collision_pose, + std::string box_size); + +bool substituteCollisionWithBoxInSDF(sdf::SDFPtr icub_sdf, + std::string link_name, + std::string collision_name, + std::string new_box_collision_pose, + std::string box_size); + +bool generate_model_config_file(std::string robot_name, std::string gazebo_robot_model_directory); + +std::string get_gazebo_model_directory(std::string root_directory); + +bool generate_iCub_urdf_model(std::string iCub_name, + int head_version, + int legs_version, + int feet_version, + bool is_iCubParis02, + bool is_icubGazeboSim, + bool simple_meshes, + std::string data_directory, + double mass_epsilon, + double inertia_epsilon, + bool noFTsimulation, + boost::shared_ptr urdf_file, + std::string outputfile ); + +bool generate_iCub_sdf_model(std::string iCub_name, + int head_version, + int legs_version, + int feet_version, + bool is_iCubParis02, + bool is_icubGazeboSim, + bool simple_meshes, + std::string data_directory, + double mass_epsilon, + double inertia_epsilon, + bool noFTsimulation, + boost::shared_ptr urdf_file); + +/** + * Generate iCub URDF and SDF models, starting from UPMC meshes and kinematics/dynamics information from iDyn + * + * @param head_version can be 1 or 2 + * @param legs_version can be 1 or 2 + * @param feet_version can be 1 or 2 + * @param simple_meshes if true uses the simple visualization meshes, if false uses the heavy detailed one + */ +/* +bool generate_iCub_model(std::string iCub_name, + std::string root_directory, + int head_version, + int legs_version, + int feet_version, + bool is_iCubParis02, + bool is_icubGazeboSim, + bool simple_meshes, + std::string data_directory, + double mass_epsilon, + double inertia_epsilon, + bool noFTsimulation = false + );*/ + +bool generate_gazebo_database(const std::vector & robot_names, const std::string root_directory); + +#endif diff --git a/src/urdf_utils.cpp b/dh/generator/urdf_utils.cpp similarity index 100% rename from src/urdf_utils.cpp rename to dh/generator/urdf_utils.cpp diff --git a/src/urdf_utils.h b/dh/generator/urdf_utils.h similarity index 97% rename from src/urdf_utils.h rename to dh/generator/urdf_utils.h index 1a840a12..b9e6f0a0 100644 --- a/src/urdf_utils.h +++ b/dh/generator/urdf_utils.h @@ -4,8 +4,8 @@ * website: http://www.codyco.eu */ -#ifndef __URDF_UTILS_FUNCTIONS__ -#define __URDF_UTILS_FUNCTIONS__ +#ifndef URDF_UTILS_FUNCTIONS__ +#define URDF_UTILS_FUNCTIONS__ #include diff --git a/toBeIntegrated/README.md b/dh/toBeIntegrated/README.md similarity index 100% rename from toBeIntegrated/README.md rename to dh/toBeIntegrated/README.md diff --git a/toBeIntegrated/icub2gazeboPIDconverters/CMakeLists.txt b/dh/toBeIntegrated/icub2gazeboPIDconverters/CMakeLists.txt similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/CMakeLists.txt rename to dh/toBeIntegrated/icub2gazeboPIDconverters/CMakeLists.txt diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_head.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_head.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_head.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_head.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_arm.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_arm.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_arm.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_arm.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_hand.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_hand.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_hand.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_hand.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_leg.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_leg.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_leg.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_left_leg.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_arm.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_arm.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_arm.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_arm.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_hand.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_hand.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_hand.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_hand.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_leg.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_leg.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_leg.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_right_leg.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/config/icub_torso.xml b/dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_torso.xml similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/config/icub_torso.xml rename to dh/toBeIntegrated/icub2gazeboPIDconverters/config/icub_torso.xml diff --git a/toBeIntegrated/icub2gazeboPIDconverters/include/Constants.h b/dh/toBeIntegrated/icub2gazeboPIDconverters/include/Constants.h similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/include/Constants.h rename to dh/toBeIntegrated/icub2gazeboPIDconverters/include/Constants.h diff --git a/toBeIntegrated/icub2gazeboPIDconverters/include/ICUBConfigParser.h b/dh/toBeIntegrated/icub2gazeboPIDconverters/include/ICUBConfigParser.h similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/include/ICUBConfigParser.h rename to dh/toBeIntegrated/icub2gazeboPIDconverters/include/ICUBConfigParser.h diff --git a/toBeIntegrated/icub2gazeboPIDconverters/src/ICUBConfigParser.cpp b/dh/toBeIntegrated/icub2gazeboPIDconverters/src/ICUBConfigParser.cpp similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/src/ICUBConfigParser.cpp rename to dh/toBeIntegrated/icub2gazeboPIDconverters/src/ICUBConfigParser.cpp diff --git a/toBeIntegrated/icub2gazeboPIDconverters/src/main.cpp b/dh/toBeIntegrated/icub2gazeboPIDconverters/src/main.cpp similarity index 100% rename from toBeIntegrated/icub2gazeboPIDconverters/src/main.cpp rename to dh/toBeIntegrated/icub2gazeboPIDconverters/src/main.cpp diff --git a/generated/robots/iCubDarmstadt01/model.urdf b/generated/robots/iCubDarmstadt01/model.urdf new file mode 100644 index 00000000..15909495 --- /dev/null +++ b/generated/robots/iCubDarmstadt01/model.urdf @@ -0,0 +1,1673 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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diff --git a/generated/robots/iCubGenova01/model.urdf b/generated/robots/iCubGenova01/model.urdf new file mode 100644 index 00000000..15909495 --- /dev/null +++ b/generated/robots/iCubGenova01/model.urdf @@ -0,0 +1,1673 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + diff --git a/generated/robots/iCubParis02/model.urdf b/generated/robots/iCubParis02/model.urdf new file mode 100644 index 00000000..2930cd04 --- /dev/null +++ b/generated/robots/iCubParis02/model.urdf @@ -0,0 +1,1332 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + 100 + 1 + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + + + + child + child_to_parent + + + diff --git a/simmechanics/CMakeLists.txt b/simmechanics/CMakeLists.txt new file mode 100644 index 00000000..fab5b986 --- /dev/null +++ b/simmechanics/CMakeLists.txt @@ -0,0 +1,73 @@ +find_package(PythonInterp REQUIRED) + +# Generate URDF models for +# v2.5 robots using the simmechanics-to-urdf script +macro(generate_icub_simmechanics) + set(options NO_BACKPACK BOGUS) + set(oneValueArgs YARP_ROBOT_NAME SIMMECHANICS_XML YAML CSV) + set(multiValueArgs) + cmake_parse_arguments(GIVTWO "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN}) + + + add_custom_command(OUTPUT ${GIVTWO_YARP_ROBOT_NAME}.urdf + COMMAND simmechanics_to_urdf + ARGS ${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_SIMMECHANICS_XML} + --output xml + --yaml ${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_YAML} + --csv-joints ${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_CSV} + --outputfile ${GIVTWO_YARP_ROBOT_NAME}.urdf + MAIN_DEPENDENCY "${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_SIMMECHANICS_XML}" + DEPENDS "${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_YAML}" + "${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_CSV}") + + # If we are generating a model without backpack, we need to tweack the COM of the chest link, + # and we have a custon python script for this + if(${GIVTWO_NO_BACKPACK}) + # instead of just copyng, we also modify the com on the fly + add_custom_command(OUTPUT "${CMAKE_SOURCE_DIR}/generated/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf" + MAIN_DEPENDENCY "${GIVTWO_YARP_ROBOT_NAME}.urdf" + COMMAND python ${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/adjust_com_for_model_without_backpack.py + --input_urdf "${GIVTWO_YARP_ROBOT_NAME}.urdf" + --output_urdf "${CMAKE_SOURCE_DIR}/generated/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf") + else() + add_custom_command(OUTPUT "${CMAKE_SOURCE_DIR}/generated/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf" + MAIN_DEPENDENCY "${GIVTWO_YARP_ROBOT_NAME}.urdf" + COMMAND ${CMAKE_COMMAND} -E + copy "${GIVTWO_YARP_ROBOT_NAME}.urdf" "${CMAKE_SOURCE_DIR}/generated/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf") + endif() + + + list(APPEND model-simmechanics-generated-models "${CMAKE_SOURCE_DIR}/generated/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf") +endmacro() + +set(model-simmechanics-generated-models "") +generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova02 + SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml" + YAML "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml" + CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv") + +generate_icub_simmechanics(YARP_ROBOT_NAME iCubDarmstadt01 + SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml" + YAML "icub2_5/ICUB_2-5_BB_simmechanics_options_NO_BACKPACK.yaml" + CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv" + NO_BACKPACK) + +generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova01 + SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml" + YAML "icub2_5/ICUB_2-5_BB_simmechanics_options_NO_BACKPACK.yaml" + CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv" + NO_BACKPACK) + +generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova05 + SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml" + YAML "icub2_5/ICUB_2-5_BB_simmechanics_options_NO_BACKPACK.yaml" + CSV "icub2_5/ICUB_2-5_BB_joint_parameters.csv" + NO_BACKPACK) + +add_custom_target(generate-models-simmechanics + ALL + DEPENDS ${model-simmechanics-generated-models}) + + + + diff --git a/simmechanics/data/icub2_5/ConversionProcess.xlsx b/simmechanics/data/icub2_5/ConversionProcess.xlsx new file mode 100644 index 00000000..94cd81e9 Binary files /dev/null and b/simmechanics/data/icub2_5/ConversionProcess.xlsx differ diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml b/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml new file mode 100644 index 00000000..0133502f --- /dev/null +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_SIM_MODEL.xml @@ -0,0 +1,5745 @@ + + + + "1.0.4" + + 1 + + "SimMechanics Link Version 4.0" + + "Pro/E Wildfire Creo 2.0 - 2015280" + + "06/28/16||20:22:39" + + "iCub" + + "ICUB_2-5_BB_SIM_MODEL" + + + "ICUB_2-5_BB_SIM_MODEL" + "ICUB_2-5_BB_SIM_MODEL" + + + "RootPart" + "ICUB_2-5_BB_SIM_MODEL/RootPart" + "" + 0 + "kg" + 0,0,0,0,0,0,0,0,0 + "kg*m^2" + 0 + "mm^3" + 0 + "mm^2" + + + "CG" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart::CG(AUTOGEN)" + 0.0227825,-120.457,-48.7725 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart::CS1(AUTOGEN)" + 0,0,0 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "59/RootPart:-:ICUB_2-5_BB_SIM_MODEL/RootPart::ICUB_2-5_BB_SIM_MODEL/RootPart(AUTOGEN)" + -0.008955,-291.568,-44.3463 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart:-:RootGround::ICUB_2-5_BB_SIM_MODEL/RootPart(AUTOGEN)" + 0.0227825,-120.457,-48.7725 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "" + + + + + "RootPart--RootPart" + "59/RootPart:-:ICUB_2-5_BB_SIM_MODEL/RootPart" + "" + + + "" + + + + + + + + "" + + + + + + + + "weld" + "" + "WORLD" + 0.57735,0.57735,0.57735 + + + + + "SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB" + "59:59/125:-:60:60/132" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,-1,0 + + + + + "SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1" + "60:60/132:-:61:61/59" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + -1,0,0 + + + + + "RootGround--RootPart" + "ICUB_2-5_BB_SIM_MODEL/RootPart:-:RootGround" + "" + + + "" + + + + + + + + "" + + + + + + + + "weld" + "" + "WORLD" + 0.57735,0.57735,0.57735 + + + + + + + "RootGround" + "RootGround" + "" + + + "CS1" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart:-:RootGround::RootGround(AUTOGEN)" + 0.0227825,-120.457,-48.7725 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + + + + + "ICUB_2-5_SIM_MODEL_LOWERBODY" + "59" + "" + + + "SIM_SEA_2-5_ROOT_LINK" + "59/126" + "" + 5.09143 + "kg" + 0.0139679,-5.93488e-006,-1.55458e-005,-5.93488e-006,0.0202112,-0.00170968,-1.55458e-005,-0.00170968,0.0249124 + "kg*m^2" + 1.211e+006 + "mm^3" + 721500 + "mm^2" + + + "CG" + "" + "59/126::CG(AUTOGEN)" + -0.103947,-76.0806,-61.2821 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "59/126::CS1(AUTOGEN)" + 0,0,0 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "SCSYS_ROOT_LINK_EMS_ACC_EB5" + "44219(USERADDED)" + 12.5771,-147.691,-85.7308 + "WORLD" + "WORLD" + "mm" + 0,-0.961262,0.275637,-1,0,0,0,-0.275637,-0.961262 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "SCSYS_ROOT_LINK_EMS_GYRO_EB5" + "44220(USERADDED)" + 12.5771,-147.691,-85.7308 + "WORLD" + "WORLD" + "mm" + 0,-0.961262,0.275637,-1,0,0,0,-0.275637,-0.961262 + "3x3 Transform" + "rad" + "WORLD" + + + "CS4" + "SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1" + "44222(USERADDED)" + 0,-32,-36.4 + "WORLD" + "WORLD" + "mm" + 0,0,-1,-1,0,0,0,1,0 + "3x3 Transform" + "rad" + "WORLD" + + + "CS5" + "SCSYS_SIM_LAP_BELT_2_ALT_ORIG_2" + "44223(USERADDED)" + 0,-32,-36.4 + "WORLD" + "WORLD" + "mm" + 0,0,1,1,0,0,0,1,0 + "3x3 Transform" 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+ + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,-1,0 + + + + + "SIM_SEA_2-5_L_FOREARM--SIM_SEA_2-5_L_WRIST_PITCH" + "60/151/82:-:60/151/87" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,0,-1 + + + + + "SIM_SEA_2-5_L_WRIST_PITCH--SIM_SEA_2-5_L_HAND" + "60/151/87:-:60/151/93" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 1,0,0 + + + + + + + + 0 + + + + 0 + + + "ICUB_2-5_SIM_MODEL_HEAD" + "61" + "" + + + "SIM_SEA_2-5_NECK_1" + "61/59" + "" + 0.125793 + "kg" + 4.0647e-005,8.09156e-008,-3.74998e-008,8.09156e-008,3.881e-005,9.39717e-006,-3.74998e-008,9.39717e-006,4.7535e-005 + "kg*m^2" + 27884.2 + "mm^3" + 34542.8 + "mm^2" + + + "CG" + "" + "61/59::CG(AUTOGEN)" + 0.0705608,229.364,-31.9758 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/59::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "61/59:-:61/RootPart::61/59(AUTOGEN)" + 0.0705608,229.364,-31.9758 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "60:60/132:-:61:61/59::61/59(AUTOGEN)" + -14.3,222.797,-25.5917 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS4" + "" + "61/59:-:61/60::61/59(AUTOGEN)" + -1.90735e-007,232.297,-4.79169 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "SIM_SEA_2-5_NECK_1_prt.stl" + + + "RootPart" + "61/RootPart" + "" + 0 + "kg" + 0,0,0,0,0,0,0,0,0 + "kg*m^2" + 0 + "mm^3" + 0 + "mm^2" + + + "CG" + "" + "61/RootPart::CG(AUTOGEN)" + -0.481832,311.449,-32.1901 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/RootPart::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "61/59:-:61/RootPart::61/RootPart(AUTOGEN)" + 0.0705608,229.364,-31.9758 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "" + + + "SIM_SEA_2-5_NECK_2" + "61/60" + "" + 0.177087 + "kg" + 0.000117943,-5.25591e-007,4.68307e-007,-5.25591e-007,4.04013e-005,9.81476e-006,4.68307e-007,9.81476e-006,0.000105186 + "kg*m^2" + 40230.6 + "mm^3" + 40090 + "mm^2" + + + "CG" + "" + "61/60::CG(AUTOGEN)" + -0.0885732,267.522,-24.3369 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/60::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "61/59:-:61/60::61/60(AUTOGEN)" + -1.90735e-007,232.297,-4.79169 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "61/60:-:61/6480::61/60(AUTOGEN)" + -1.90735e-007,209.953,-25.5917 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "SIM_SEA_2-5_NECK_2_prt.stl" + + + "SIM_SEA_2-5_HEAD" + "61/6480" + "" + 1.50691 + "kg" + 0.00680478,-1.60267e-005,7.28166e-005,-1.60267e-005,0.00634736,0.000292091,7.28166e-005,0.000292091,0.00478116 + "kg*m^2" + 643939 + "mm^3" + 613245 + "mm^2" + + + "CG" + "" + "61/6480::CG(AUTOGEN)" + -0.574158,323.464,-33.1309 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/6480::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "SCSYS_HEAD_MTX_IMU" + "133392(USERADDED)" + 9.5,343.397,-16.2917 + "WORLD" + "WORLD" + "mm" + 0,0,-1,-1,0,0,0,1,0 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "61/60:-:61/6480::61/6480(AUTOGEN)" + -1.90735e-007,209.953,-25.5917 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "SIM_SEA_2-5_HEAD_prt.stl" + + + + + "RootPart--SIM_SEA_2-5_NECK_1" + "61/59:-:61/RootPart" + "" + + + "" + + + + + + + + "" + + + + + + + + "weld" + "" + "WORLD" + 0.57735,0.57735,0.57735 + + + + + "SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2" + "61/59:-:61/60" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,0,-1 + + + + + "SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD" + "61/60:-:61/6480" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,1,0 + + + + + + + + 0 + + + + 0 + + + diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_joint_parameters.csv b/simmechanics/data/icub2_5/ICUB_2-5_BB_joint_parameters.csv new file mode 100644 index 00000000..4875fe5f --- /dev/null +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_joint_parameters.csv @@ -0,0 +1,33 @@ +joint_name,lower_limit,upper_limit,damping +torso_pitch,-20,70,0.06 +torso_roll,-30,30,0.06 +torso_yaw,-50,50,0.06 +r_hip_pitch,-30,85,0.223 +r_hip_roll,0,90,0.223 +r_hip_yaw,-70,70,0.223 +r_knee,-100,0,0.223 +r_ankle_pitch,-20,30,0.223 +r_ankle_roll,-20,20,0.223 +l_hip_pitch,-30,85,0.223 +l_hip_roll,0,90,0.223 +l_hip_yaw,-70,70,0.223 +l_knee,-100,0,0.223 +l_ankle_pitch,-20,30,0.223 +l_ankle_roll,-20,20,0.223 +r_shoulder_pitch,-95.5,10,0.06 +r_shoulder_roll,0,160.8,0.06 +r_shoulder_yaw,-37,80,0.06 +r_elbow,15,106,0.06 +r_wrist_prosup,-60,60,0.06 +r_wrist_pitch,-80,25,0.06 +r_wrist_yaw,-20,25,0.06 +l_shoulder_pitch,-95.5,10,0.06 +l_shoulder_roll,0,160.8,0.06 +l_shoulder_yaw,-37,80,0.06 +l_elbow,15,106,0.06 +l_wrist_prosup,-60,60,0.06 +l_wrist_pitch,-80,25,0.06 +l_wrist_yaw,-20,25,0.06 +neck_pitch,-40,22,0.06 +neck_roll,-20,20,0.06 +neck_yaw,-50,50,0.06 diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_no_battery_simmechanics_options.yaml b/simmechanics/data/icub2_5/ICUB_2-5_BB_no_battery_simmechanics_options.yaml new file mode 100644 index 00000000..9d879f93 --- /dev/null +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_no_battery_simmechanics_options.yaml @@ -0,0 +1,410 @@ +# Meshes options +scale: "0.001 0.001 0.001" +forcelowercase: Yes +filenameformatchangeext: "model://iCubGenova02/meshes/dae/%s.dae" + +# Rename options (map Creo names to URDF names) +rename: + RootPart: base_link + SIM_SEA_2-5_ROOT_LINK: root_link + SIM_SEA_2-5_LAP_BELT_1: torso_1 + SIM_SEA_2-5_LAP_BELT_2: torso_2 + SIM_SEA_2-5_R_HIP_1: r_hip_1 + SIM_SEA_2-5_R_HIP_2: r_hip_2 + SIM_SEA_2-5_R_UPPER_THIGH: r_hip_3 + SIM_SEA_2-5_R_THIGH: r_upper_leg + SIM_SEA_2-5_R_SHANK: r_lower_leg + SIM_SEA_2-5_R_ANKLE: r_ankle_1 + SIM_SEA_2-5_R_FOOT: r_ankle_2 + SIM_SEA_2-5_R_SOLE: r_foot + SIM_SEA_2-5_L_HIP_1: l_hip_1 + SIM_SEA_2-5_L_HIP_2: l_hip_2 + SIM_SEA_2-5_L_UPPER_THIGH: l_hip_3 + SIM_SEA_2-5_L_THIGH: l_upper_leg + SIM_SEA_2-5_L_SHANK: l_lower_leg + SIM_SEA_2-5_L_ANKLE: l_ankle_1 + SIM_SEA_2-5_L_FOOT: l_ankle_2 + SIM_SEA_2-5_L_SOLE: l_foot + SIM_SEA_2-5_CHEST_BB: chest + SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_1 + SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_2 + SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_3 + SIM_SEA_2-5_R_ELBOW: r_upper_arm + SIM_SEA_2-5_R_FOREARM_HAND: r_elbow_1 + SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_1 + SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_2 + SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_3 + SIM_SEA_2-5_L_ELBOW: l_upper_arm + SIM_SEA_2-5_L_FOREARM_HAND: l_elbow_1 + SIM_SEA_2-5_NECK_1: neck_1 + SIM_SEA_2-5_NECK_2: neck_2 + SIM_SEA_2-5_HEAD: head + RootGround--RootPart: root_joint_unknown + RootPart--RootPart: base_joint_unknown + RootPart--SIM_SEA_2-5_ROOT_LINK: base_fixed_joint + RootPart--SIM_SEA_2-5_R_HIP_1: r_hip_unknown + RootPart--SIM_SEA_2-5_L_HIP_1: l_hip_unknown + RootPart--SIM_SEA_2-5_CHEST_BB: torso_yaw_unknown + RootPart--SIM_SEA_2-5_NECK_1: neck_pitch_unknown + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1: torso_pitch + SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2: torso_roll + SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB: torso_yaw + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1: r_hip_pitch + SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2: r_hip_roll + SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH: r_leg_ft_sensor + SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH: r_hip_yaw + SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK: r_knee + SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE: r_ankle_pitch + SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT: r_ankle_roll + SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE: r_foot_ft_sensor + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1: l_hip_pitch + SIM_SEA_2-5_L_HIP_1--SIM_SEA_2-5_L_HIP_2: l_hip_roll + SIM_SEA_2-5_L_HIP_2--SIM_SEA_2-5_L_UPPER_THIGH: l_leg_ft_sensor + SIM_SEA_2-5_L_UPPER_THIGH--SIM_SEA_2-5_L_THIGH: l_hip_yaw + SIM_SEA_2-5_L_THIGH--SIM_SEA_2-5_L_SHANK: l_knee + SIM_SEA_2-5_L_SHANK--SIM_SEA_2-5_L_ANKLE: l_ankle_pitch + SIM_SEA_2-5_L_ANKLE--SIM_SEA_2-5_L_FOOT: l_ankle_roll + SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE: l_foot_ft_sensor + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_pitch + SIM_SEA_2-5_R_SHOULDER_1--SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_roll + SIM_SEA_2-5_R_SHOULDER_2--SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_yaw + SIM_SEA_2-5_R_UPPER_ARM--SIM_SEA_2-5_R_ELBOW: r_arm_ft_sensor + SIM_SEA_2-5_R_ELBOW--SIM_SEA_2-5_R_FOREARM_HAND: r_elbow + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_pitch + SIM_SEA_2-5_L_SHOULDER_1--SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_roll + SIM_SEA_2-5_L_SHOULDER_2--SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_yaw + SIM_SEA_2-5_L_UPPER_ARM--SIM_SEA_2-5_L_ELBOW: l_arm_ft_sensor + SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_FOREARM_HAND: l_elbow + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1: neck_pitch + SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2: neck_roll + SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD: neck_yaw + +# Frames options +exportAllUseradded: No + +exportedFrames: + - frameName: SCSYS_ROOT_LINK_EMS_ACC_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_acc_eb5 + - frameName: SCSYS_ROOT_LINK_EMS_GYRO_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_gyro_eb5 + - frameName: SCSYS_CHEST_EMS_ACC_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb1 + - frameName: SCSYS_CHEST_EMS_GYRO_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb1 + - frameName: SCSYS_CHEST_EMS_ACC_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb2 + - frameName: SCSYS_CHEST_EMS_GYRO_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb2 + - frameName: SCSYS_CHEST_EMS_ACC_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb3 + - frameName: SCSYS_CHEST_EMS_GYRO_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb3 + - frameName: SCSYS_CHEST_EMS_ACC_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb4 + - frameName: SCSYS_CHEST_EMS_GYRO_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb4 + - frameName: SCSYS_CHEST_MTB_ACC_0B7 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b7 + - frameName: SCSYS_CHEST_MTB_ACC_0B8 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b8 + - frameName: SCSYS_CHEST_MTB_ACC_0B9 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b9 + - frameName: SCSYS_CHEST_MTB_ACC_0B10 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B10 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B11 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b11 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B12 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b12 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B13 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b13 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B7 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b7 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B8 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b8 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B9 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b9 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B10 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b10 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B11 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b11 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B12 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b12 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B13 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b13 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B7 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b7 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B8 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b8 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B9 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b9 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb11 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb11 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B1 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b1 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B2 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b2 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B3 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b3 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B4 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b4 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B5 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b5 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B6 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b6 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B7 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b7 + - frameName: SCSYS_R_LOWER_LEG_EMS_ACC_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_acc_eb9 + - frameName: SCSYS_R_LOWER_LEG_EMS_GYRO_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_gyro_eb9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B8 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b8 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B10 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b10 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B11 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b11 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B12 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b12 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B13 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b13 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb10 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb10 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B1 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b1 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B2 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b2 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B3 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b3 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B4 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b4 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B5 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b5 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b6 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B7 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b7 + - frameName: SCSYS_L_LOWER_LEG_EMS_ACC_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_acc_eb7 + - frameName: SCSYS_L_LOWER_LEG_EMS_GYRO_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_gyro_eb7 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B8 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b8 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B9 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b9 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B10 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b10 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B11 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b11 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B12 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b12 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B13 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b13 + - frameName: SCSYS_L_SOLE + frameReferenceLink: l_foot + exportedFrameName: l_sole + - frameName: SCSYS_R_SOLE + frameReferenceLink: r_foot + exportedFrameName: r_sole + +linkFrames: + - linkName: root_link + frameName: SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1 + - linkName: l_hip_3 + frameName: SCSYS_L_UPPER_LEG_FT45 + frameReferenceLink: l_hip_2 + - linkName: r_hip_3 + frameName: SCSYS_R_UPPER_LEG_FT45 + frameReferenceLink: r_hip_2 + - linkName: l_foot + frameName: SCSYS_L_FOOT_FT45 + frameReferenceLink: l_ankle_2 + - linkName: r_foot + frameName: SCSYS_R_FOOT_FT45 + frameReferenceLink: r_ankle_2 + - linkName: l_upper_arm + frameName: SCSYS_L_UPPER_ARM_FT45 + frameReferenceLink: l_shoulder_3 + - linkName: r_upper_arm + frameName: SCSYS_R_UPPER_ARM_FT45 + frameReferenceLink: r_shoulder_3 + +# Sensors options +forceTorqueSensors: + - jointName: l_leg_ft_sensor + directionChildToParent: Yes + - jointName: r_leg_ft_sensor + directionChildToParent: Yes + - jointName: l_foot_ft_sensor + directionChildToParent: Yes + - jointName: r_foot_ft_sensor + directionChildToParent: Yes + - jointName: l_arm_ft_sensor + directionChildToParent: Yes + - jointName: r_arm_ft_sensor + directionChildToParent: Yes + +IMUs: + - linkName: head + frameName: SCSYS_HEAD_MTX_IMU + sensorName: "imu_frame" + exportFrameInURDF: Yes + +# Workaround options +reverseRotationAxis: + l_hip_yaw + l_knee + l_ankle_pitch + r_hip_pitch + r_hip_roll + r_ankle_roll + torso_pitch + torso_roll + l_shoulder_roll + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_elbow + neck_roll + +assignedMasses: + chest: 7.2380 + l_upper_leg: 1.8084 + l_lower_leg: 1.4724 + l_ankle_1 : 0.6798 + r_upper_leg: 1.8035 + r_lower_leg: 1.4720 + r_ankle_1 : 0.6803 + +XMLBlobs: + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + + model://iCubGenova02/conf/gazebo_iCubGenova02_torso.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_head.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini + + diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml new file mode 100644 index 00000000..ce610c77 --- /dev/null +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options.yaml @@ -0,0 +1,459 @@ +# Meshes options +scale: "0.001 0.001 0.001" +forcelowercase: Yes +filenameformatchangeext: "model://iCubGenova02/meshes/dae/%s.dae" + +# Rename options (map Creo names to URDF names) +rename: + RootPart: base_link + SIM_SEA_2-5_ROOT_LINK: root_link + SIM_SEA_2-5_LAP_BELT_1: torso_1 + SIM_SEA_2-5_LAP_BELT_2: torso_2 + SIM_SEA_2-5_R_HIP_1: r_hip_1 + SIM_SEA_2-5_R_HIP_2: r_hip_2 + SIM_SEA_2-5_R_UPPER_THIGH: r_hip_3 + SIM_SEA_2-5_R_THIGH: r_upper_leg + SIM_SEA_2-5_R_SHANK: r_lower_leg + SIM_SEA_2-5_R_ANKLE: r_ankle_1 + SIM_SEA_2-5_R_FOOT: r_ankle_2 + SIM_SEA_2-5_R_SOLE: r_foot + SIM_SEA_2-5_L_HIP_1: l_hip_1 + SIM_SEA_2-5_L_HIP_2: l_hip_2 + SIM_SEA_2-5_L_UPPER_THIGH: l_hip_3 + SIM_SEA_2-5_L_THIGH: l_upper_leg + SIM_SEA_2-5_L_SHANK: l_lower_leg + SIM_SEA_2-5_L_ANKLE: l_ankle_1 + SIM_SEA_2-5_L_FOOT: l_ankle_2 + SIM_SEA_2-5_L_SOLE: l_foot + SIM_SEA_2-5_CHEST_BB: chest + SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_1 + SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_2 + SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_3 + SIM_SEA_2-5_R_ELBOW: r_upper_arm + SIM_SEA_2-5_R_ELBOW_PROSUP: r_elbow_1 + SIM_SEA_2-5_R_FOREARM: r_forearm + SIM_SEA_2-5_R_WRIST_PITCH: r_wrist_1 + SIM_SEA_2-5_R_HAND: r_hand + SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_1 + SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_2 + SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_3 + SIM_SEA_2-5_L_ELBOW: l_upper_arm + SIM_SEA_2-5_L_ELBOW_PROSUP: l_elbow_1 + SIM_SEA_2-5_L_FOREARM: l_forearm + SIM_SEA_2-5_L_WRIST_PITCH: l_wrist_1 + SIM_SEA_2-5_L_HAND: l_hand + SIM_SEA_2-5_NECK_1: neck_1 + SIM_SEA_2-5_NECK_2: neck_2 + SIM_SEA_2-5_HEAD: head + RootGround--RootPart: root_joint_unknown + RootPart--RootPart: base_joint_unknown + RootPart--SIM_SEA_2-5_ROOT_LINK: base_fixed_joint + RootPart--SIM_SEA_2-5_R_HIP_1: r_hip_unknown + RootPart--SIM_SEA_2-5_L_HIP_1: l_hip_unknown + RootPart--SIM_SEA_2-5_CHEST_BB: torso_yaw_unknown + RootPart--SIM_SEA_2-5_NECK_1: neck_pitch_unknown + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1: torso_pitch + SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2: torso_roll + SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB: torso_yaw + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1: r_hip_pitch + SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2: r_hip_roll + SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH: r_leg_ft_sensor + SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH: r_hip_yaw + SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK: r_knee + SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE: r_ankle_pitch + SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT: r_ankle_roll + SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE: r_foot_ft_sensor + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1: l_hip_pitch + SIM_SEA_2-5_L_HIP_1--SIM_SEA_2-5_L_HIP_2: l_hip_roll + SIM_SEA_2-5_L_HIP_2--SIM_SEA_2-5_L_UPPER_THIGH: l_leg_ft_sensor + SIM_SEA_2-5_L_UPPER_THIGH--SIM_SEA_2-5_L_THIGH: l_hip_yaw + SIM_SEA_2-5_L_THIGH--SIM_SEA_2-5_L_SHANK: l_knee + SIM_SEA_2-5_L_SHANK--SIM_SEA_2-5_L_ANKLE: l_ankle_pitch + SIM_SEA_2-5_L_ANKLE--SIM_SEA_2-5_L_FOOT: l_ankle_roll + SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE: l_foot_ft_sensor + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_pitch + SIM_SEA_2-5_R_SHOULDER_1--SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_roll + SIM_SEA_2-5_R_SHOULDER_2--SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_yaw + SIM_SEA_2-5_R_UPPER_ARM--SIM_SEA_2-5_R_ELBOW: r_arm_ft_sensor + SIM_SEA_2-5_R_ELBOW--SIM_SEA_2-5_R_ELBOW_PROSUP: r_elbow + SIM_SEA_2-5_R_ELBOW_PROSUP--SIM_SEA_2-5_R_FOREARM: r_wrist_prosup + SIM_SEA_2-5_R_FOREARM--SIM_SEA_2-5_R_WRIST_PITCH: r_wrist_pitch + SIM_SEA_2-5_R_WRIST_PITCH--SIM_SEA_2-5_R_HAND: r_wrist_yaw + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_pitch + SIM_SEA_2-5_L_SHOULDER_1--SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_roll + SIM_SEA_2-5_L_SHOULDER_2--SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_yaw + SIM_SEA_2-5_L_UPPER_ARM--SIM_SEA_2-5_L_ELBOW: l_arm_ft_sensor + SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_FOREARM_HAND: l_elbow + SIM_SEA_2-5_L_ELBOW_PROSUP--SIM_SEA_2-5_L_FOREARM: l_wrist_prosup + SIM_SEA_2-5_L_FOREARM--SIM_SEA_2-5_L_WRIST_PITCH: l_wrist_pitch + SIM_SEA_2-5_L_WRIST_PITCH--SIM_SEA_2-5_L_HAND: l_wrist_yaw + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1: neck_pitch + SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2: neck_roll + SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD: neck_yaw + +# Frames options +exportAllUseradded: No + +exportedFrames: + - frameName: SCSYS_ROOT_LINK_EMS_ACC_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_acc_eb5 + - frameName: SCSYS_ROOT_LINK_EMS_GYRO_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_gyro_eb5 + - frameName: SCSYS_CHEST_EMS_ACC_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb1 + - frameName: SCSYS_CHEST_EMS_GYRO_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb1 + - frameName: SCSYS_CHEST_EMS_ACC_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb2 + - frameName: SCSYS_CHEST_EMS_GYRO_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb2 + - frameName: SCSYS_CHEST_EMS_ACC_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb3 + - frameName: SCSYS_CHEST_EMS_GYRO_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb3 + - frameName: SCSYS_CHEST_EMS_ACC_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb4 + - frameName: SCSYS_CHEST_EMS_GYRO_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb4 + - frameName: SCSYS_CHEST_MTB_ACC_0B7 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b7 + - frameName: SCSYS_CHEST_MTB_ACC_0B8 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b8 + - frameName: SCSYS_CHEST_MTB_ACC_0B9 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b9 + - frameName: SCSYS_CHEST_MTB_ACC_0B10 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B10 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B11 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b11 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B12 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b12 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B13 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b13 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B7 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b7 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B8 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b8 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B9 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b9 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B10 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b10 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B11 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b11 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B12 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b12 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B13 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b13 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B7 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b7 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B8 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b8 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B9 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b9 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb11 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb11 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B1 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b1 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B2 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b2 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B3 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b3 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B4 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b4 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B5 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b5 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B6 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b6 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B7 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b7 + - frameName: SCSYS_R_LOWER_LEG_EMS_ACC_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_acc_eb9 + - frameName: SCSYS_R_LOWER_LEG_EMS_GYRO_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_gyro_eb9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B8 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b8 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B10 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b10 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B11 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b11 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B12 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b12 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B13 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b13 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb10 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb10 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B1 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b1 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B2 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b2 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B3 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b3 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B4 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b4 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B5 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b5 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b6 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B7 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b7 + - frameName: SCSYS_L_LOWER_LEG_EMS_ACC_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_acc_eb7 + - frameName: SCSYS_L_LOWER_LEG_EMS_GYRO_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_gyro_eb7 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B8 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b8 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B9 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b9 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B10 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b10 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B11 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b11 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B12 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b12 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B13 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b13 + - frameName: SCSYS_L_SOLE + frameReferenceLink: l_foot + exportedFrameName: l_sole + - frameName: SCSYS_R_SOLE + frameReferenceLink: r_foot + exportedFrameName: r_sole + - frameName: SCSYS_L_HAND_DH_FRAME + frameReferenceLink: l_hand + exportedFrameName: l_hand_dh_frame + - frameName: SCSYS_R_HAND_DH_FRAME + frameReferenceLink: r_hand + exportedFrameName: r_hand_dh_frame + + +linkFrames: + - linkName: root_link + frameName: SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1 + - linkName: l_hip_3 + frameName: SCSYS_L_UPPER_LEG_FT45 + frameReferenceLink: l_hip_2 + - linkName: r_hip_3 + frameName: SCSYS_R_UPPER_LEG_FT45 + frameReferenceLink: r_hip_2 + - linkName: l_foot + frameName: SCSYS_L_FOOT_FT45 + frameReferenceLink: l_ankle_2 + - linkName: r_foot + frameName: SCSYS_R_FOOT_FT45 + frameReferenceLink: r_ankle_2 + - linkName: l_upper_arm + frameName: SCSYS_L_UPPER_ARM_FT45 + frameReferenceLink: l_shoulder_3 + - linkName: r_upper_arm + frameName: SCSYS_R_UPPER_ARM_FT45 + frameReferenceLink: r_shoulder_3 + +# Sensors options +forceTorqueSensors: + - jointName: l_leg_ft_sensor + directionChildToParent: Yes + - jointName: r_leg_ft_sensor + directionChildToParent: Yes + - jointName: l_foot_ft_sensor + directionChildToParent: Yes + - jointName: r_foot_ft_sensor + directionChildToParent: Yes + - jointName: l_arm_ft_sensor + directionChildToParent: Yes + - jointName: r_arm_ft_sensor + directionChildToParent: Yes + +IMUs: + - linkName: head + frameName: SCSYS_HEAD_MTX_IMU + sensorName: "imu_frame" + exportFrameInURDF: Yes + +# Workaround options +reverseRotationAxis: + l_hip_yaw + l_knee + l_ankle_pitch + r_hip_pitch + r_hip_roll + r_ankle_roll + torso_pitch + l_shoulder_roll + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_elbow + neck_roll + +assignedMasses: + chest: 7.6380 + l_upper_leg: 1.8084 + l_lower_leg: 1.4724 + l_ankle_1 : 0.6798 + r_upper_leg: 1.8035 + r_lower_leg: 1.4720 + r_ankle_1 : 0.6803 + +XMLBlobs: + - | + + - | + + + + + + + - | + + - | + + + + + + + - | + + - | + + + + + + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + + model://iCubGenova02/conf/gazebo_iCubGenova02_torso.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_head.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini + + diff --git a/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options_NO_BACKPACK.yaml b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options_NO_BACKPACK.yaml new file mode 100644 index 00000000..716a121d --- /dev/null +++ b/simmechanics/data/icub2_5/ICUB_2-5_BB_simmechanics_options_NO_BACKPACK.yaml @@ -0,0 +1,459 @@ +# Meshes options +scale: "0.001 0.001 0.001" +forcelowercase: Yes +filenameformatchangeext: "model://iCubGenova02/meshes/dae/%s.dae" + +# Rename options (map Creo names to URDF names) +rename: + RootPart: base_link + SIM_SEA_2-5_ROOT_LINK: root_link + SIM_SEA_2-5_LAP_BELT_1: torso_1 + SIM_SEA_2-5_LAP_BELT_2: torso_2 + SIM_SEA_2-5_R_HIP_1: r_hip_1 + SIM_SEA_2-5_R_HIP_2: r_hip_2 + SIM_SEA_2-5_R_UPPER_THIGH: r_hip_3 + SIM_SEA_2-5_R_THIGH: r_upper_leg + SIM_SEA_2-5_R_SHANK: r_lower_leg + SIM_SEA_2-5_R_ANKLE: r_ankle_1 + SIM_SEA_2-5_R_FOOT: r_ankle_2 + SIM_SEA_2-5_R_SOLE: r_foot + SIM_SEA_2-5_L_HIP_1: l_hip_1 + SIM_SEA_2-5_L_HIP_2: l_hip_2 + SIM_SEA_2-5_L_UPPER_THIGH: l_hip_3 + SIM_SEA_2-5_L_THIGH: l_upper_leg + SIM_SEA_2-5_L_SHANK: l_lower_leg + SIM_SEA_2-5_L_ANKLE: l_ankle_1 + SIM_SEA_2-5_L_FOOT: l_ankle_2 + SIM_SEA_2-5_L_SOLE: l_foot + SIM_SEA_2-5_CHEST_BB: chest + SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_1 + SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_2 + SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_3 + SIM_SEA_2-5_R_ELBOW: r_upper_arm + SIM_SEA_2-5_R_ELBOW_PROSUP: r_elbow_1 + SIM_SEA_2-5_R_FOREARM: r_forearm + SIM_SEA_2-5_R_WRIST_PITCH: r_wrist_1 + SIM_SEA_2-5_R_HAND: r_hand + SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_1 + SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_2 + SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_3 + SIM_SEA_2-5_L_ELBOW: l_upper_arm + SIM_SEA_2-5_L_ELBOW_PROSUP: l_elbow_1 + SIM_SEA_2-5_L_FOREARM: l_forearm + SIM_SEA_2-5_L_WRIST_PITCH: l_wrist_1 + SIM_SEA_2-5_L_HAND: l_hand + SIM_SEA_2-5_NECK_1: neck_1 + SIM_SEA_2-5_NECK_2: neck_2 + SIM_SEA_2-5_HEAD: head + RootGround--RootPart: root_joint_unknown + RootPart--RootPart: base_joint_unknown + RootPart--SIM_SEA_2-5_ROOT_LINK: base_fixed_joint + RootPart--SIM_SEA_2-5_R_HIP_1: r_hip_unknown + RootPart--SIM_SEA_2-5_L_HIP_1: l_hip_unknown + RootPart--SIM_SEA_2-5_CHEST_BB: torso_yaw_unknown + RootPart--SIM_SEA_2-5_NECK_1: neck_pitch_unknown + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1: torso_pitch + SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2: torso_roll + SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB: torso_yaw + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1: r_hip_pitch + SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2: r_hip_roll + SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH: r_leg_ft_sensor + SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH: r_hip_yaw + SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK: r_knee + SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE: r_ankle_pitch + SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT: r_ankle_roll + SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE: r_foot_ft_sensor + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1: l_hip_pitch + SIM_SEA_2-5_L_HIP_1--SIM_SEA_2-5_L_HIP_2: l_hip_roll + SIM_SEA_2-5_L_HIP_2--SIM_SEA_2-5_L_UPPER_THIGH: l_leg_ft_sensor + SIM_SEA_2-5_L_UPPER_THIGH--SIM_SEA_2-5_L_THIGH: l_hip_yaw + SIM_SEA_2-5_L_THIGH--SIM_SEA_2-5_L_SHANK: l_knee + SIM_SEA_2-5_L_SHANK--SIM_SEA_2-5_L_ANKLE: l_ankle_pitch + SIM_SEA_2-5_L_ANKLE--SIM_SEA_2-5_L_FOOT: l_ankle_roll + SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE: l_foot_ft_sensor + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_pitch + SIM_SEA_2-5_R_SHOULDER_1--SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_roll + SIM_SEA_2-5_R_SHOULDER_2--SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_yaw + SIM_SEA_2-5_R_UPPER_ARM--SIM_SEA_2-5_R_ELBOW: r_arm_ft_sensor + SIM_SEA_2-5_R_ELBOW--SIM_SEA_2-5_R_ELBOW_PROSUP: r_elbow + SIM_SEA_2-5_R_ELBOW_PROSUP--SIM_SEA_2-5_R_FOREARM: r_wrist_prosup + SIM_SEA_2-5_R_FOREARM--SIM_SEA_2-5_R_WRIST_PITCH: r_wrist_pitch + SIM_SEA_2-5_R_WRIST_PITCH--SIM_SEA_2-5_R_HAND: r_wrist_yaw + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_pitch + SIM_SEA_2-5_L_SHOULDER_1--SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_roll + SIM_SEA_2-5_L_SHOULDER_2--SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_yaw + SIM_SEA_2-5_L_UPPER_ARM--SIM_SEA_2-5_L_ELBOW: l_arm_ft_sensor + SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_FOREARM_HAND: l_elbow + SIM_SEA_2-5_L_ELBOW_PROSUP--SIM_SEA_2-5_L_FOREARM: l_wrist_prosup + SIM_SEA_2-5_L_FOREARM--SIM_SEA_2-5_L_WRIST_PITCH: l_wrist_pitch + SIM_SEA_2-5_L_WRIST_PITCH--SIM_SEA_2-5_L_HAND: l_wrist_yaw + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1: neck_pitch + SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2: neck_roll + SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD: neck_yaw + +# Frames options +exportAllUseradded: No + +exportedFrames: + - frameName: SCSYS_ROOT_LINK_EMS_ACC_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_acc_eb5 + - frameName: SCSYS_ROOT_LINK_EMS_GYRO_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_gyro_eb5 + - frameName: SCSYS_CHEST_EMS_ACC_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb1 + - frameName: SCSYS_CHEST_EMS_GYRO_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb1 + - frameName: SCSYS_CHEST_EMS_ACC_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb2 + - frameName: SCSYS_CHEST_EMS_GYRO_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb2 + - frameName: SCSYS_CHEST_EMS_ACC_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb3 + - frameName: SCSYS_CHEST_EMS_GYRO_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb3 + - frameName: SCSYS_CHEST_EMS_ACC_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb4 + - frameName: SCSYS_CHEST_EMS_GYRO_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb4 + - frameName: SCSYS_CHEST_MTB_ACC_0B7 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b7 + - frameName: SCSYS_CHEST_MTB_ACC_0B8 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b8 + - frameName: SCSYS_CHEST_MTB_ACC_0B9 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b9 + - frameName: SCSYS_CHEST_MTB_ACC_0B10 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B10 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B11 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b11 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B12 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b12 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B13 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b13 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B7 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b7 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B8 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b8 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B9 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b9 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B10 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b10 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B11 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b11 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B12 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b12 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B13 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b13 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B7 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b7 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B8 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b8 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B9 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b9 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb11 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb11 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B1 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b1 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B2 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b2 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B3 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b3 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B4 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b4 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B5 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b5 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B6 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b6 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B7 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b7 + - frameName: SCSYS_R_LOWER_LEG_EMS_ACC_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_acc_eb9 + - frameName: SCSYS_R_LOWER_LEG_EMS_GYRO_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_gyro_eb9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B8 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b8 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B10 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b10 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B11 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b11 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B12 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b12 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B13 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b13 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb10 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb10 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B1 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b1 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B2 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b2 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B3 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b3 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B4 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b4 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B5 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b5 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b6 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B7 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b7 + - frameName: SCSYS_L_LOWER_LEG_EMS_ACC_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_acc_eb7 + - frameName: SCSYS_L_LOWER_LEG_EMS_GYRO_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_gyro_eb7 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B8 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b8 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B9 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b9 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B10 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b10 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B11 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b11 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B12 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b12 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B13 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b13 + - frameName: SCSYS_L_SOLE + frameReferenceLink: l_foot + exportedFrameName: l_sole + - frameName: SCSYS_R_SOLE + frameReferenceLink: r_foot + exportedFrameName: r_sole + - frameName: SCSYS_L_HAND_DH_FRAME + frameReferenceLink: l_hand + exportedFrameName: l_hand_dh_frame + - frameName: SCSYS_R_HAND_DH_FRAME + frameReferenceLink: r_hand + exportedFrameName: r_hand_dh_frame + + +linkFrames: + - linkName: root_link + frameName: SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1 + - linkName: l_hip_3 + frameName: SCSYS_L_UPPER_LEG_FT45 + frameReferenceLink: l_hip_2 + - linkName: r_hip_3 + frameName: SCSYS_R_UPPER_LEG_FT45 + frameReferenceLink: r_hip_2 + - linkName: l_foot + frameName: SCSYS_L_FOOT_FT45 + frameReferenceLink: l_ankle_2 + - linkName: r_foot + frameName: SCSYS_R_FOOT_FT45 + frameReferenceLink: r_ankle_2 + - linkName: l_upper_arm + frameName: SCSYS_L_UPPER_ARM_FT45 + frameReferenceLink: l_shoulder_3 + - linkName: r_upper_arm + frameName: SCSYS_R_UPPER_ARM_FT45 + frameReferenceLink: r_shoulder_3 + +# Sensors options +forceTorqueSensors: + - jointName: l_leg_ft_sensor + directionChildToParent: Yes + - jointName: r_leg_ft_sensor + directionChildToParent: Yes + - jointName: l_foot_ft_sensor + directionChildToParent: Yes + - jointName: r_foot_ft_sensor + directionChildToParent: Yes + - jointName: l_arm_ft_sensor + directionChildToParent: Yes + - jointName: r_arm_ft_sensor + directionChildToParent: Yes + +IMUs: + - linkName: head + frameName: SCSYS_HEAD_MTX_IMU + sensorName: "imu_frame" + exportFrameInURDF: Yes + +# Workaround options +reverseRotationAxis: + l_hip_yaw + l_knee + l_ankle_pitch + r_hip_pitch + r_hip_roll + r_ankle_roll + torso_pitch + l_shoulder_roll + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_elbow + neck_roll + +assignedMasses: + chest: 5.6380 + l_upper_leg: 1.8084 + l_lower_leg: 1.4724 + l_ankle_1 : 0.6798 + r_upper_leg: 1.8035 + r_lower_leg: 1.4720 + r_ankle_1 : 0.6803 + +XMLBlobs: + - | + + - | + + + + + + + - | + + - | + + + + + + + - | + + - | + + + + + + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + + model://iCubGenova02/conf/gazebo_iCubGenova02_torso.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_head.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini + + diff --git a/simmechanics/data/icub2_5/README.md b/simmechanics/data/icub2_5/README.md new file mode 100644 index 00000000..d538cca8 --- /dev/null +++ b/simmechanics/data/icub2_5/README.md @@ -0,0 +1,3 @@ +This directory contains file generated from `https://svn.robotology.eu/repos/iCubHardware/trunk/mechanics/collaborations/icub2-5/icub_2-5_bb_sim_model.asm.1` +using the http://wiki.icub.org/wiki/Creo_Mechanism_to_URDF workflow . +In particular the `ICUB_2-5_BB_SIM_MODEL.xml` is directly the output obtained by the SimMechanics Link plugin. \ No newline at end of file diff --git a/simmechanics/data/icub2_5/adjust_com_for_model_without_backpack.py b/simmechanics/data/icub2_5/adjust_com_for_model_without_backpack.py new file mode 100755 index 00000000..1f884d51 --- /dev/null +++ b/simmechanics/data/icub2_5/adjust_com_for_model_without_backpack.py @@ -0,0 +1,43 @@ +#!/usr/bin/env python + +import os +import argparse +from lxml import etree + + +parser = argparse.ArgumentParser(description='Update the COM of the chest to convert a iCub 2.5 with backpack to a model without backpack.') +parser.add_argument('--input_urdf', dest='input_urdf', nargs='?', action='store', help='Input file (URDF model extracted from the SimMechanics Model)') +parser.add_argument('--output_urdf', dest='output_urdf', nargs='?', action='store', help='Output file, with the COM udpdated.') + +args = parser.parse_args(); + +tree = etree.parse(args.input_urdf); +robot = tree.getroot(); +for link in robot.getiterator("link"): + if( link.get('name') == "chest" ): + link_chest = link; + +for inertial in link_chest.getiterator('inertial'): + for origin in inertial.getiterator('origin'): + origin_chest = origin; + +if( origin_chest.get('xyz') != '0.000188619190735 0.073091 -0.047238'): + print("Warning: unexpected com for the chest ",origin_chest.get('xyz')); + +origin_chest.set('xyz','0.000188619190735 0.023091 -0.013238'); + +# Save to file (see http://stackoverflow.com/questions/12517451/python-automatically-creating-directories-with-file-output) +if not os.path.exists(os.path.dirname(args.output_urdf)): + try: + os.makedirs(os.path.dirname(args.output_urdf)) + except OSError as exc: # Guard against race condition + if exc.errno != errno.EEXIST: + raise + +with open(args.output_urdf, "w") as text_file: + text_file.write(etree.tostring(robot)); + + + + + diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_arm_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_arm_ft.ini new file mode 100644 index 00000000..22b40069 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_arm_ft.ini @@ -0,0 +1,7 @@ +[include "../gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/left_arm/analog:o +period 10 + +device analogServer +subdevice gazebo_forcetorque diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_foot_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_foot_ft.ini new file mode 100644 index 00000000..43db5594 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_foot_ft.ini @@ -0,0 +1,7 @@ +[include "../gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/left_foot/analog:o +period 10 + +device analogServer +subdevice gazebo_forcetorque diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_leg_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_leg_ft.ini new file mode 100644 index 00000000..b2a757cc --- /dev/null +++ b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_left_leg_ft.ini @@ -0,0 +1,7 @@ +[include "../gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/left_leg/analog:o +period 10 + +device analogServer +subdevice gazebo_forcetorque diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_arm_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_arm_ft.ini new file mode 100644 index 00000000..86b85e6a --- /dev/null +++ b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_arm_ft.ini @@ -0,0 +1,7 @@ +[include "../gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/right_arm/analog:o +period 10 + +device analogServer +subdevice gazebo_forcetorque diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_foot_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_foot_ft.ini new file mode 100644 index 00000000..b4439104 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_foot_ft.ini @@ -0,0 +1,7 @@ +[include "../gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/right_foot/analog:o +period 10 + +device analogServer +subdevice gazebo_forcetorque diff --git a/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_leg_ft.ini b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_leg_ft.ini new file mode 100644 index 00000000..140e6230 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/FT/gazebo_icub_right_leg_ft.ini @@ -0,0 +1,7 @@ +[include "../gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/right_leg/analog:o +period 10 + +device analogServer +subdevice gazebo_forcetorque diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_head.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_head.ini new file mode 100644 index 00000000..975adc7f --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_head.ini @@ -0,0 +1,33 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name ${gazeboYarpPluginsRobotName}/head +# Total number of joints +joints 3 +# list of MotorControl device to use +networks ( head ) +# for each network specify the joint map +head 0 2 0 2 +# Verbose output (on if present, off if commented out) +#verbose + +# Specify configuration of MotorControl devices +[head] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames neck_pitch neck_roll neck_yaw +name head + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[GAZEBO_PIDS] +#head +Pid0 50.0 1.0 0.1 9999 9999 9 9 +Pid1 50.0 1.0 0.1 9999 9999 9 9 +Pid2 50.0 1.0 0.1 9999 9999 9 9 diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_left_arm.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_left_arm.ini new file mode 100644 index 00000000..9b26a1da --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_left_arm.ini @@ -0,0 +1,36 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name ${gazeboYarpPluginsRobotName}/left_arm +# Total number of joints +joints 4 +# list of MotorControl device to use +networks ( left_arm ) +# for each network specify the joint map +left_arm 0 3 0 3 +# Verbose output (on if present, off if commented out) +#verbose + + +# Specify configuration of MotorControl devices +[left_arm] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_shoulder_pitch l_shoulder_roll l_shoulder_yaw l_elbow +name left_arm + + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[GAZEBO_PIDS] +#Left Arm +Pid0 10.0 1.0 1.0 9999 9999 9 9 +Pid1 10.0 1.0 1.0 9999 9999 9 9 +Pid2 10.0 1.0 1.0 9999 9999 9 9 +Pid3 10.0 1.0 1.0 9999 9999 9 9 diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_left_leg.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_left_leg.ini new file mode 100644 index 00000000..adaff0db --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_left_leg.ini @@ -0,0 +1,39 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name ${gazeboYarpPluginsRobotName}/left_leg +# Total number of joints +joints 6 +# list of MotorControl device to use +networks ( left_leg ) +# for each network specify the joint map +left_leg 0 5 0 5 +# Verbose output (on if present, off if commented out) +#verbose + + +# Specify configuration of MotorControl devices +[left_leg] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames l_hip_pitch l_hip_roll l_hip_yaw l_knee l_ankle_pitch l_ankle_roll +name left_leg + + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[GAZEBO_PIDS] +#Left Leg +Pid0 150.0 0.0 1 9999 9999 9 9 +Pid1 60.0 0.0 10 9999 9999 9 9 +Pid2 60.0 0.0 10 9999 9999 9 9 +Pid3 300.0 0.0 1 9999 9999 9 9 +Pid4 150.0 1.0 1 9999 9999 9 9 +Pid5 60.0 0.0 10 9999 9999 9 9 + diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_right_arm.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_right_arm.ini new file mode 100644 index 00000000..2a6ce725 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_right_arm.ini @@ -0,0 +1,37 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name ${gazeboYarpPluginsRobotName}/right_arm +# Total number of joints +joints 4 +# list of MotorControl device to use +networks ( right_arm ) +# for each network specify the joint map +right_arm 0 3 0 3 +# Verbose output (on if present, off if commented out) +#verbose + + +# Specify configuration of MotorControl devices +[right_arm] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_shoulder_pitch r_shoulder_roll r_shoulder_yaw r_elbow +name right_arm + + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[GAZEBO_PIDS] +#Right Arm +Pid0 10.0 1.0 1.0 9999 9999 9 9 +Pid1 10.0 1.0 1.0 9999 9999 9 9 +Pid2 10.0 1.0 1.0 9999 9999 9 9 +Pid3 10.0 1.0 1.0 9999 9999 9 9 + diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_right_leg.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_right_leg.ini new file mode 100644 index 00000000..eb4d6d29 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_right_leg.ini @@ -0,0 +1,40 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name ${gazeboYarpPluginsRobotName}/right_leg +# Total number of joints +joints 6 +# list of MotorControl device to use +networks ( right_leg ) +# for each network specify the joint map +right_leg 0 5 0 5 +# Verbose output (on if present, off if commented out) +#verbose + + +# Specify configuration of MotorControl devices +[right_leg] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames r_hip_pitch r_hip_roll r_hip_yaw r_knee r_ankle_pitch r_ankle_roll +name right_leg + + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[GAZEBO_PIDS] +#Right Leg +Pid0 150.0 0.0 1 9999 9999 9 9 +Pid1 60.0 0.0 10 9999 9999 9 9 +Pid2 60.0 0.0 10 9999 9999 9 9 +Pid3 300.0 0.0 1 9999 9999 9 9 +Pid4 150.0 1.0 1 9999 9999 9 9 +Pid5 60.0 0.0 10 9999 9999 9 9 + diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_robotname.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_robotname.ini new file mode 100644 index 00000000..34e13e75 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_robotname.ini @@ -0,0 +1 @@ +gazeboYarpPluginsRobotName icubGazeboSim diff --git a/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_torso.ini b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_torso.ini new file mode 100644 index 00000000..119f6eb3 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/gazebo_iCubGenova02_torso.ini @@ -0,0 +1,34 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + +[WRAPPER] +# name of the wrapper device to be instatiated by the factory +device controlboardwrapper2 +# rate of output streaming from ports in ms +period 10 +# output port name (a leading '/' will be added by code) +name ${gazeboYarpPluginsRobotName}/torso +# Total number of joints +joints 3 +# list of MotorControl device to use +networks ( torso ) +# for each network specify the joint map +torso 0 2 0 2 +# Verbose output (on if present, off if commented out) +#verbose + +# Specify configuration of MotorControl devices +[torso] +# name of the device to be instatiated by the factory +device gazebo_controlboard +#jointNames list +jointNames torso_yaw torso_roll torso_pitch +name torso + +#PIDs: +# this information is used to set the PID values in simulation for GAZEBO, we need only the first three values +[GAZEBO_PIDS] +#Torso +Pid0 100.0 1.0 15 9999 9999 9 9 +Pid1 120.0 1.0 15 9999 9999 9 9 +Pid2 170.0 1.0 15 9999 9999 9 9 + diff --git a/simmechanics/data/icub2_5/conf/inertial.ini b/simmechanics/data/icub2_5/conf/inertial.ini new file mode 100644 index 00000000..a5253fb7 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/inertial.ini @@ -0,0 +1,7 @@ +[include "gazebo_iCubGenova02_robotname.ini"] + +name /${gazeboYarpPluginsRobotName}/inertial +period 0.01 + +device inertial +subdevice gazebo_imu diff --git a/simmechanics/data/icub2_5/conf/robotMotorGui.ini b/simmechanics/data/icub2_5/conf/robotMotorGui.ini new file mode 100644 index 00000000..2cc99551 --- /dev/null +++ b/simmechanics/data/icub2_5/conf/robotMotorGui.ini @@ -0,0 +1,36 @@ +//name of the robot +name icubGazeboSim +//parts to be opened by the GUI +parts (head torso left_arm right_arm left_leg right_leg) + +[head_zero] +//Joint 0 1 2 +PositionZero 0.0 0.0 0.0 +VelocityZero 10.0 10.0 10.0 + +[torso_zero] +//Joint 0 1 2 +PositionZero 0.0 0.0 30.0 +VelocityZero 10.0 10.0 30.0 + +[left_arm_zero] +//Joint 0 1 2 3 +PositionZero -25.8 20.0 0.0 50 +VelocityZero 5.0 5.0 5.0 5.0 + +[right_arm_zero] +//Joint 0 1 2 3 +PositionZero -25.8 20.0 0.0 50 +VelocityZero 5.0 5.0 5.0 5.0 + +[left_leg_zero] +//Joint 0 1 2 3 4 5 +PositionZero 0.0 0.0 0.0 -40.0 -20.0 0.0 +VelocityZero 4.0 4.0 4.0 60.0 30.0 4.0 + +[right_leg_zero] +//Joint 0 1 2 3 4 5 +PositionZero 0.0 0.0 0.0 -40.0 -20.0 0.0 +VelocityZero 4.0 4.0 4.0 60.0 30.0 4.0 + +//DO NOT REMOVE THIS LINE diff --git a/simmechanics/data/icub2_5/convertModel.sh b/simmechanics/data/icub2_5/convertModel.sh new file mode 100755 index 00000000..07d76c12 --- /dev/null +++ b/simmechanics/data/icub2_5/convertModel.sh @@ -0,0 +1,3 @@ +simmechanics_to_urdf iCubGenova02_SIM_MODEL.xml --output xml --yaml iCubGenova02_simmechanics_options.yaml --csv-joints iCubGenova02_joint_parameters.csv --outputfile iCubGenova02.urdf +simmechanics_to_urdf iCubGenova02_SIM_MODEL.xml --output xml --yaml iCubGenova02NoBattery_simmechanics_options.yaml --csv-joints iCubGenova02_joint_parameters.csv --outputfile iCubGenova02NoBattery.urdf +gz sdf -p iCubGenova02.urdf > iCubGenova02.sdf diff --git a/simmechanics/data/icub2_5/iCubGenova02NoBattery.urdf b/simmechanics/data/icub2_5/iCubGenova02NoBattery.urdf new file mode 100644 index 00000000..58d7f6a2 --- /dev/null +++ b/simmechanics/data/icub2_5/iCubGenova02NoBattery.urdf @@ -0,0 +1,1521 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 1 + 100 + + child + child_to_parent + + + + + + 1 + 100 + + child + child_to_parent + + + + + + 1 + 100 + + child + child_to_parent + + + + + + 1 + 100 + + child + child_to_parent + + + + + + 1 + 100 + + child + child_to_parent + + + + + + 1 + 100 + + child + child_to_parent + + + + + + 1 + 100 + 0.00950000019074 0.133444 0.0093 -1.57079632679 1.57079632679 0.0 + + + + true + + + true + + + true + + + true + + + true + + + true + + + + model://iCubGenova02/conf/gazebo_iCubGenova02_torso.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_head.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini + + + diff --git a/simmechanics/data/icub2_5/iCubGenova02NoBattery_simmechanics_options.yaml b/simmechanics/data/icub2_5/iCubGenova02NoBattery_simmechanics_options.yaml new file mode 100644 index 00000000..4805a000 --- /dev/null +++ b/simmechanics/data/icub2_5/iCubGenova02NoBattery_simmechanics_options.yaml @@ -0,0 +1,410 @@ +# Meshes options +scale: "0.001 0.001 0.001" +forcelowercase: Yes +filenameformatchangeext: "model://iCubGenova02/meshes/dae/%s.dae" + +# Rename options (map Creo names to URDF names) +rename: + RootPart: base_link + SIM_SEA_2-5_ROOT_LINK: root_link + SIM_SEA_2-5_LAP_BELT_1: torso_1 + SIM_SEA_2-5_LAP_BELT_2: torso_2 + SIM_SEA_2-5_R_HIP_1: r_hip_1 + SIM_SEA_2-5_R_HIP_2: r_hip_2 + SIM_SEA_2-5_R_UPPER_THIGH: r_hip_3 + SIM_SEA_2-5_R_THIGH: r_upper_leg + SIM_SEA_2-5_R_SHANK: r_lower_leg + SIM_SEA_2-5_R_ANKLE: r_ankle_1 + SIM_SEA_2-5_R_FOOT: r_ankle_2 + SIM_SEA_2-5_R_SOLE: r_foot + SIM_SEA_2-5_L_HIP_1: l_hip_1 + SIM_SEA_2-5_L_HIP_2: l_hip_2 + SIM_SEA_2-5_L_UPPER_THIGH: l_hip_3 + SIM_SEA_2-5_L_THIGH: l_upper_leg + SIM_SEA_2-5_L_SHANK: l_lower_leg + SIM_SEA_2-5_L_ANKLE: l_ankle_1 + SIM_SEA_2-5_L_FOOT: l_ankle_2 + SIM_SEA_2-5_L_SOLE: l_foot + SIM_SEA_2-5_CHEST_BB: chest + SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_1 + SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_2 + SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_3 + SIM_SEA_2-5_R_ELBOW: r_upper_arm + SIM_SEA_2-5_R_FOREARM_HAND: r_elbow_1 + SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_1 + SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_2 + SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_3 + SIM_SEA_2-5_L_ELBOW: l_upper_arm + SIM_SEA_2-5_L_FOREARM_HAND: l_elbow_1 + SIM_SEA_2-5_NECK_1: neck_1 + SIM_SEA_2-5_NECK_2: neck_2 + SIM_SEA_2-5_HEAD: head + RootGround--RootPart: root_joint_unknown + RootPart--RootPart: base_joint_unknown + RootPart--SIM_SEA_2-5_ROOT_LINK: base_fixed_joint + RootPart--SIM_SEA_2-5_R_HIP_1: r_hip_unknown + RootPart--SIM_SEA_2-5_L_HIP_1: l_hip_unknown + RootPart--SIM_SEA_2-5_CHEST_BB: torso_yaw_unknown + RootPart--SIM_SEA_2-5_NECK_1: neck_pitch_unknown + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1: torso_pitch + SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2: torso_roll + SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB: torso_yaw + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1: r_hip_pitch + SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2: r_hip_roll + SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH: r_leg_ft_sensor + SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH: r_hip_yaw + SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK: r_knee + SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE: r_ankle_pitch + SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT: r_ankle_roll + SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE: r_foot_ft_sensor + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1: l_hip_pitch + SIM_SEA_2-5_L_HIP_1--SIM_SEA_2-5_L_HIP_2: l_hip_roll + SIM_SEA_2-5_L_HIP_2--SIM_SEA_2-5_L_UPPER_THIGH: l_leg_ft_sensor + SIM_SEA_2-5_L_UPPER_THIGH--SIM_SEA_2-5_L_THIGH: l_hip_yaw + SIM_SEA_2-5_L_THIGH--SIM_SEA_2-5_L_SHANK: l_knee + SIM_SEA_2-5_L_SHANK--SIM_SEA_2-5_L_ANKLE: l_ankle_pitch + SIM_SEA_2-5_L_ANKLE--SIM_SEA_2-5_L_FOOT: l_ankle_roll + SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE: l_foot_ft_sensor + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_pitch + SIM_SEA_2-5_R_SHOULDER_1--SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_roll + SIM_SEA_2-5_R_SHOULDER_2--SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_yaw + SIM_SEA_2-5_R_UPPER_ARM--SIM_SEA_2-5_R_ELBOW: r_arm_ft_sensor + SIM_SEA_2-5_R_ELBOW--SIM_SEA_2-5_R_FOREARM_HAND: r_elbow + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_pitch + SIM_SEA_2-5_L_SHOULDER_1--SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_roll + SIM_SEA_2-5_L_SHOULDER_2--SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_yaw + SIM_SEA_2-5_L_UPPER_ARM--SIM_SEA_2-5_L_ELBOW: l_arm_ft_sensor + SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_FOREARM_HAND: l_elbow + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1: neck_pitch + SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2: neck_roll + SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD: neck_yaw + +# Frames options +exportAllUseradded: No + +exportedFrames: + - frameName: SCSYS_ROOT_LINK_EMS_ACC_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_acc_eb5 + - frameName: SCSYS_ROOT_LINK_EMS_GYRO_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_gyro_eb5 + - frameName: SCSYS_CHEST_EMS_ACC_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb1 + - frameName: SCSYS_CHEST_EMS_GYRO_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb1 + - frameName: SCSYS_CHEST_EMS_ACC_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb2 + - frameName: SCSYS_CHEST_EMS_GYRO_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb2 + - frameName: SCSYS_CHEST_EMS_ACC_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb3 + - frameName: SCSYS_CHEST_EMS_GYRO_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb3 + - frameName: SCSYS_CHEST_EMS_ACC_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb4 + - frameName: SCSYS_CHEST_EMS_GYRO_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb4 + - frameName: SCSYS_CHEST_MTB_ACC_0B7 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b7 + - frameName: SCSYS_CHEST_MTB_ACC_0B8 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b8 + - frameName: SCSYS_CHEST_MTB_ACC_0B9 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b9 + - frameName: SCSYS_CHEST_MTB_ACC_0B10 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B10 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B11 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b11 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B12 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b12 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B13 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b13 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B7 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b7 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B8 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b8 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B9 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b9 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B10 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b10 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B11 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b11 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B12 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b12 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B13 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b13 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B7 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b7 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B8 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b8 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B9 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b9 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb11 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb11 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B1 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b1 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B2 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b2 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B3 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b3 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B4 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b4 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B5 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b5 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B6 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b6 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B7 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b7 + - frameName: SCSYS_R_LOWER_LEG_EMS_ACC_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_acc_eb9 + - frameName: SCSYS_R_LOWER_LEG_EMS_GYRO_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_gyro_eb9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B8 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b8 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B10 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b10 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B11 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b11 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B12 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b12 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B13 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b13 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb10 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb10 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B1 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b1 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B2 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b2 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B3 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b3 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B4 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b4 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B5 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b5 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b6 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B7 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b7 + - frameName: SCSYS_L_LOWER_LEG_EMS_ACC_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_acc_eb7 + - frameName: SCSYS_L_LOWER_LEG_EMS_GYRO_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_gyro_eb7 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B8 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b8 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B9 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b9 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B10 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b10 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B11 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b11 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B12 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b12 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B13 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b13 + - frameName: SCSYS_L_SOLE + frameReferenceLink: l_foot + exportedFrameName: l_sole + - frameName: SCSYS_R_SOLE + frameReferenceLink: r_foot + exportedFrameName: r_sole + +linkFrames: + - linkName: root_link + frameName: SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1 + - linkName: l_hip_3 + frameName: SCSYS_L_UPPER_LEG_FT45 + frameReferenceLink: l_hip_2 + - linkName: r_hip_3 + frameName: SCSYS_R_UPPER_LEG_FT45 + frameReferenceLink: r_hip_2 + - linkName: l_foot + frameName: SCSYS_L_FOOT_FT45 + frameReferenceLink: l_ankle_2 + - linkName: r_foot + frameName: SCSYS_R_FOOT_FT45 + frameReferenceLink: r_ankle_2 + - linkName: l_upper_arm + frameName: SCSYS_L_UPPER_ARM_FT45 + frameReferenceLink: l_shoulder_3 + - linkName: r_upper_arm + frameName: SCSYS_R_UPPER_ARM_FT45 + frameReferenceLink: r_shoulder_3 + +# Sensors options +forceTorqueSensors: + - jointName: l_leg_ft_sensor + directionChildToParent: Yes + - jointName: r_leg_ft_sensor + directionChildToParent: Yes + - jointName: l_foot_ft_sensor + directionChildToParent: Yes + - jointName: r_foot_ft_sensor + directionChildToParent: Yes + - jointName: l_arm_ft_sensor + directionChildToParent: Yes + - jointName: r_arm_ft_sensor + directionChildToParent: Yes + +IMUs: + - linkName: head + frameName: SCSYS_HEAD_MTX_IMU + sensorName: "imu_frame" + exportFrameInURDF: Yes + +# Workaround options +reverseRotationAxis: + l_hip_yaw + l_knee + l_ankle_pitch + r_hip_pitch + r_hip_roll + r_ankle_roll + torso_pitch + torso_roll + l_shoulder_roll + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_elbow + neck_roll + +assignedMasses: + chest: 7.2380 + l_upper_leg: 1.8084 + l_lower_leg: 1.4724 + l_ankle_1 : 0.6798 + r_upper_leg: 1.8035 + r_lower_leg: 1.4720 + r_ankle_1 : 0.6803 + +XMLBlobs: + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + + model://iCubGenova02/conf/gazebo_iCubGenova02_torso.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_head.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini + + diff --git a/simmechanics/data/icub2_5/iCubGenova02_SIM_MODEL.xml b/simmechanics/data/icub2_5/iCubGenova02_SIM_MODEL.xml new file mode 100644 index 00000000..bccd66cf --- /dev/null +++ b/simmechanics/data/icub2_5/iCubGenova02_SIM_MODEL.xml @@ -0,0 +1,4916 @@ + + + + "1.0.4" + + 1 + + "SimMechanics Link Version 4.0" + + "Pro/E Wildfire Creo 2.0 - 2012360" + + "11/02/15||13:46:30" + + "iCub" + + "iCubGenova02" + + + "ICUB_2-5_BB_SIM_MODEL" + "ICUB_2-5_BB_SIM_MODEL" + + + "RootPart" + "ICUB_2-5_BB_SIM_MODEL/RootPart" + "" + 0 + "kg" + 0,0,0,0,0,0,0,0,0 + "kg*m^2" + 0 + "mm^3" + 0 + "mm^2" + + + "CG" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart::CG(AUTOGEN)" + 0.0249169,-120.472,-48.7734 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart::CS1(AUTOGEN)" + 0,0,0 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "59/RootPart:-:ICUB_2-5_BB_SIM_MODEL/RootPart::ICUB_2-5_BB_SIM_MODEL/RootPart(AUTOGEN)" + -0.00975194,-291.566,-44.3463 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart:-:RootGround::ICUB_2-5_BB_SIM_MODEL/RootPart(AUTOGEN)" + 0.0249169,-120.472,-48.7734 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "" + + + + + "RootPart--RootPart" + "59/RootPart:-:ICUB_2-5_BB_SIM_MODEL/RootPart" + "" + + + "" + + + + + + + + "" + + + + + + + + "weld" + "" + "WORLD" + 0.57735,0.57735,0.57735 + + + + + "SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB" + "59:59/125:-:60:60/132" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,-1,0 + + + + + "SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1" + "60:60/132:-:61:61/59" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + -1,0,0 + + + + + "RootGround--RootPart" + "ICUB_2-5_BB_SIM_MODEL/RootPart:-:RootGround" + "" + + + "" + + + + + + + + "" + + + + + + + + "weld" + "" + "WORLD" + 0.57735,0.57735,0.57735 + + + + + + + "RootGround" + "RootGround" + "" + + + "CS1" + "" + "ICUB_2-5_BB_SIM_MODEL/RootPart:-:RootGround::RootGround(AUTOGEN)" + 0.0249169,-120.472,-48.7734 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + + + + + "ICUB_2-5_SIM_MODEL_LOWERBODY" + "59" + "" + + + "SIM_SEA_2-5_ROOT_LINK" + "59/126" + "" + 5.09143 + "kg" + 0.0139679,-5.93488e-006,-1.55458e-005,-5.93488e-006,0.0202112,-0.00170968,-1.55458e-005,-0.00170968,0.0249124 + "kg*m^2" + 1.211e+006 + "mm^3" + 721500 + "mm^2" + + + "CG" + "" + "59/126::CG(AUTOGEN)" + -0.103947,-76.0806,-61.2821 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "59/126::CS1(AUTOGEN)" + 0,0,0 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "SCSYS_ROOT_LINK_EMS_ACC_EB5" + "44219(USERADDED)" + 12.5771,-147.691,-85.7308 + "WORLD" + "WORLD" + "mm" + 0,-0.961262,0.275637,-1,0,0,0,-0.275637,-0.961262 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "SCSYS_ROOT_LINK_EMS_GYRO_EB5" + "44220(USERADDED)" + 12.5771,-147.691,-85.7308 + "WORLD" + "WORLD" + "mm" + 0,-0.961262,0.275637,-1,0,0,0,-0.275637,-0.961262 + "3x3 Transform" + "rad" + "WORLD" + + + "CS4" + "SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1" + "44222(USERADDED)" + 0,-32,-36.4 + "WORLD" + "WORLD" + "mm" + 0,0,-1,-1,0,0,0,1,0 + "3x3 Transform" + "rad" + "WORLD" + + + "CS5" + "SCSYS_SIM_LAP_BELT_2_ALT_ORIG_2" + "44223(USERADDED)" + 0,-32,-36.4 + "WORLD" + "WORLD" + "mm" + 0,0,1,1,0,0,0,1,0 + "3x3 Transform" + "rad" + "WORLD" + + + "CS6" + "" + "59/126:-:59/RootPart::59/126(AUTOGEN)" + -0.103947,-76.0806,-61.2821 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS7" + "" + "59/124:-:59/126::59/126(AUTOGEN)" + -27.0463,-32,-36.4 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS8" + "" + "59/119:59/119/115:-:59/126::59/126(AUTOGEN)" + -23.3655,-151.913,-42.8515 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS9" + "" + "59/120:59/120/83:-:59/126::59/126(AUTOGEN)" + 22.3861,-151.913,-42.8515 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "root.stl" + + + "RootPart" + "59/RootPart" + "" + 0 + "kg" + 0,0,0,0,0,0,0,0,0 + "kg*m^2" + 0 + "mm^3" + 0 + "mm^2" + + + "CG" + "" + "59/RootPart::CG(AUTOGEN)" + -0.00975194,-291.566,-44.3463 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "59/RootPart::CS1(AUTOGEN)" + 0,0,0 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "59/126:-:59/RootPart::59/RootPart(AUTOGEN)" + -0.103947,-76.0806,-61.2821 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "59/RootPart:-:ICUB_2-5_BB_SIM_MODEL/RootPart::59/RootPart(AUTOGEN)" + -0.00975194,-291.566,-44.3463 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "" + + + "SIM_SEA_2-5_LAP_BELT_1" + "59/124" + "" + 0.67144 + "kg" + 0.00040911,-1.04522e-006,-1.02516e-006,-1.04522e-006,0.000384141,6.50708e-006,-1.02516e-006,6.50708e-006,0.000299445 + "kg*m^2" + 136291 + "mm^3" + 96955.4 + "mm^2" + + + "CG" + "" + "59/124::CG(AUTOGEN)" + 0.0458359,-2.85202,-36.8398 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "59/124::CS1(AUTOGEN)" + -1.90735e-007,-3.2258e-013,2.95698e-013 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "59/124:-:59/126::59/124(AUTOGEN)" + -27.0463,-32,-36.4 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "59/124:-:59/125::59/124(AUTOGEN)" + -1.90735e-007,0,-94.0906 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "torso_1.stl" + + + "SIM_SEA_2-5_LAP_BELT_2" + "59/125" + "" + 0.428161 + "kg" + 0.000833014,2.2275e-008,8.1931e-008,2.2275e-008,0.000440576,-6.00823e-007,8.1931e-008,-6.00823e-007,0.000605488 + "kg*m^2" + 106029 + "mm^3" + 69775.2 + "mm^2" + + + "CG" + "" + "59/125::CG(AUTOGEN)" + -0.112851,36.182,-36.43 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "59/125::CS1(AUTOGEN)" + -1.90735e-007,143.3,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "59/124:-:59/125::59/125(AUTOGEN)" + -1.90735e-007,0,-94.0906 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "59:59/125:-:60:60/132::59/125(AUTOGEN)" + -1.90735e-007,50,-30.9035 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + 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+ "neck_1.stl" + + + "RootPart" + "61/RootPart" + "" + 0 + "kg" + 0,0,0,0,0,0,0,0,0 + "kg*m^2" + 0 + "mm^3" + 0 + "mm^2" + + + "CG" + "" + "61/RootPart::CG(AUTOGEN)" + -0.481832,311.449,-32.1901 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/RootPart::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "61/59:-:61/RootPart::61/RootPart(AUTOGEN)" + 0.0705608,229.364,-31.9758 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "" + + + "SIM_SEA_2-5_NECK_2" + "61/60" + "" + 0.177087 + "kg" + 0.000117943,-5.25591e-007,4.68307e-007,-5.25591e-007,4.04013e-005,9.81476e-006,4.68307e-007,9.81476e-006,0.000105186 + "kg*m^2" + 40230.6 + "mm^3" + 40090 + "mm^2" + + + "CG" + "" + "61/60::CG(AUTOGEN)" + -0.0885732,267.522,-24.3369 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/60::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "" + "61/59:-:61/60::61/60(AUTOGEN)" + -1.90735e-007,232.297,-4.79169 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "61/60:-:61/6480::61/60(AUTOGEN)" + -1.90735e-007,209.953,-25.5917 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "neck_2.stl" + + + "SIM_SEA_2-5_HEAD" + "61/6480" + "" + 1.50691 + "kg" + 0.00680478,-1.60267e-005,7.28166e-005,-1.60267e-005,0.00634736,0.000292091,7.28166e-005,0.000292091,0.00478116 + "kg*m^2" + 643939 + "mm^3" + 613245 + "mm^2" + + + "CG" + "" + "61/6480::CG(AUTOGEN)" + -0.574158,323.464,-33.1309 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS1" + "" + "61/6480::CS1(AUTOGEN)" + -1.90735e-007,142.8,-55.0924 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "CS2" + "SCSYS_HEAD_MTX_IMU" + "133392(USERADDED)" + 9.5,343.397,-16.2917 + "WORLD" + "WORLD" + "mm" + 0,0,-1,-1,0,0,0,1,0 + "3x3 Transform" + "rad" + "WORLD" + + + "CS3" + "" + "61/60:-:61/6480::61/6480(AUTOGEN)" + -1.90735e-007,209.953,-25.5917 + "WORLD" + "WORLD" + "mm" + 1,0,0,0,1,0,0,0,1 + "3x3 Transform" + "rad" + "WORLD" + + + "head.stl" + + + + + "RootPart--SIM_SEA_2-5_NECK_1" + "61/59:-:61/RootPart" + "" + + + "" + + + + + + + + "" + + + + + + + + "weld" + "" + "WORLD" + 0.57735,0.57735,0.57735 + + + + + "SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2" + "61/59:-:61/60" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,0,-1 + + + + + "SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD" + "61/60:-:61/6480" + "" + + + "" + + + + + + + + "" + + + + + + + + "revolute" + "" + "WORLD" + 0,1,0 + + + + + + + + 0 + + + + 0 + + + diff --git a/simmechanics/data/icub2_5/iCubGenova02_joint_parameters.csv b/simmechanics/data/icub2_5/iCubGenova02_joint_parameters.csv new file mode 100644 index 00000000..59eb1ad2 --- /dev/null +++ b/simmechanics/data/icub2_5/iCubGenova02_joint_parameters.csv @@ -0,0 +1,27 @@ +joint_name,lower_limit,upper_limit,damping +torso_pitch,-20,70,0.06 +torso_roll,-30,30,0.06 +torso_yaw,-50,50,0.06 +r_hip_pitch,-30,85,0.223 +r_hip_roll,0,90,0.223 +r_hip_yaw,-70,70,0.223 +r_knee,-100,0,0.223 +r_ankle_pitch,-20,30,0.223 +r_ankle_roll,-20,20,0.223 +l_hip_pitch,-30,85,0.223 +l_hip_roll,0,90,0.223 +l_hip_yaw,-70,70,0.223 +l_knee,-100,0,0.223 +l_ankle_pitch,-20,30,0.223 +l_ankle_roll,-20,20,0.223 +r_shoulder_pitch,-95.5,10,0.06 +r_shoulder_roll,0,160.8,0.06 +r_shoulder_yaw,-37,80,0.06 +r_elbow,15,106,0.06 +l_shoulder_pitch,-95.5,10,0.06 +l_shoulder_roll,0,160.8,0.06 +l_shoulder_yaw,-37,80,0.06 +l_elbow,15,106,0.06 +neck_pitch,-40,22,0.06 +neck_roll,-20,20,0.06 +neck_yaw,-50,50,0.06 diff --git a/simmechanics/data/icub2_5/iCubGenova02_simmechanics_options.yaml b/simmechanics/data/icub2_5/iCubGenova02_simmechanics_options.yaml new file mode 100644 index 00000000..8c932f61 --- /dev/null +++ b/simmechanics/data/icub2_5/iCubGenova02_simmechanics_options.yaml @@ -0,0 +1,410 @@ +# Meshes options +scale: "0.001 0.001 0.001" +forcelowercase: Yes +filenameformatchangeext: "model://iCubGenova02/meshes/dae/%s.dae" + +# Rename options (map Creo names to URDF names) +rename: + RootPart: base_link + SIM_SEA_2-5_ROOT_LINK: root_link + SIM_SEA_2-5_LAP_BELT_1: torso_1 + SIM_SEA_2-5_LAP_BELT_2: torso_2 + SIM_SEA_2-5_R_HIP_1: r_hip_1 + SIM_SEA_2-5_R_HIP_2: r_hip_2 + SIM_SEA_2-5_R_UPPER_THIGH: r_hip_3 + SIM_SEA_2-5_R_THIGH: r_upper_leg + SIM_SEA_2-5_R_SHANK: r_lower_leg + SIM_SEA_2-5_R_ANKLE: r_ankle_1 + SIM_SEA_2-5_R_FOOT: r_ankle_2 + SIM_SEA_2-5_R_SOLE: r_foot + SIM_SEA_2-5_L_HIP_1: l_hip_1 + SIM_SEA_2-5_L_HIP_2: l_hip_2 + SIM_SEA_2-5_L_UPPER_THIGH: l_hip_3 + SIM_SEA_2-5_L_THIGH: l_upper_leg + SIM_SEA_2-5_L_SHANK: l_lower_leg + SIM_SEA_2-5_L_ANKLE: l_ankle_1 + SIM_SEA_2-5_L_FOOT: l_ankle_2 + SIM_SEA_2-5_L_SOLE: l_foot + SIM_SEA_2-5_CHEST_BB: chest + SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_1 + SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_2 + SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_3 + SIM_SEA_2-5_R_ELBOW: r_upper_arm + SIM_SEA_2-5_R_FOREARM_HAND: r_elbow_1 + SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_1 + SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_2 + SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_3 + SIM_SEA_2-5_L_ELBOW: l_upper_arm + SIM_SEA_2-5_L_FOREARM_HAND: l_elbow_1 + SIM_SEA_2-5_NECK_1: neck_1 + SIM_SEA_2-5_NECK_2: neck_2 + SIM_SEA_2-5_HEAD: head + RootGround--RootPart: root_joint_unknown + RootPart--RootPart: base_joint_unknown + RootPart--SIM_SEA_2-5_ROOT_LINK: base_fixed_joint + RootPart--SIM_SEA_2-5_R_HIP_1: r_hip_unknown + RootPart--SIM_SEA_2-5_L_HIP_1: l_hip_unknown + RootPart--SIM_SEA_2-5_CHEST_BB: torso_yaw_unknown + RootPart--SIM_SEA_2-5_NECK_1: neck_pitch_unknown + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_LAP_BELT_1: torso_pitch + SIM_SEA_2-5_LAP_BELT_1--SIM_SEA_2-5_LAP_BELT_2: torso_roll + SIM_SEA_2-5_LAP_BELT_2--SIM_SEA_2-5_CHEST_BB: torso_yaw + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_R_HIP_1: r_hip_pitch + SIM_SEA_2-5_R_HIP_1--SIM_SEA_2-5_R_HIP_2: r_hip_roll + SIM_SEA_2-5_R_HIP_2--SIM_SEA_2-5_R_UPPER_THIGH: r_leg_ft_sensor + SIM_SEA_2-5_R_UPPER_THIGH--SIM_SEA_2-5_R_THIGH: r_hip_yaw + SIM_SEA_2-5_R_THIGH--SIM_SEA_2-5_R_SHANK: r_knee + SIM_SEA_2-5_R_SHANK--SIM_SEA_2-5_R_ANKLE: r_ankle_pitch + SIM_SEA_2-5_R_ANKLE--SIM_SEA_2-5_R_FOOT: r_ankle_roll + SIM_SEA_2-5_R_FOOT--SIM_SEA_2-5_R_SOLE: r_foot_ft_sensor + SIM_SEA_2-5_ROOT_LINK--SIM_SEA_2-5_L_HIP_1: l_hip_pitch + SIM_SEA_2-5_L_HIP_1--SIM_SEA_2-5_L_HIP_2: l_hip_roll + SIM_SEA_2-5_L_HIP_2--SIM_SEA_2-5_L_UPPER_THIGH: l_leg_ft_sensor + SIM_SEA_2-5_L_UPPER_THIGH--SIM_SEA_2-5_L_THIGH: l_hip_yaw + SIM_SEA_2-5_L_THIGH--SIM_SEA_2-5_L_SHANK: l_knee + SIM_SEA_2-5_L_SHANK--SIM_SEA_2-5_L_ANKLE: l_ankle_pitch + SIM_SEA_2-5_L_ANKLE--SIM_SEA_2-5_L_FOOT: l_ankle_roll + SIM_SEA_2-5_L_FOOT--SIM_SEA_2-5_L_SOLE: l_foot_ft_sensor + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_R_SHOULDER_1: r_shoulder_pitch + SIM_SEA_2-5_R_SHOULDER_1--SIM_SEA_2-5_R_SHOULDER_2: r_shoulder_roll + SIM_SEA_2-5_R_SHOULDER_2--SIM_SEA_2-5_R_UPPER_ARM: r_shoulder_yaw + SIM_SEA_2-5_R_UPPER_ARM--SIM_SEA_2-5_R_ELBOW: r_arm_ft_sensor + SIM_SEA_2-5_R_ELBOW--SIM_SEA_2-5_R_FOREARM_HAND: r_elbow + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_L_SHOULDER_1: l_shoulder_pitch + SIM_SEA_2-5_L_SHOULDER_1--SIM_SEA_2-5_L_SHOULDER_2: l_shoulder_roll + SIM_SEA_2-5_L_SHOULDER_2--SIM_SEA_2-5_L_UPPER_ARM: l_shoulder_yaw + SIM_SEA_2-5_L_UPPER_ARM--SIM_SEA_2-5_L_ELBOW: l_arm_ft_sensor + SIM_SEA_2-5_L_ELBOW--SIM_SEA_2-5_L_FOREARM_HAND: l_elbow + SIM_SEA_2-5_CHEST_BB--SIM_SEA_2-5_NECK_1: neck_pitch + SIM_SEA_2-5_NECK_1--SIM_SEA_2-5_NECK_2: neck_roll + SIM_SEA_2-5_NECK_2--SIM_SEA_2-5_HEAD: neck_yaw + +# Frames options +exportAllUseradded: No + +exportedFrames: + - frameName: SCSYS_ROOT_LINK_EMS_ACC_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_acc_eb5 + - frameName: SCSYS_ROOT_LINK_EMS_GYRO_EB5 + frameReferenceLink: root_link + exportedFrameName: root_link_ems_gyro_eb5 + - frameName: SCSYS_CHEST_EMS_ACC_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb1 + - frameName: SCSYS_CHEST_EMS_GYRO_EB1 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb1 + - frameName: SCSYS_CHEST_EMS_ACC_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb2 + - frameName: SCSYS_CHEST_EMS_GYRO_EB2 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb2 + - frameName: SCSYS_CHEST_EMS_ACC_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb3 + - frameName: SCSYS_CHEST_EMS_GYRO_EB3 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb3 + - frameName: SCSYS_CHEST_EMS_ACC_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_acc_eb4 + - frameName: SCSYS_CHEST_EMS_GYRO_EB4 + frameReferenceLink: chest + exportedFrameName: chest_ems_gyro_eb4 + - frameName: SCSYS_CHEST_MTB_ACC_0B7 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b7 + - frameName: SCSYS_CHEST_MTB_ACC_0B8 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b8 + - frameName: SCSYS_CHEST_MTB_ACC_0B9 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b9 + - frameName: SCSYS_CHEST_MTB_ACC_0B10 + frameReferenceLink: chest + exportedFrameName: chest_mtb_acc_0b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B10 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b10 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B11 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b11 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B12 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b12 + - frameName: SCSYS_R_UPPER_ARM_MTB_ACC_2B13 + frameReferenceLink: r_upper_arm + exportedFrameName: r_upper_arm_mtb_acc_2b13 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B7 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b7 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B8 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b8 + - frameName: SCSYS_R_FOREARM_MTB_ACC_2B9 + frameReferenceLink: r_elbow_1 + exportedFrameName: r_forearm_mtb_acc_2b9 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B10 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b10 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B11 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b11 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B12 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b12 + - frameName: SCSYS_L_UPPER_ARM_MTB_ACC_1B13 + frameReferenceLink: l_upper_arm + exportedFrameName: l_upper_arm_mtb_acc_1b13 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B7 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b7 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B8 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b8 + - frameName: SCSYS_L_FOREARM_MTB_ACC_1B9 + frameReferenceLink: l_elbow_1 + exportedFrameName: l_forearm_mtb_acc_1b9 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_ACC_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_acc_eb11 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB8 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb8 + - frameName: SCSYS_R_UPPER_LEG_EMS_GYRO_EB11 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_ems_gyro_eb11 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B1 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b1 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B2 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b2 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B3 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b3 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B4 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b4 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B5 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b5 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B6 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b6 + - frameName: SCSYS_R_UPPER_LEG_MTB_ACC_11B7 + frameReferenceLink: r_upper_leg + exportedFrameName: r_upper_leg_mtb_acc_11b7 + - frameName: SCSYS_R_LOWER_LEG_EMS_ACC_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_acc_eb9 + - frameName: SCSYS_R_LOWER_LEG_EMS_GYRO_EB9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_ems_gyro_eb9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B8 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b8 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B9 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b9 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B10 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b10 + - frameName: SCSYS_R_LOWER_LEG_MTB_ACC_11B11 + frameReferenceLink: r_lower_leg + exportedFrameName: r_lower_leg_mtb_acc_11b11 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B12 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b12 + - frameName: SCSYS_R_FOOT_MTB_ACC_11B13 + frameReferenceLink: r_foot + exportedFrameName: r_foot_mtb_acc_11b13 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_ACC_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_acc_eb10 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb6 + - frameName: SCSYS_L_UPPER_LEG_EMS_GYRO_EB10 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_ems_gyro_eb10 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B1 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b1 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B2 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b2 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B3 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b3 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B4 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b4 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B5 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b5 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B6 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b6 + - frameName: SCSYS_L_UPPER_LEG_MTB_ACC_10B7 + frameReferenceLink: l_upper_leg + exportedFrameName: l_upper_leg_mtb_acc_10b7 + - frameName: SCSYS_L_LOWER_LEG_EMS_ACC_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_acc_eb7 + - frameName: SCSYS_L_LOWER_LEG_EMS_GYRO_EB7 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_ems_gyro_eb7 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B8 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b8 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B9 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b9 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B10 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b10 + - frameName: SCSYS_L_LOWER_LEG_MTB_ACC_10B11 + frameReferenceLink: l_lower_leg + exportedFrameName: l_lower_leg_mtb_acc_10b11 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B12 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b12 + - frameName: SCSYS_L_FOOT_MTB_ACC_10B13 + frameReferenceLink: l_foot + exportedFrameName: l_foot_mtb_acc_10b13 + - frameName: SCSYS_L_SOLE + frameReferenceLink: l_foot + exportedFrameName: l_sole + - frameName: SCSYS_R_SOLE + frameReferenceLink: r_foot + exportedFrameName: r_sole + +linkFrames: + - linkName: root_link + frameName: SCSYS_SIM_LAP_BELT_2_ALT_ORIG_1 + - linkName: l_hip_3 + frameName: SCSYS_L_UPPER_LEG_FT45 + frameReferenceLink: l_hip_2 + - linkName: r_hip_3 + frameName: SCSYS_R_UPPER_LEG_FT45 + frameReferenceLink: r_hip_2 + - linkName: l_foot + frameName: SCSYS_L_FOOT_FT45 + frameReferenceLink: l_ankle_2 + - linkName: r_foot + frameName: SCSYS_R_FOOT_FT45 + frameReferenceLink: r_ankle_2 + - linkName: l_upper_arm + frameName: SCSYS_L_UPPER_ARM_FT45 + frameReferenceLink: l_shoulder_3 + - linkName: r_upper_arm + frameName: SCSYS_R_UPPER_ARM_FT45 + frameReferenceLink: r_shoulder_3 + +# Sensors options +forceTorqueSensors: + - jointName: l_leg_ft_sensor + directionChildToParent: Yes + - jointName: r_leg_ft_sensor + directionChildToParent: Yes + - jointName: l_foot_ft_sensor + directionChildToParent: Yes + - jointName: r_foot_ft_sensor + directionChildToParent: Yes + - jointName: l_arm_ft_sensor + directionChildToParent: Yes + - jointName: r_arm_ft_sensor + directionChildToParent: Yes + +IMUs: + - linkName: head + frameName: SCSYS_HEAD_MTX_IMU + sensorName: "imu_frame" + exportFrameInURDF: Yes + +# Workaround options +reverseRotationAxis: + l_hip_yaw + l_knee + l_ankle_pitch + r_hip_pitch + r_hip_roll + r_ankle_roll + torso_pitch + torso_roll + l_shoulder_roll + l_elbow + r_shoulder_pitch + r_shoulder_yaw + r_elbow + neck_roll + +assignedMasses: + chest: 7.6380 + l_upper_leg: 1.8084 + l_lower_leg: 1.4724 + l_ankle_1 : 0.6798 + r_upper_leg: 1.8035 + r_lower_leg: 1.4720 + r_ankle_1 : 0.6803 + +XMLBlobs: + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + true + + - | + + + model://iCubGenova02/conf/gazebo_iCubGenova02_torso.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_head.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_arm.ini + -0.52 0.52 0 0.785 0 0 0.698 + + + model://iCubGenova02/conf/gazebo_iCubGenova02_right_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_left_leg.ini + + + model://iCubGenova02/conf/gazebo_iCubGenova02_robotname.ini + + diff --git a/simmechanics/data/icub2_5/meshes/dae/bb_chest.dae b/simmechanics/data/icub2_5/meshes/dae/bb_chest.dae new file mode 100644 index 00000000..c8b00439 --- /dev/null +++ b/simmechanics/data/icub2_5/meshes/dae/bb_chest.dae @@ -0,0 +1,57 @@ + + + + + VCGLab + VCGLib | MeshLab + + dom ott 25 21:11:07 2015 GMT + dom ott 25 21:11:07 2015 GMT + Y_UP + + + + + + 0 61.933 -108.705 0 61.933 -108.705 0 61.933 -108.705 0 61.933 -108.705 24.5283 61.342 -97.8613 48.3287 55.7421 -84.1148 64.8859 39.5325 -72.9286 70.4831 15.7451 -68.7278 70.4831 15.7451 -68.7278 70.4831 15.7451 -68.7278 72.6302 5.27169 -71.2704 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183.8916 435.0847 92.66477 182.2752 402.6245 89.6645 184.0217 401.5187 85.59407 184.7549 401.9014 82.67009 181.7468 406.2801 83.88518 182.6608 404.5068 81.0389 180.4255 410.5259 83.56391 179.0494 411.9407 84.54061 178.5775 413.0239 92.98837 184.1593 433.7549 94.4724 182.2055 427.1184 88.58882 184.867 439.3666 90.07944 186.3941 440.2829 84.19006 179.0928 417.1575 82.99868 180.3368 421.9817 82.6919 181.1463 425.5504 81.67208 182.6641 429.966 84.67647 183.9332 437.3368 86.57432 184.2147 438.5189 101.6421 188.0362 402.9984 99.93485 185.4621 404.0275 96.25616 187.873 399.3883 103.4368 190.7962 402.1445 98.09823 190.6002 398.1484 105.3796 193.8381 401.3826 100.634 194.4322 396.6958 106.4772 195.5836 401.0436 101.8933 196.385 396.1066 101.8033 187.3535 409.1486 100.2731 184.9944 409.8692 103.3737 189.8093 408.5094 104.9056 192.2423 408.0323 106.5784 194.9244 407.6263 100.5644 187.3958 415.798 99.2681 185.3429 416.2745 102.8016 190.9603 415.1318 105.289 195.0153 414.7038 100.5277 190.069 422.0579 98.4838 186.7998 422.5863 103.3289 194.6731 421.6788 98.9715 190.9486 428.6217 96.83464 187.4645 428.9477 101.4571 195.1059 428.4869 96.85911 192.1438 435.1061 94.3842 187.987 435.2379 99.44068 196.5263 435.1417 93.65982 187.7227 399.1827 90.01897 190.9577 397.6472 94.85234 197.8364 394.5643 98.79795 183.4226 405.4796 98.14232 184.8107 402.4437 99.48847 183.5874 408.6451 94.84521 185.978 400.3527 96.42091 185.9348 400.6968 97.01905 198.5007 394.3845 100.1236 199.4047 394.3426 103.0263 198.1513 395.6352 102.5252 200.2163 394.5401 104.4991 198.9713 395.8134 106.2872 197.8697 397.8945 107.0053 197.4298 399.3846 107.5816 196.7386 401.9844 107.6343 196.4798 406.3515 98.66949 183.0012 412.7482 97.33796 183.5746 419.9904 95.13426 183.1317 426.8539 98.66949 183.0012 412.7482 94.15235 185.8819 433.3309 95.10719 194.0234 439.6752 91.72733 188.1574 439.5375 106.903 196.4723 411.3823 105.6475 197.7143 419.6533 103.5271 198.2719 427.9665 100.8877 198.2701 434.5281 97.32948 199.6036 441.3165 99.10615 198.9387 438.3197 95.94132 201.4983 442.4699 95.12688 201.8268 441.9224 94.0019 197.8699 440.9437 95.45417 197.3803 441.2163 97.27313 200.4575 442.0177 95.45417 197.3803 441.2163 97.32948 199.6036 441.3165 55.9894 225.2554 435.4299 53.5353 222.4694 434.0563 56.55095 224.7107 435.1364 88.87958 187.5141 440.4114 89.90405 190.2507 439.8298 87.3028 186.9235 439.767 46.09045 213.2135 432.3049 45.63734 211.1514 432.3412 46.9399 212.2847 433.0791 71.64216 188.9789 428.3374 72.00587 189.8668 428.5548 68.376 191.5866 427.3355 71.38243 188.2199 427.5937 67.26799 191.0414 426.6788 75.24619 186.8359 430.055 75.50527 187.9948 430.5517 76.6149 185.7296 430.2995 78.09785 185.6986 432.1235 78.5811 186.6913 432.7228 65.08079 193.5162 426.5959 83.082 184.8466 436.7201 81.93138 183.8916 435.0847 82.56096 185.803 436.1172 57.7203 197.4016 426.42 58.37842 198.1279 426.6744 53.54546 200.5379 427.6096 57.42796 196.7362 425.7066 53.13677 199.9304 426.8835 61.82482 194.3103 425.9305 61.51382 195.9475 426.3955 61.7476 193.6753 425.1063 49.10679 205.9512 430.9294 49.04871 204.335 430.0861 54.06178 201.3285 427.8709 51.4711 204.1917 429.3014 48.72745 203.5847 429.173 67.26799 191.0414 426.6788 67.05989 190.4971 425.9938 65.08079 193.5162 426.5959 84.67647 183.9332 437.3368 83.082 184.8466 436.7201 81.93138 183.8916 435.0847 85.87985 185.235 438.856 85.54183 186.0959 438.5979 86.57432 184.2147 438.5189 87.83706 185.6688 439.9674 87.3028 186.9235 439.767 88.58882 184.867 439.3666 88.87958 187.5141 440.4114 90.07944 186.3941 440.2829 45.63734 211.1514 432.3412 46.65966 210.718 432.9582 46.9399 212.2847 433.0791 46.64136 206.8033 430.7703 47.63999 206.4364 431.174 46.47651 208.783 432.0798 49.10679 205.9512 430.9294 47.84482 208.8152 432.3492 48.72745 203.5847 429.173 49.04871 204.335 430.0861 45.67197 209.2086 431.2879 53.5353 222.4694 434.0563 50.55578 218.1296 432.8913 52.35147 219.0691 433.104 52.7138 222.9472 433.6514 49.68597 218.3164 432.5014 49.77647 214.8695 432.6969 46.9399 212.2847 433.0791 46.09045 213.2135 432.3049 46.9771 214.8368 431.768 51.01868 221.4872 432.1324 48.99436 218.2244 431.7676 54.06595 225.85 433.8493 54.90021 225.8694 435.0147 94.09603 194.1986 440.4787 95.45417 197.3803 441.2163 92.12547 193.8645 440.1072 92.76058 190.9517 439.9757 92.02046 191.4589 440.2501 95.10719 194.0234 439.6752 97.32948 199.6036 441.3165 88.87958 187.5141 440.4114 89.90405 190.2507 439.8298 88.87958 187.5141 440.4114 90.07944 186.3941 440.2829 66.30607 218.6548 392.6278 65.73789 217.4036 390.7354 65.59564 220.2377 390.6161 66.148 217.3291 393.8 65.55287 215.7807 391.7576 66.36768 220.5606 392.2412 67.09204 220.2272 394.0795 67.14007 219.5461 395.4194 67.67584 221.8136 394.4238 64.19351 223.0221 387.7122 65.5265 222.1482 390.6473 64.69206 220.5404 388.0246 65.40281 216.0289 389.1689 65.07409 214.5194 389.6773 65.40281 216.0289 389.1689 65.34903 223.4994 390.3022 66.77528 222.4865 392.5464 68.12762 221.3998 396.2215 88.94139 193.3251 407.3799 90.08307 193.9023 402.8132 86.74111 187.5302 400.319 92.4764 199.6756 408.7796 92.31292 197.3028 401.6436 84.68169 187.8481 413.1067 86.38923 189.3686 408.5212 82.48255 182.1547 406.3717 88.44541 194.3005 413.5381 91.00765 198.7429 413.9959 86.47722 192.6684 419.2357 91.00762 201.0255 421.7899 93.49393 204.4532 418.9893 88.74475 197.9432 424.1842 89.30458 191.2856 398.3624 93.32486 197.2086 395.5305 84.49797 184.6399 403.2332 80.87936 180.6737 410.5148 94.10633 198.9574 397.1132 95.05371 201.2643 399.6371 96.67647 204.4186 401.217 94.38397 201.8261 405.1701 94.69698 204.3549 411.9724 80.40164 180.9107 414.0322 81.1844 183.4626 418.2012 81.74637 185.0995 420.5223 82.77494 188.2883 423.9388 85.62424 192.8911 424.8909 86.97492 195.8415 425.5851 101.5903 201.9526 396.4986 102.8729 201.3489 394.5969 101.0955 200.4627 395.0793 100.1101 201.3866 396.5346 98.88609 200.6096 395.9282 55.62547 228.1119 397.5519 58.55067 226.9212 390.7722 58.19698 226.4536 390.91 54.45696 228.1458 404.1518 55.42999 227.5229 396.8836 64.19351 223.0221 387.7122 61.56566 224.5108 388.3131 59.31503 225.8125 389.6801 64.39305 224.0393 387.4926 56.80506 226.9638 392.9898 54.23575 226.2923 398.7658 57.56466 227.8508 392.3014 55.28844 228.5377 400.193 57.56466 227.8508 392.3014 61.29065 225.9046 388.5114 53.35274 228.2761 417.2063 53.01173 227.1434 412.2066 53.04007 226.075 405.7051 53.48093 227.2058 429.498 53.03671 227.2499 425.9373 53.28976 226.1343 430.7644 54.06595 225.85 433.8493 53.48093 227.2058 429.498 54.90021 225.8694 435.0147 107.7432 197.3313 409.4204 105.6475 197.7143 419.6533 106.903 196.4723 411.3823 107.9413 197.0054 406.8355 107.6343 196.4798 406.3515 107.281 197.9456 399.2241 107.0053 197.4298 399.3846 99.10615 198.9387 438.3197 100.8877 198.2701 434.5281 97.32948 199.6036 441.3165 99.44068 196.5263 435.1417 97.27313 200.4575 442.0177 100.955 198.8199 434.9744 99.52784 199.7332 438.5496 105.289 195.0153 414.7038 106.5784 194.9244 407.6263 107.7432 197.3313 409.4204 108.2538 197.6063 402.2044 107.5816 196.7386 401.9844 106.2872 197.8697 397.8945 104.4991 198.9713 395.8134 103 200.8767 394.3227 102.5252 200.2163 394.5401 106.605 198.9313 397.3093 47.63358 212.5827 397.1574 48.2537 213.4759 396.756 53.26799 210.704 393.1766 46.3272 210.6742 398.1801 52.01492 208.5381 394.3087 44.53592 211.8606 404.8645 46.17276 214.2651 403.6516 44.07926 212.3987 411.4961 45.53708 214.5825 410.6997 43.97323 212.869 418.4794 45.16069 214.736 418.0865 44.47766 213.1608 425.4071 45.51292 214.9413 424.7992 56.01638 209.8672 392.6781 59.66995 206.8534 393.4281 57.77582 204.1042 395.092 49.4149 213.6612 395.3125 51.45577 212.5422 393.5478 51.55543 207.6554 394.814 53.49853 205.4951 395.2516 47.69359 209.0153 396.4607 56.96723 202.6347 396.2651 49.94178 206.3739 396.2388 47.71915 216.0109 401.0517 47.65153 214.4452 398.6448 47.04693 216.4589 407.2691 46.9771 214.8368 431.768 48.99436 218.2244 431.7676 46.46006 215.5688 428.2837 46.09045 213.2135 432.3049 45.14783 210.5403 400.4519 44.32118 210.4643 403.2041 43.8823 210.7855 406.7586 43.49657 211.0096 412.8413 43.48764 211.6228 417.2008 43.62763 211.9125 421.1735 44.60684 212.1856 428.5427 43.89167 211.2401 425.0295 43.89167 211.2401 425.0295 44.59902 210.5436 428.5085 44.60684 212.1856 428.5427 44.33179 208.6746 425.3778 45.01859 208.6769 428.485 45.54878 206.0683 425.6376 46.3004 206.0953 428.4381 47.33188 203.8356 425.6651 43.57021 209.6095 421.3956 44.23148 206.7692 420.1375 46.67524 203.3917 421.612 43.39473 209.3875 418.1512 43.62763 211.9125 421.1735 43.35193 209.1525 414.4803 43.48764 211.6228 417.2008 44.05121 206.3684 415.6917 45.12325 204.1273 414.8588 45.47753 204.657 420.647 46.35507 202.5668 415.4511 44.0472 206.0616 412.263 43.60409 208.4351 408.2442 43.49657 211.0096 412.8413 44.27619 205.4933 409.0582 45.27553 203.4963 410.0822 46.45515 201.9565 410.7331 44.07434 208.6926 404.1081 43.8823 210.7855 406.7586 44.1874 206.5673 405.3534 45.2135 203.6261 406.9852 46.70966 201.5768 408.058 45.15388 208.5301 400.3497 44.32118 210.4643 403.2041 45.107 205.9148 402.249 45.89597 203.1706 404.2891 47.36706 201.027 405.9276 46.69806 204.9449 400.1769 47.1299 202.2745 402.8196 48.21969 200.4313 404.8872 49.94178 206.3739 396.2388 46.914 206.8373 398.427 47.69359 209.0153 396.4607 48.98818 203.5591 399.1457 48.78194 201.263 402.075 49.25615 199.7449 404.4717 51.74783 201.7274 399.1669 52.78326 203.8321 396.7485 51.00504 199.7262 402.1699 50.98438 198.6259 404.3698 45.63734 211.1514 432.3412 46.09045 213.2135 432.3049 45.67197 209.2086 431.2879 46.64136 206.8033 430.7703 48.72745 203.5847 429.173 48.72745 203.5847 429.173 49.11138 201.9553 423.9506 48.52536 201.4615 419.6125 48.51273 200.1325 409.0089 48.87078 200.3616 414.4253 48.61496 199.9421 406.7459 45.14783 210.5403 400.4519 46.3272 210.6742 398.1801 53.49853 205.4951 395.2516 56.96723 202.6347 396.2651 55.21077 200.4228 398.7697 53.71041 198.7079 401.5212 49.73734 199.1631 406.1296 52.89424 197.9122 403.5623 52.31742 197.5825 405.074 49.44663 221.7261 419.8895 46.95548 217.6287 420.2192 49.19668 220.5126 426.793 51.94539 225.8998 419.8067 51.73178 224.7783 426.7783 49.87308 222.0016 413.0699 46.79592 217.0506 413.8618 53.01173 227.1434 412.2066 48.32763 218.4713 406.7879 47.04693 216.4589 407.2691 50.87276 222.54 406.0994 53.04007 226.075 405.7051 48.86726 217.7432 400.5028 47.71915 216.0109 401.0517 50.2839 219.9408 399.887 52.45493 223.3934 399.1945 54.23575 226.2923 398.7658 51.17668 217.0695 394.5232 49.92834 215.2071 395.2824 53.42062 220.5265 393.404 55.37305 223.583 392.6376 56.47072 225.3287 392.2985 56.52085 215.3128 390.9261 54.69001 212.5951 392.1607 59.06378 219.1693 389.4731 60.32465 221.1062 388.8894 61.45726 222.8724 388.4206 47.42402 217.5429 426.8663 45.51292 214.9413 424.7992 46.46006 215.5688 428.2837 45.16069 214.736 418.0865 48.99436 218.2244 431.7676 45.53708 214.5825 410.6997 46.17276 214.2651 403.6516 51.01868 221.4872 432.1324 54.06595 225.85 433.8493 53.03671 227.2499 425.9373 53.28976 226.1343 430.7644 53.35274 228.2761 417.2063 54.45696 228.1458 404.1518 49.4149 213.6612 395.3125 48.2537 213.4759 396.756 47.65153 214.4452 398.6448 51.45577 212.5422 393.5478 53.26799 210.704 393.1766 60.76324 208.6939 392.3727 65.07409 214.5194 389.6773 56.01638 209.8672 392.6781 59.66995 206.8534 393.4281 64.69206 220.5404 388.0246 59.31503 225.8125 389.6801 61.56566 224.5108 388.3131 55.42999 227.5229 396.8836 64.19351 223.0221 387.7122 65.1189 217.9718 388.6072 56.80506 226.9638 392.9898 58.19698 226.4536 390.91 65.40281 216.0289 389.1689 63.31681 213.6537 397.5568 61.1762 210.7571 399.9503 62.44544 210.5355 391.9075 59.72742 209.2682 403.1683 55.21077 200.4228 398.7697 56.96723 202.6347 396.2651 65.37094 218.1184 401.0136 57.58293 206.4809 405.9513 52.89424 197.9122 403.5623 53.71041 198.7079 401.5212 63.07582 215.7261 405.9843 55.46379 204.9449 412.8406 51.7437 198.2192 411.4822 65.07058 221.322 413.755 60.79692 213.058 409.9401 58.65134 211.0568 415.3996 61.80988 217.2012 418.3778 59.38898 206.0877 394.2505 65.55287 215.7807 391.7576 65.07409 214.5194 389.6773 66.148 217.3291 393.8 67.14007 219.5461 395.4194 68.12762 221.3998 396.2215 52.73338 200.878 415.0739 66.15167 221.2689 407.2406 54.5966 205.1627 418.738 60.1491 214.7319 419.418 57.26489 210.0274 419.9878 63.02437 218.679 416.3124 59.20777 200.3587 421.2461 78.33759 185.4813 422.6466 54.69784 199.6994 418.6432 78.44402 188.781 424.57 77.77225 193.2713 425.7096 69.71289 198.1555 424.3273 59.26418 208.4195 422.8887 58.18075 205.2106 422.3645 65.73348 209.1206 423.6206 66.36051 212.8277 422.5886 74.95049 207.6962 424.098 87.9826 204.0341 424.3176 65.67729 217.2988 420.423 83.39792 202.6878 425.5697 60.39841 193.0592 416.8339 53.56464 197.5131 416.0094 67.96354 188.6087 418.088 56.5242 203.2345 421.294 68.1787 203.3993 424.473 70.72663 200.3344 424.8562 77.50839 183.2237 420.1625 79.86716 189.3297 425.3696 81.22152 192.7047 426.5738 78.4654 197.0729 426.2472 69.44353 205.9149 424.4775 60.81034 210.7691 422.9942 62.61161 213.5952 422.4627 73.07553 204.9823 424.8597 63.80993 216.7458 420.9812 80.15484 212.0623 420.2657 66.23003 220.3144 417.8894 80.19371 200.5254 426.1474 75.53021 202.4199 425.5066 82.84684 194.5287 427.0091 84.01187 196.9612 427.052 74.86486 199.7864 425.668 85.76934 199.8141 426.5144 90.70771 205.828 422.1837 87.74328 202.5983 425.2152 64.39305 224.0393 387.4926 65.34903 223.4994 390.3022 64.19351 223.0221 387.7122 65.59564 220.2377 390.6161 64.69206 220.5404 388.0246 65.5265 222.1482 390.6473 57.77582 204.1042 395.092 59.38898 206.0877 394.2505 56.96723 202.6347 396.2651 60.76324 208.6939 392.3727 62.44544 210.5355 391.9075 59.66995 206.8534 393.4281 65.07409 214.5194 389.6773 97.91493 202.0014 397.8284 96.39823 202.2335 399.1005 97.76233 203.9198 399.6096 95.75254 200.1196 396.8457 98.88609 200.6096 395.9282 94.10633 198.9574 397.1132 95.05371 201.2643 399.6371 100.1101 201.3866 396.5346 99.28934 203.1511 398.177 101.5903 201.9526 396.4986 96.67647 204.4186 401.217 101.0955 200.4627 395.0793 99.71382 199.7556 394.4709 94.31313 198.1556 394.8824 96.59016 199.3594 394.8596 93.32486 197.2086 395.5305 106.605 198.9313 397.3093 103 200.8767 394.3227 102.8729 201.3489 394.5969 101.5903 201.9526 396.4986 99.28934 203.1511 398.177 108.2538 197.6063 402.2044 97.76233 203.9198 399.6096 96.67647 204.4186 401.217 57.56466 227.8508 392.3014 68.12762 221.3998 396.2215 67.67584 221.8136 394.4238 61.29065 225.9046 388.5114 65.34903 223.4994 390.3022 64.39305 224.0393 387.4926 66.77528 222.4865 392.5464 93.49733 204.7398 420.0347 107.7432 197.3313 409.4204 105.6475 197.7143 419.6533 90.89127 206.0634 422.3919 103.5271 198.2719 427.9665 85.34352 208.6782 429.87 99.52784 199.7332 438.5496 97.27313 200.4575 442.0177 95.94132 201.4983 442.4699 66.52756 220.562 418.0011 65.06611 221.687 414.5876 53.35274 228.2761 417.2063 55.28844 228.5377 400.193 77.83576 213.2675 427.0378 53.48093 227.2058 429.498 62.15638 222.1109 430.2413 55.9894 225.2554 435.4299 54.90021 225.8694 435.0147 81.06635 188.538 425.0741 82.09967 188.3085 424.5686 79.62902 183.5235 420.5898 80.52029 183.65 420.1885 83.84583 194.0216 426.8594 82.84684 194.5287 427.0091 85.03388 193.4196 426.1365 85.82576 196.6677 426.7385 84.01187 196.9612 427.052 86.97492 195.8415 425.5851 87.10647 199.4293 426.2615 85.76934 199.8141 426.5144 88.22467 198.6005 425.5091 88.94319 202.0652 424.9244 87.74328 202.5983 425.2152 90.05448 200.952 424.0787 91.81654 205.0126 421.7455 90.70771 205.828 422.1837 91.76189 202.9531 421.9482 79.5427 184.9636 422.3207 77.50839 183.2237 420.1625 78.33759 185.4813 422.6466 79.85327 181.4781 417.0615 78.7647 182.3077 419.2342 79.86716 189.3297 425.3696 78.44402 188.781 424.57 81.22152 192.7047 426.5738 81.1844 183.4626 418.2012 80.40164 180.9107 414.0322 81.74637 185.0995 420.5223 85.62424 192.8911 424.8909 82.77494 188.2883 423.9388 87.9826 204.0341 424.3176 88.74475 197.9432 424.1842 91.00762 201.0255 421.7899 93.49393 204.4532 418.9893 54.5966 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72.04962 191.3088 321.0585 75.24404 188.4918 320.73 75.24404 188.4918 320.73 67.94385 196.1817 322.8367 68.57256 194.9046 321.9584 66.6512 198.4137 324.2417 66.8878 197.5502 323.4337 69.96685 193.5494 321.6916 72.04962 191.3088 321.0585 75.24404 188.4918 320.73 83.5876 181.8597 320.518 85.91651 179.8599 320.2668 87.91059 179.2016 321.1972 89.28639 180.7082 323.8509 92.09268 177.4162 322.6238 93.1878 177.0704 323.1278 94.21928 177.1606 324.0482 90.30537 177.7541 321.5571 95.64623 176.5858 324.4731 96.42846 177.1537 325.7427 96.88442 178.1552 327.3099 66.00689 201.0186 326.9615 65.43139 202.4957 328.4841 65.94562 203.6138 330.9812 66.24081 199.6352 325.3441 68.52101 203.0522 333.3648 65.46573 205.2279 333.3226 72.5997 200.3354 333.6523 97.50651 179.4158 329.362 98.47439 181.1186 332.4783 94.31556 182.2001 329.9599 99.38976 182.8546 336.0213 94.7943 185.8625 335.7364 97.15431 185.9766 338.6851 99.91732 184.0099 338.5785 83.29553 179.7009 317.4534 79.57749 183.2766 318.4862 78.97315 183.1631 317.5744 84.42926 178.3513 313.5982 81.65081 180.2052 314.5275 81.91888 180.4203 313.6506 78.9728 184.8833 319.9165 83.5876 181.8597 320.518 75.24404 188.4918 320.73 84.19374 178.1571 314.477 81.34487 180.4346 315.54 83.47877 180.586 318.9054 83.90055 178.4085 315.4811 83.42192 178.9993 316.2936 85.96612 178.3388 318.3788 85.91651 179.8599 320.2668 86.09312 177.436 317.1048 86.24391 176.7568 315.7632 86.66864 176.3876 314.5487 87.07092 176.4527 313.7103 87.90969 176.9606 318.443 87.91059 179.2016 321.1972 88.23992 175.7808 316.763 88.3165 175.423 315.862 88.67897 175.115 314.7981 89.04379 175.2008 313.9582 90.30537 177.7541 321.5571 89.28639 180.7082 323.8509 89.90611 175.6714 318.5047 89.68276 176.8238 319.893 90.16978 174.7914 317.2366 90.33678 174.3634 316.308 90.69535 174.0604 315.2431 91.03401 174.1531 314.3918 91.73288 175.8214 320.3954 91.69303 174.8614 318.9826 91.54908 174.2058 317.6513 92.63042 173.4307 316.972 92.96154 173.179 315.9664 93.30683 173.2648 315.2038 92.09268 177.4162 322.6238 92.96805 173.7254 318.1927 93.45496 174.4856 319.9844 93.26712 175.5696 321.3415 94.79688 172.8039 316.984 94.45455 173.0877 318.0372 95.20633 172.8848 316.1578 94.19725 173.5307 318.927 94.62847 174.8389 321.441 94.21928 177.1606 324.0482 93.1878 177.0704 323.1278 95.42427 173.5105 319.8427 95.80083 173.0367 318.9248 96.21859 172.7799 317.9684 96.84584 172.8693 317.3397 97.59096 172.9675 319.1124 97.35064 173.2757 320.3065 97.16609 173.6851 321.1719 95.18757 175.3665 322.5468 95.64623 176.5858 324.4731 96.00253 174.3122 321.6037 96.60077 175.3044 323.4349 97.19799 174.5543 322.6925 99.44332 173.5499 319.7714 99.40692 173.6412 321.0816 99.06314 173.9446 322.163 98.65834 174.2805 322.8292 97.39579 176.1282 325.0704 96.42846 177.1537 325.7427 98.20832 175.1707 324.1503 100.2989 174.8185 324.0878 99.33649 175.2737 324.7793 101.1449 174.7287 323.339 100.9711 174.3935 321.6365 97.87441 177.0747 326.6243 96.88442 178.1552 327.3099 99.23683 176.1131 326.0635 100.8365 175.8777 326.1197 101.5072 175.7063 325.7107 102.6409 176.0348 325.7503 102.7697 175.7315 323.7785 99.13488 177.2803 327.673 98.28375 178.0919 328.241 97.50651 179.4158 329.362 102.1403 176.5138 327.2375 100.7594 176.8407 327.7377 100.1484 178.6765 330.2267 99.03468 179.3859 330.5267 101.3678 178.1691 330.0087 102.4959 177.8457 329.6604 103.0746 177.4568 328.8068 104.1773 177.8345 328.8362 104.6581 177.878 327.8461 103.7759 176.8354 326.0929 104.1729 179.0238 331.5131 105.6056 179.0426 329.5134 101.0401 180.0367 332.7687 99.60779 180.7376 332.9007 102.2478 179.6069 332.6 103.44 179.3259 332.2865 106.1556 179.922 331.0489 105.2544 179.4139 331.4857 100.9312 181.9736 335.8283 99.38976 182.8546 336.0213 102.331 181.4969 335.8231 103.6585 181.0331 335.3907 105.0455 181.0582 335.2956 106.2568 181.2244 334.6544 107.0306 181.5554 333.9812 105.9077 182.8866 338.8963 104.3412 182.5472 338.4228 107.9167 183.2454 336.9458 107.1631 183.0138 337.9606 105.5734 183.521 340.4824 108.6929 184.7718 339.7701 107.9659 184.5914 341.1125 106.618 184.1719 341.5151 81.57575 180.2676 314.4764 80.70375 182.1423 313.1704 84.9801 178.8787 312.7843 87.39767 176.7409 313.1538 90.20022 175.0849 313.487 92.66201 173.8747 314.2858 94.81317 173.3566 315.1079 96.71019 173.3495 316.0669 98.05974 173.0906 318.382 98.24243 173.3684 317.6174 99.92094 173.9749 319.2826 99.91732 184.0099 338.5785 101.6939 183.3974 339.0508 103.7591 183.6766 340.6639 101.3294 174.726 321.0766 104.5228 177.6218 325.7754 105.4627 178.7391 327.7119 107.719 182.3019 333.6248 107.0674 181.1021 331.2299 103.8595 177.081 324.3493 105.4627 178.7391 327.7119 108.572 183.983 336.8879 109.4384 185.6769 339.844 111.1769 188.657 341.5637 109.0523 185.6599 341.843 61.51303 210.8003 330.6518 61.7148 210.8126 333.1761 61.5876 212.4851 333.6398 61.63893 211.4322 329.5426 61.76564 212.9593 331.8519 62.02977 208.5291 331.1838 62.78603 208.0856 333.014 62.14609 209.6826 333.7168 61.66021 208.8461 329.8044 62.00656 207.0672 328.7288 62.75942 206.146 329.4783 61.41744 208.915 327.798 61.50794 209.6949 327.0667 61.63442 207.106 327.2444 63.76206 203.931 328.041 65.43139 202.4957 328.4841 64.01928 205.0826 330.4529 62.8421 204.8124 327.5601 62.06176 205.7738 326.9639 61.50912 207.7793 324.3963 61.41828 206.8519 325.0634 62.50923 204.3447 326.0523 63.79888 203.0339 326.7808 61.77868 205.3763 325.3428 66.00689 201.0186 326.9615 63.11855 202.8306 325.154 64.48852 201.6568 325.8693 62.31375 203.6934 324.4927 61.89633 204.3968 324.0438 61.62793 205.2128 323.4115 61.67189 205.9327 322.8052 64.37985 200.7597 324.445 66.24081 199.6352 325.3441 63.038 201.9365 323.6034 62.30815 202.823 322.8493 61.89955 204.0184 322.3515 61.94444 204.8308 321.6886 62.28294 203.5914 320.8796 62.40999 202.4521 321.1968 65.18392 199.367 323.6684 66.6512 198.4137 324.2417 64.0863 200.1081 322.9577 63.33902 200.7437 322.2882 62.87699 201.2705 321.6427 65.51589 198.3009 322.6532 66.8878 197.5502 323.4337 64.63854 198.7851 321.8989 63.93624 199.1704 320.7451 63.29669 200.5236 320.0348 62.89783 202.0638 319.9239 65.4467 197.4674 321.2583 66.49433 196.9093 322.0825 64.02008 199.981 318.7262 64.55443 198.3378 318.9655 67.94385 196.1817 322.8367 65.13489 197.2552 319.3783 65.57342 196.7353 320.0206 66.79868 195.9684 321.1799 66.68953 195.0794 318.9023 67.34174 194.8527 320.2448 66.7486 195.2253 317.7722 66.02867 196.858 317.4618 68.42889 193.2694 319.2708 68.97079 193.477 320.4762 68.70418 192.6071 317.9193 69.01474 193.0463 316.2142 69.164 192.3242 316.8173 70.04587 192.2239 320.0686 69.96685 193.5494 321.6916 70.06207 191.3932 318.6056 71.59048 190.3662 319.2842 72.04962 191.3088 321.0585 71.33132 189.7192 317.173 71.63 189.6111 316.0758 71.97351 189.7567 315.3542 72.16821 189.1962 318.085 73.41926 189.0338 319.5807 75.24404 188.4918 320.73 74.53959 187.2191 318.2734 74.4214 186.808 317.2068 74.31193 186.731 316.3813 74.57112 186.6104 315.4243 74.92247 186.8576 314.5361 76.74672 185.1656 317.9089 76.16315 186.5034 319.1793 76.59855 184.7482 316.8121 76.70794 184.4692 315.9771 76.89669 184.3911 315.0256 77.19361 184.5889 314.2338 79.57749 183.2766 318.4862 78.9728 184.8833 319.9165 78.97315 183.1631 317.5744 79.37468 182.2916 316.4916 79.29282 182.1585 315.6867 79.23884 182.2677 314.7231 79.55198 182.4361 313.9125 81.57575 180.2676 314.4764 81.91888 180.4203 313.6506 83.47877 180.586 318.9054 65.94562 203.6138 330.9812 65.46573 205.2279 333.3226 61.79069 213.706 333.2298 62.13043 213.972 331.9318 62.25225 213.2773 330.0774 61.8926 210.7014 326.8587 62.39158 215.2267 333.4042 61.85581 208.5848 324.1951 61.92189 206.8795 322.5424 62.51869 204.2114 320.423 63.11977 202.8675 319.4657 66.53399 196.9782 316.8092 64.13084 200.6981 318.3736 69.36779 193.6086 315.5869 71.95442 191.0404 314.6444 73.7992 188.7545 314.328 83.42192 178.9993 316.2936 81.34487 180.4346 315.54 80.70375 182.1423 313.1704 77.17308 185.7634 313.4794 77.17308 185.7634 313.4794 85.39079 198.836 335.7442 85.80838 199.2658 334.8991 75.28941 206.03 333.5722 85.00782 198.5322 336.7681 74.89427 205.6071 334.3619 90.72659 195.714 336.7111 91.13943 196.1352 335.8735 90.34748 195.4194 337.7274 96.09292 192.8054 337.8775 96.48969 193.2116 337.0726 95.72844 192.5194 338.854 69.32958 209.9909 333.2872 73.35013 208.5227 332.4231 69.26587 211.5292 332.0588 77.59185 205.6571 332.7856 68.91349 209.5592 334.1854 82.79756 202.261 333.3815 87.0429 199.6485 334.0267 74.53249 205.2939 335.3132 68.65554 209.3431 334.9122 73.48371 205.4243 336.6487 67.74569 209.4609 336.1223 79.47704 201.4424 337.4139 84.49174 198.3525 338.1452 90.94072 197.371 334.7375 95.94618 194.6055 335.8146 89.13567 195.6626 338.9058 99.80797 192.5865 336.7938 102.5192 190.0294 338.8728 103.6137 190.7352 337.8562 101.8448 189.4303 340.5459 102.1029 189.6217 339.7947 95.76533 192.0621 340.2816 101.9259 188.962 341.9857 104.9309 189.2123 340.2829 103.7801 189.6048 339.2722 103.2793 189.1436 340.2709 101.9259 188.962 341.9857 103.439 188.6247 342.282 101.8448 189.4303 340.5459 102.1029 189.6217 339.7947 102.5192 190.0294 338.8728 105.9962 188.8596 342.5087 104.3927 188.7459 341.7343 103.6137 190.7352 337.8562 104.896 190.4129 338.263 107.3701 189.7203 342.3648 106.5674 189.5738 341.0804 107.5953 190.2866 341.607 106.0839 190.2776 339.0281 66.43238 210.9674 335.9132 67.83463 210.4062 334.2481 67.08705 211.8112 333.9114 68.28108 210.931 333.2577 69.26587 211.5292 332.0588 67.91107 212.9622 332.4667 68.91349 209.5592 334.1854 69.32958 209.9909 333.2872 66.44676 213.0457 334.3146 66.70865 213.7234 333.8389 65.89812 214.6015 335.1288 66.37269 215.0059 334.651 65.70239 212.9272 335.5504 67.74569 209.4609 336.1223 68.65554 209.3431 334.9122 88.28921 195.8421 338.944 89.13567 195.6626 338.9058 84.49174 198.3525 338.1452 95.47421 191.9548 340.4375 95.76533 192.0621 340.2816 103.439 188.6247 342.282 105.9962 188.8596 342.5087 104.3927 188.7459 341.7343 106.462 185.6665 343.1859 108.7758 186.9116 343.2004 106.2805 186.4421 343.2865 106.5382 185.0312 342.783 108.9713 186.4031 342.9119 106.5626 184.5797 342.238 109.0256 186.0289 342.4924 106.618 184.1719 341.5151 109.0523 185.6599 341.843 103.7354 185.4956 342.6521 103.7125 184.7407 342.1036 103.7113 184.1796 341.4374 103.7591 183.6766 340.6639 97.71008 187.9497 341.0018 103.7671 186.3791 342.8834 97.44898 187.1491 340.3202 97.28315 186.5287 339.5515 97.15431 185.9766 338.6851 64.52583 208.5791 335.9568 65.04059 209.2441 336.2526 64.19517 207.971 335.3778 64.01267 207.5078 334.7076 63.88902 207.1102 333.9423 62.93878 210.8786 335.7689 62.53142 210.4417 335.2758 62.32326 210.0826 334.6834 62.14609 209.6826 333.7168 62.41955 213.3751 335.4304 63.60183 211.2861 336.0093 61.97454 213.1274 335.0352 61.75251 212.8584 334.5543 61.5876 212.4851 333.6398 63.18519 215.6048 334.8592 63.12162 213.4879 335.6297 62.76198 215.5817 334.4754 62.52007 215.4277 334.0618 62.39158 215.2267 333.4042 110.0755 190.0463 342.5364 108.0031 187.9299 343.1306 108.3857 187.4999 343.2401 110.5777 189.8898 342.4971 110.9493 189.4274 342.3699 111.1769 188.657 341.5637 111.0685 189.0069 342.1064 98.06807 188.8263 341.376 100.6309 188.6013 341.9552 95.47009 191.3197 340.6049 106.0738 187.0298 343.1772 103.7801 187.026 342.8389 88.28921 195.8421 338.944 83.14759 198.6184 338.1117 79.38981 195.9076 334.3183 107.9659 184.5914 341.1125 105.5734 183.521 340.4824 101.6939 183.3974 339.0508 102.331 181.4969 335.8231 99.91732 184.0099 338.5785 86.09464 191.6536 335.1748 90.29353 187.7362 333.6492 73.8633 204.2662 336.9344 68.91266 207.5754 336.4789 65.51567 209.7075 336.2718 64.21746 211.5081 336.0225 63.76036 213.4521 335.66 63.84342 215.4258 335.1445 64.24442 217.257 334.3778 64.88923 216.9243 334.655 63.75928 217.2702 333.8154 63.81872 206.9538 333.54 62.78603 208.0856 333.014 68.52101 203.0522 333.3648 72.5997 200.3354 333.6523 65.46573 205.2279 333.3226 63.4395 216.9465 333.1608 61.79069 213.706 333.2298 61.7148 210.8126 333.1761 101.9259 188.962 341.9857 95.47009 191.3197 340.6049 100.6309 188.6013 341.9552 103.7801 187.026 342.8389 95.47421 191.9548 340.4375 88.28921 195.8421 338.944 84.49174 198.3525 338.1452 83.14759 198.6184 338.1117 79.47704 201.4424 337.4139 110.0755 190.0463 342.5364 107.3701 189.7203 342.3648 108.0031 187.9299 343.1306 108.4501 190.9223 341.9631 103.439 188.6247 342.282 106.0738 187.0298 343.1772 105.9962 188.8596 342.5087 73.8633 204.2662 336.9344 73.48371 205.4243 336.6487 67.74569 209.4609 336.1223 68.91266 207.5754 336.4789 65.51567 209.7075 336.2718 66.43238 210.9674 335.9132 64.21746 211.5081 336.0225 63.76036 213.4521 335.66 65.70239 212.9272 335.5504 63.84342 215.4258 335.1445 65.89812 214.6015 335.1288 64.88923 216.9243 334.655 66.54526 215.8824 334.6428 64.88923 216.9243 334.655 63.33901 202.8494 319.1707 63.11977 202.8675 319.4657 62.17554 205.9859 321.6002 64.7824 199.9199 317.8252 64.13084 200.6981 318.3736 62.25225 213.2773 330.0774 62.13043 213.972 331.9318 62.39158 215.2267 333.4042 61.85581 208.5848 324.1951 61.8926 210.7014 326.8587 61.92119 209.9246 325.5723 62.06748 208.8385 324.0455 61.92189 206.8795 322.5424 61.94444 204.8308 321.6886 62.51869 204.2114 320.423 62.65255 213.7306 329.5669 63.4395 216.9465 333.1608 62.15629 208.1647 323.0265 62.28145 206.2456 321.5158 62.71864 204.7147 320.2389 62.33591 206.808 321.7182 66.53399 196.9782 316.8092 69.36779 193.6086 315.5869 66.96322 196.7908 316.516 109.9506 186.3188 338.7381 108.572 183.983 336.8879 108.6394 183.8866 335.0493 109.4384 185.6769 339.844 107.719 182.3019 333.6248 107.0674 181.1021 331.2299 111.1769 188.657 341.5637 103.4251 176.6684 322.9965 103.8595 177.081 324.3493 102.7697 175.7315 323.7785 68.08181 196.7919 315.7395 67.64573 196.3904 316.0993 64.29531 202.6452 318.2207 68.51694 197.1774 315.4936 64.90631 202.9112 317.8558 69.27946 197.7703 315.2111 65.81951 203.229 317.4715 72.49776 191.5254 314.2254 71.95442 191.0404 314.6444 72.90243 192.0768 313.9873 73.52642 192.8907 313.7771 74.20824 193.7909 313.7359 74.90786 194.727 313.8857 70.15067 198.3858 315.0698 77.64418 186.2933 313.1007 77.17308 185.7634 313.4794 78.03587 186.934 312.8689 78.58374 187.8871 312.7135 79.15958 188.9695 312.749 79.72861 190.1197 312.991 80.25744 191.2704 313.4347 62.33591 206.808 321.7182 62.15629 208.1647 323.0265 62.46941 207.8827 322.1744 63.03435 207.4693 321.164 63.04911 205.8613 320.2413 63.92189 202.3546 318.5426 63.48778 205.5003 319.6528 62.71864 204.7147 320.2389 63.52238 206.7776 320.2578 64.28038 206.2182 319.3945 63.33901 202.8494 319.1707 66.96322 196.7908 316.516 64.7824 199.9199 317.8252 69.36779 193.6086 315.5869 65.34462 205.6017 318.6337 66.55106 203.4095 317.2631 67.93572 202.9167 316.7171 66.51084 204.169 317.5494 71.08177 198.9903 315.0991 69.73773 201.5312 316.0532 70.80055 200.2437 315.5225 71.67713 199.54 315.2721 72.96915 198.6742 315.0788 75.58393 195.6457 314.2293 81.2154 183.0821 312.6002 84.13253 183.1829 312.1235 85.04756 185.8751 312.6223 76.94157 195.2759 314.346 80.70375 182.1423 313.1704 83.08255 181.0419 312.5785 83.6028 182.0965 312.2166 84.72589 184.451 312.2641 85.76335 187.1905 313.2816 79.6865 193.0187 314.0582 83.24942 190.2119 313.8363 87.38404 187.1213 313.8832 86.17971 179.9252 312.2038 85.87741 179.2433 312.3961 83.6028 182.0965 312.2166 86.68161 181.0443 312.1119 87.17542 182.2887 312.2403 84.13253 183.1829 312.1235 87.64192 183.6344 312.5935 84.72589 184.451 312.2641 88.05367 185.0008 313.158 85.04756 185.8751 312.6223 89.27497 177.7336 312.4175 88.99891 176.7699 312.7047 89.77249 178.899 312.3448 90.22607 180.1897 312.497 90.64375 181.5921 312.8769 91.00048 183.0217 313.4689 91.18817 176.6914 312.7373 90.85847 175.8241 312.9689 91.62461 177.8115 312.674 92.04677 179.1248 312.832 92.4266 180.5557 313.2178 92.74076 182.0175 313.815 92.99325 175.6756 313.2295 92.58235 174.7914 313.5108 93.38523 176.93 313.133 93.7637 178.3006 313.2897 94.15267 180.0843 313.7741 95.34877 174.8011 314.2159 94.91912 173.9581 314.5155 95.80944 176.0741 314.1213 96.11882 177.5072 314.2406 96.39288 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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

0 0 1 1 2 2 3 3 2 2 1 1 4 4 5 5 6 6 7 7 2 2 3 3 8 8 2 2 7 7 9 9 2 2 8 8 10 10 6 6 11 11 12 12 6 6 10 10 13 13 6 6 12 12 4 4 6 6 13 13 14 14 15 15 1 1 16 16 1 1 15 15 17 17 14 14 1 1 0 0 17 17 1 1 16 16 3 3 1 1 18 18 19 19 15 15 20 20 15 15 19 19 14 14 18 18 15 15 20 20 16 16 15 15 21 21 22 22 19 19 23 23 19 19 22 22 18 18 21 21 19 19 24 24 20 20 19 19 25 25 24 24 19 19 26 26 25 25 19 19 23 23 26 26 19 19 27 27 28 28 22 22 29 29 30 30 31 31 21 21 27 27 22 22 32 32 33 33 30 30 32 32 30 30 29 29 34 34 35 35 28 28 36 36 31 31 37 37 27 27 34 34 28 28 29 29 31 31 36 36 34 34 38 38 35 35 36 36 37 37 39 39 40 40 41 41 38 38 42 42 39 39 43 43 34 34 40 40 38 38 36 36 39 39 42 42 40 40 44 44 41 41 45 45 43 43 46 46 42 42 43 43 45 45 47 47 48 48 44 44 49 49 46 46 50 50 40 40 47 47 44 44 45 45 46 46 49 49 51 51 52 52 48 48 49 49 50 50 53 53 47 47 51 51 48 48 54 54 55 55 52 52 56 56 52 52 55 55 51 51 54 54 52 52 57 57 53 53 58 58 49 49 53 53 57 57 59 59 60 60 55 55 61 61 55 55 60 60 54 54 59 59 55 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151 148 148 152 152 153 153 149 149 146 146 133 133 153 153 146 146 151 151 147 147 148 148 154 154 155 155 150 150 151 151 152 152 156 156 149 149 154 154 150 150 157 157 158 158 155 155 159 159 156 156 160 160 154 154 157 157 155 155 159 159 151 151 156 156 161 161 162 162 158 158 159 159 160 160 163 163 157 157 161 161 158 158 164 164 165 165 162 162 166 166 163 163 167 167 161 161 164 164 162 162 166 166 159 159 163 163 164 164 168 168 165 165 166 166 167 167 169 169 170 170 171 171 168 168 172 172 169 169 173 173 164 164 170 170 168 168 172 172 166 166 169 169 77 77 174 174 171 171 175 175 173 173 176 176 170 170 77 77 171 171 175 175 172 172 173 173 77 77 78 78 174 174 79 79 176 176 80 80 79 79 175 175 176 176 177 177 77 77 170 170 177 177 81 81 77 77 178 178 170 170 164 164 179 179 177 177 170 170 178 178 179 179 170 170 180 180 164 164 161 161 181 181 178 178 164 164 182 182 181 181 164 164 183 183 182 182 164 164 180 180 183 183 164 164 184 184 185 185 186 186 187 187 188 188 185 185 187 187 185 185 184 184 189 189 186 186 190 190 184 184 186 186 189 189 191 191 190 190 192 192 189 189 190 190 191 191 134 134 192 192 193 193 191 191 192 192 134 134 134 134 193 193 135 135 194 194 81 81 177 177 194 194 72 72 81 81 195 195 196 196 197 197 198 198 196 196 195 195 199 199 195 195 200 200 199 199 198 198 195 195 201 201 200 200 202 202 203 203 199 199 200 200 201 201 203 203 200 200 201 201 202 202 204 204 201 201 204 204 188 188 201 201 188 188 187 187 194 194 73 73 72 72 205 205 206 206 207 207 205 205 208 208 206 206 57 57 58 58 209 209 210 210 209 209 211 211 57 57 209 209 210 210 212 212 211 211 213 213 210 210 211 211 212 212 212 212 213 213 214 214 205 205 214 214 215 215 216 216 214 214 205 205 212 212 214 214 216 216 205 205 215 215 208 208 12 12 10 10 142 142 217 217 142 142 144 144 217 217 12 12 142 142 218 218 144 144 147 147 218 218 217 217 144 144 219 219 147 147 151 151 219 219 218 218 147 147 220 220 151 151 159 159 220 220 219 219 151 151 221 221 159 159 166 166 221 221 220 220 159 159 222 222 166 166 172 172 222 222 221 221 166 166 223 223 172 172 175 175 223 223 222 222 172 172 224 224 175 175 79 79 224 224 223 223 175 175 82 82 224 224 79 79 13 13 12 12 217 217 225 225 217 217 218 218 225 225 13 13 217 217 226 226 218 218 219 219 226 226 225 225 218 218 227 227 219 219 220 220 227 227 226 226 219 219 228 228 220 220 221 221 228 228 227 227 220 220 229 229 221 221 222 222 229 229 228 228 221 221 230 230 222 222 223 223 230 230 229 229 222 222 231 231 223 223 224 224 231 231 230 230 223 223 232 232 224 224 82 82 232 232 231 231 224 224 83 83 232 232 82 82 4 4 13 13 225 225 102 102 225 225 226 226 102 102 4 4 225 225 100 100 226 226 227 227 100 100 102 102 226 226 98 98 227 227 228 228 98 98 100 100 227 227 96 96 228 228 229 229 96 96 98 98 228 228 93 93 229 229 230 230 93 93 96 96 229 229 90 90 230 230 231 231 90 90 93 93 230 230 87 87 231 231 232 232 87 87 90 90 231 231 85 85 232 232 83 83 85 85 87 87 232 232 74 74 85 85 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163.537 35.7997 71.9559 163.537 35.7997 71.9389 166.151 36.2927 71.9389 166.151 36.2927 60.5696 114.208 63.0726 60.5696 114.208 63.0726 60.5696 114.208 63.0726 61.3034 115.136 60.9076 61.3034 115.136 60.9076 61.9879 116.062 58.7018 61.9879 116.062 58.7018 61.9879 116.062 58.7018 62.3403 116.562 57.4781 62.3403 116.562 57.4781 62.5268 116.833 56.8058 62.5268 116.833 56.8058 62.5268 116.833 56.8058 66.3689 127.654 67.6052 67.6834 142.783 73.3361 66.5 153.432 75.4217 59.129 155.865 88.0549 59.129 155.865 88.0549 59.6209 152.076 88.4231 59.6209 152.076 88.4231 60.3915 148.516 88.6358 60.3915 148.516 88.6358 61.6542 144.171 88.5868 61.6542 144.171 88.5868 62.5519 140.318 88.2168 62.5519 140.318 88.2168 63.1408 134.766 87.3073 63.1408 134.766 87.3073 63.0399 129.391 85.7431 63.0399 129.391 85.7431 62.3143 124.492 83.4269 62.3143 124.492 83.4269 61.0512 119.63 80.2489 61.0512 119.63 80.2489 59.3862 115.043 76.2302 59.3862 115.043 76.2302 57.4489 111 71.1732 57.4489 111 71.1732 57.4489 111 71.1732 57.4489 111 71.1732 58.529 111.98 68.5221 58.529 111.98 68.5221 59.5702 113.047 65.785 59.5702 113.047 65.785 59.5702 113.047 65.785 60.08 113.622 64.41 60.08 113.622 64.41 62.6745 117.051 56.2621 62.6745 117.051 56.2621 62.6745 117.051 56.2621 64.0497 119.226 50.5196 64.0497 119.226 50.5196 65.2539 121.33 44.2623 65.2539 121.33 44.2623 65.2539 121.33 44.2623 66.3948 123.445 37.0567 66.3948 123.445 37.0567 66.436 123.523 36.7637 66.436 123.523 36.7637 66.436 123.523 36.7637 68.1425 128.811 47.333 69.7213 138.01 54.9026 70.0246 149.938 58.8338 69.6306 157.743 60.5752 67.3439 125.198 29.5639 67.3439 125.198 29.5639 67.3439 125.198 29.5639 67.4415 125.371 28.664 67.4415 125.371 28.664 67.5351 125.533 27.7715 67.5351 125.533 27.7715 67.5351 125.533 27.7715 67.8083 125.988 24.9422 67.8083 125.988 24.9422 68.049 126.344 21.9704 68.049 126.344 21.9704 68.049 126.344 21.9704 68.049 126.344 21.9704 69.255 128.954 20.2707 69.255 128.954 20.2707 69.255 128.954 20.2707 -20.7347 197.645 105.369 -20.7347 197.645 105.369 -20.7347 197.645 105.369 21.3469 121.284 105.762 21.3469 121.284 105.762 21.3469 121.284 105.762 21.5755 121.285 105.723 21.5755 121.285 105.723 21.7697 121.286 105.69 21.7697 121.286 105.69 21.9348 121.279 105.661 21.9348 121.279 105.661 22.074 121.287 105.638 22.074 121.287 105.638 22.1863 121.212 105.613 22.1863 121.212 105.613 22.203 121.049 105.597 22.203 121.049 105.597 22.199 120.854 105.583 22.199 120.854 105.583 22.2013 120.626 105.564 22.2013 120.626 105.564 22.201 120.359 105.541 22.201 120.359 105.541 22.2 120.048 105.514 22.2 120.048 105.514 22.1994 119.813 105.493 22.1994 119.813 105.493 22.1992 119.55 105.468 22.1992 119.55 105.468 22.1987 119.254 105.439 22.1987 119.254 105.439 22.1982 119.107 105.424 22.1982 119.107 105.424 22.1978 118.968 105.41 22.1978 118.968 105.41 22.1973 118.84 105.397 22.1973 118.84 105.397 22.1967 118.724 105.384 22.1967 118.724 105.384 22.1962 118.615 105.372 22.1962 118.615 105.372 22.1956 118.515 105.361 22.1956 118.515 105.361 22.1947 118.376 105.346 22.1947 118.376 105.346 22.1935 118.251 105.332 22.1935 118.251 105.332 22.1923 118.138 105.319 22.1923 118.138 105.319 22.1913 118.035 105.306 22.1913 118.035 105.306 22.1897 117.856 105.285 22.1897 117.856 105.285 22.1881 117.706 105.266 22.1881 117.706 105.266 22.1793 117.58 105.252 22.1793 117.58 105.252 22.107 117.504 105.257 22.107 117.504 105.257 22.107 117.504 105.257 21.3685 117.504 105.406 21.3685 117.504 105.406 20.5877 117.504 105.561 20.5877 117.504 105.561 20.5877 117.504 105.561 20.5161 117.557 105.581 20.5161 117.557 105.581 20.4926 117.66 105.598 20.4926 117.66 105.598 20.4926 117.66 105.598 20.4925 118.353 105.671 20.4925 118.353 105.671 20.4927 119.035 105.735 20.4927 119.035 105.735 20.4925 119.945 105.812 20.4925 119.945 105.812 20.4928 120.492 105.853 20.4928 120.492 105.853 20.4918 121.003 105.889 20.4918 121.003 105.889 20.4992 121.187 105.901 20.4992 121.187 105.901 20.8729 197.821 105.398 20.8729 197.821 105.398 20.8729 197.821 105.398 20.6048 121.287 105.889 20.6048 121.287 105.889 20.7896 121.281 105.857 20.7896 121.281 105.857 53.6426 153.11 92.4624 54.359 148.7 93.9328 55.5682 144.585 95.001 57.1925 140.314 95.3962 58.5775 134.43 94.8766 58.9013 127.074 93.0651 57.8416 120.118 89.653 56.0075 113.932 84.7636 53.8495 108.948 78.6786 53.8495 108.948 78.6786 53.8495 108.948 78.6786 54.8599 109.346 76.9328 54.8599 109.346 76.9328 56.5636 110.314 73.2947 56.5636 110.314 73.2947 56.5636 110.314 73.2947 57.0181 110.653 72.2216 57.0181 110.653 72.2216 45.77 153.163 93.9464 45.77 153.163 93.9464 45.77 153.163 93.9464 46.8404 148.757 96.2781 47.6213 145.012 98.1422 48.4874 141.475 99.3965 49.6633 137.394 99.9663 50.654 131.633 99.6655 50.8722 124.698 98.1758 50.1346 118.009 95.2664 48.8859 112.111 90.8919 47.4261 107.348 85.1535 47.4261 107.348 85.1535 47.4261 107.348 85.1535 47.9512 107.457 84.7681 47.9512 107.457 84.7681 49.5951 107.809 83.452 49.5951 107.809 83.452 49.5951 107.809 83.452 51.3814 108.229 81.7802 51.3814 108.229 81.7802 52.8908 108.641 80.0499 52.8908 108.641 80.0499 52.8908 108.641 80.0499 43.9054 152.431 94.4387 43.9054 152.431 94.4387 36.891 150.991 95.6389 36.891 150.991 95.6389 36.891 150.991 95.6389 38.885 146.287 98.7878 39.3743 142.447 100.991 39.7176 138.462 102.32 40.2952 133.126 102.826 40.6326 125.871 102.241 40.3672 118.032 100.158 39.6818 111.054 96.2017 38.8411 105.633 90.1993 38.8411 105.633 90.1993 38.8411 105.633 90.1993 38.957 105.658 90.1422 38.957 105.658 90.1422 38.957 105.658 90.1422 41.5848 106.181 88.7567 41.5848 106.181 88.7567 44.0907 106.68 87.3334 44.0907 106.68 87.3334 44.0907 106.68 87.3334 45.1418 106.887 86.6874 45.1418 106.887 86.6874 46.1603 107.091 86.0288 46.1603 107.091 86.0288 46.1603 107.091 86.0288 32.0898 151.111 95.9737 32.0898 151.111 95.9737 32.0898 151.111 95.9737 29.0626 151.629 95.9769 29.0626 151.629 95.9769 29.0626 151.629 95.9769 27.8128 151.94 95.9309 27.8128 151.94 95.9309 27.8128 151.94 95.9309 30.2769 146.977 99.6749 30.81 143.229 102.215 30.7277 139.7 103.74 30.8685 135.284 104.517 31.1044 129.505 104.635 31.1843 122.467 104.049 30.995 115.07 102.434 30.6896 108.736 99.1614 30.4784 103.931 93.9049 30.4784 103.931 93.9049 30.4784 103.931 93.9049 33.1054 104.453 92.8246 33.1054 104.453 92.8246 26.3917 152.376 95.8351 26.3917 152.376 95.8351 26.3917 152.376 95.8351 25.6315 152.641 95.7673 25.6315 152.641 95.7673 23.713 153.428 95.5315 23.713 153.428 95.5315 23.713 153.428 95.5315 21.2957 154.665 95.1045 21.2957 154.665 95.1045 21.2957 154.665 95.1045 20.8796 154.912 95.0119 20.8796 154.912 95.0119 20.8796 154.912 95.0119 18.9485 155.104 95.6013 18.9485 155.104 95.6013 18.9485 155.104 95.6013 21.7648 149.128 100.263 22.4415 144.701 103.661 22.2931 140.835 105.591 22.2994 136.205 106.205 22.5081 130.073 106.046 22.6331 122.579 105.637 22.5607 114.414 104.629 22.4255 107.496 101.887 22.3946 102.451 96.7841 22.3946 102.451 96.7841 22.3946 102.451 96.7841 23.4989 102.65 96.4454 23.4989 102.65 96.4454 23.4989 102.65 96.4454 25.1639 102.948 95.8958 25.1639 102.948 95.8958 26.7785 103.231 95.3112 26.7785 103.231 95.3112 26.7785 103.231 95.3112 15.4903 155.58 96.941 15.4903 155.58 96.941 12.5243 156.096 98.4134 12.5243 156.096 98.4134 12.5243 156.096 98.4134 14.1107 150.106 103.037 14.3794 145.408 106.881 14.1846 141.314 108.892 14.2604 136.504 108.711 14.4993 129.825 107.594 14.6621 121.728 106.972 14.6815 113.16 106.197 14.6654 106.146 103.691 14.7611 101.165 98.7073 14.7611 101.165 98.7073 14.7611 101.165 98.7073 15.3369 101.251 98.5819 15.3369 101.251 98.5819 15.3369 101.251 98.5819 17.422 101.582 98.1038 17.422 101.582 98.1038 19.4373 101.924 97.604 19.4373 101.924 97.604 19.4373 101.924 97.604 21.4984 102.29 97.0455 21.4984 102.29 97.0455 11.6254 156.267 98.9218 11.6254 156.267 98.9218 8.68354 156.84 100.787 8.68354 156.84 100.787 6.06883 157.319 102.573 6.06883 157.319 102.573 6.06883 157.319 102.573 6.79896 151.056 107.144 6.89765 146.038 111.664 6.71715 141.92 113.826 6.84934 137.27 112.493 6.9581 130.032 109.85 7.09485 121.133 108.681 7.21179 112.272 107.711 7.30015 105.239 105.103 7.3717 100.271 100.077 7.3717 100.271 100.077 7.3717 100.271 100.077 11.2134 100.68 99.421 11.2134 100.68 99.421 11.2134 100.68 99.421 13.302 100.955 99.013 13.302 100.955 99.013 5.30031 157.442 103.065 5.30031 157.442 103.065 2.58119 157.775 104.47 2.58119 157.775 104.47 0.099316 157.893 104.998 0.099316 157.893 104.998 0.099316 157.893 104.998 0.099826 157.247 105.314 0.099826 157.247 105.314 0.100362 156.537 105.701 0.100362 156.537 105.701 0.100362 156.537 105.701 0.100959 153.742 107.61 0.100959 153.742 107.61 0.09941 149.856 111.097 0.09941 149.856 111.097 0.09941 149.856 111.097 0.100758 148.253 112.647 0.100758 148.253 112.647 0.100611 146.705 114.069 0.100611 146.705 114.069 0.100611 146.705 114.069 0.102198 145.29 115.223 0.102198 145.29 115.223 0.099868 143.129 116.447 0.099868 143.129 116.447 0.099868 143.129 116.447 0.097649 142.621 116.587 0.097649 142.621 116.587 0.095411 142.135 116.654 0.095411 142.135 116.654 0.095411 142.135 116.654 0.096657 141.629 116.633 0.096657 141.629 116.633 0.100042 141.008 116.49 0.100042 141.008 116.49 0.100042 141.008 116.49 0.101164 140.04 116.112 0.101164 140.04 116.112 0.100804 139.044 115.601 0.100804 139.044 115.601 0.100804 139.044 115.601 0.100105 138.152 115.091 0.100105 138.152 115.091 0.099522 137.23 114.543 0.099522 137.23 114.543 0.099522 137.23 114.543 0.098232 134.289 112.888 0.098232 134.289 112.888 0.099963 131.425 111.66 0.099963 131.425 111.66 0.099963 131.425 111.66 0.101691 128.117 110.759 0.101691 128.117 110.759 0.099642 123.004 109.969 0.099642 123.004 109.969 0.099642 123.004 109.969 0.099092 118.547 109.489 0.099092 118.547 109.489 0.100449 114.392 108.968 0.100449 114.392 108.968 0.100449 114.392 108.968 0.100899 109.433 107.876 0.100899 109.433 107.876 0.100009 106.169 106.501 0.100009 106.169 106.501 0.100009 106.169 106.501 0.099175 102.804 104.06 0.099175 102.804 104.06 0.099286 99.9041 100.56 0.099286 99.9041 100.56 0.099286 99.9041 100.56 0.099286 99.9041 100.56 5.45288 100.115 100.317 5.45288 100.115 100.317 0.097592 162.201 103.804 0.097592 162.201 103.804 0.097592 162.201 103.804 3.76184 161.895 102.414 7.72772 161.204 99.1522 11.5633 160.465 95.9482 15.2633 159.9 93.5845 15.2633 159.9 93.5845 15.2633 159.9 93.5845 14.9297 160.4 93.5394 14.9297 160.4 93.5394 14.9297 160.4 93.5394 13.8359 162.514 93.5607 13.8359 162.514 93.5607 13.8359 162.514 93.5607 13.1217 164.923 93.9066 13.1217 164.923 93.9066 13.0877 165.089 93.9399 13.0877 165.089 93.9399 13.0877 165.089 93.9399 12.8896 166.382 94.222 12.8896 166.382 94.222 12.8896 166.382 94.222 10.1644 166.892 96.6184 7.08517 167.137 99.6198 4.09754 167.128 102.206 4.09754 167.128 102.206 4.09754 167.128 102.206 0.097616 161.067 103.976 0.097616 161.067 103.976 18.8046 156.305 94.4855 18.8046 156.305 94.4855 18.8046 156.305 94.4855 16.5841 158.28 93.8749 16.5841 158.28 93.8749 16.5841 158.28 93.8749 15.5644 159.485 93.6385 15.5644 159.485 93.6385 5.4839 168.975 101.447 5.4839 168.975 101.447 12.8048 167.557 94.5014 12.8048 167.557 94.5014 12.8048 167.557 94.5014 12.9209 170.578 95.2585 12.9209 170.578 95.2585 12.9209 170.578 95.2585 -0.099337 157.221 105.328 -0.099337 157.221 105.328 -0.100367 156.545 105.696 -0.100367 156.545 105.696 -0.100367 156.545 105.696 0.000448 156.541 105.699 0.000448 156.541 105.699 -21.3469 121.284 105.762 -21.3469 121.284 105.762 -21.3469 121.284 105.762 -20.9275 121.284 105.834 -20.9275 121.284 105.834 -20.6136 121.287 105.888 -20.6136 121.287 105.888 -20.4888 121.081 105.895 -20.4888 121.081 105.895 -20.4959 120.718 105.869 -20.4959 120.718 105.869 -20.4928 120.495 105.853 -20.4928 120.495 105.853 -20.4914 120.24 105.835 -20.4914 120.24 105.835 -20.4925 119.948 105.812 -20.4925 119.948 105.812 -20.4933 119.613 105.784 -20.4933 119.613 105.784 -20.4932 119.361 105.763 -20.4932 119.361 105.763 -20.4927 119.085 105.739 -20.4927 119.085 105.739 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105.371 -22.1966 118.701 105.382 -22.1966 118.701 105.382 -22.1974 118.883 105.401 -22.1974 118.883 105.401 -22.1981 119.085 105.422 -22.1981 119.085 105.422 -22.1986 119.307 105.444 -22.1986 119.307 105.444 -22.1991 119.556 105.468 -22.1991 119.556 105.468 -22.1996 119.809 105.492 -22.1996 119.809 105.492 -22.1999 120.038 105.513 -22.1999 120.038 105.513 -22.2003 120.322 105.538 -22.2003 120.322 105.538 -22.2009 120.556 105.558 -22.2009 120.556 105.558 -22.2018 120.915 105.587 -22.2018 120.915 105.587 -22.1944 121.173 105.609 -22.1944 121.173 105.609 -22.145 121.261 105.624 -22.145 121.261 105.624 -22.0316 121.285 105.645 -22.0316 121.285 105.645 -21.8945 121.281 105.668 -21.8945 121.281 105.668 -21.737 121.281 105.695 -21.737 121.281 105.695 -21.6195 121.284 105.716 -21.6195 121.284 105.716 -21.4904 121.284 105.738 -21.4904 121.284 105.738 -52.7666 121.547 95.7094 -52.7666 121.547 95.7094 -50.6314 121.556 97.0162 -50.6314 121.556 97.0162 -50.6314 121.556 97.0162 -50.8597 129.004 99.2524 -50.014 135.854 99.9794 -48.744 140.626 99.592 -47.732 144.48 98.372 -46.911 148.454 96.4381 -45.7859 153.168 93.943 -45.7859 153.168 93.943 -45.7859 153.168 93.943 -53.1184 158.18 90.926 -53.1184 158.18 90.926 -53.1184 158.18 90.926 -53.265 158.221 90.877 -53.265 158.221 90.877 -53.265 158.221 90.877 -53.6431 153.109 92.4627 -54.36 148.697 93.9334 -55.5701 144.58 95.0016 -57.1951 140.307 95.3959 -58.5796 134.417 94.8744 -58.9007 127.058 93.0591 -57.8379 120.101 89.642 -56.0018 113.916 84.7472 19.5608 198.188 105.897 -52.7664 108.582 80.1516 -52.7664 108.582 80.1516 -52.7664 108.582 80.1516 -52.7664 108.582 80.1516 -52.773 111.159 85.4312 -52.773 111.159 85.4312 -52.7593 114.24 89.7421 -52.7593 114.24 89.7421 -52.7635 117.725 93.1407 -52.7635 117.725 93.1407 -47.5665 121.547 98.5611 -47.5665 121.547 98.5611 -47.5727 117.324 96.3645 -47.5727 117.324 96.3645 -47.5622 113.583 93.4588 -47.5622 113.583 93.4588 -47.5713 110.269 89.7249 -47.5713 110.269 89.7249 -47.5693 107.788 85.8298 -47.5693 107.788 85.8298 -47.5693 107.788 85.8298 -47.418 107.335 85.136 -47.418 107.335 85.136 -47.418 107.335 85.136 -47.1166 107.274 85.3537 -47.1166 107.274 85.3537 -46.6606 107.183 85.6735 -46.6606 107.183 85.6735 -46.6606 107.183 85.6735 -43.2494 106.513 87.827 -43.2494 106.513 87.827 -39.5061 105.767 89.8611 -39.5061 105.767 89.8611 -39.5061 105.767 89.8611 -38.8423 105.634 90.1986 -38.8423 105.634 90.1986 -38.8423 105.634 90.1986 -39.6822 111.052 96.1999 -40.3676 118.029 100.157 -40.6333 125.868 102.241 -40.2961 133.123 102.826 -39.7185 138.46 102.32 -39.375 142.445 100.992 -38.8862 146.284 98.7896 -36.9597 150.995 95.6314 -36.9597 150.995 95.6314 -36.9597 150.995 95.6314 -43.8319 152.405 94.4564 -43.8319 152.405 94.4564 -50.2957 121.558 97.2023 -50.2957 121.558 97.2023 -47.5665 107.364 85.0265 -47.5665 107.364 85.0265 -47.5665 107.364 85.0265 -47.5665 107.364 85.0265 -35.8841 105.03 91.6171 -35.8841 105.03 91.6171 -35.8841 105.03 91.6171 -33.0308 104.443 92.8643 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-22.2505 120.628 104.266 -22.2008 120.177 104.25 -22.1993 119.705 104.233 -22.1985 119.278 104.217 -22.1977 118.978 104.204 -22.197 118.783 104.194 -22.1963 118.649 104.188 -22.1958 118.543 104.182 -22.1951 118.438 104.177 -22.194 118.325 104.171 -22.1928 118.199 104.165 -22.1916 118.068 104.158 -22.1904 117.937 104.15 -22.1892 117.809 104.142 -22.1862 117.682 104.133 -22.1715 117.565 104.125 -22.1069 117.504 104.127 -22.1069 117.504 104.127 -22.1069 117.504 104.127 -22.107 117.504 102.997 -22.107 117.504 102.997 -22.107 117.504 102.997 20.4921 120.084 102.997 20.4921 120.084 102.997 20.4928 119.892 102.997 20.4928 119.892 102.997 20.4916 120.262 102.997 20.4916 120.262 102.997 20.4927 118.669 102.997 20.4927 118.669 102.997 20.4926 118.025 102.997 20.4926 118.025 102.997 20.4939 120.578 102.997 20.4939 120.578 102.997 20.4926 118.954 102.997 20.4926 118.954 102.997 -22.1833 117.623 102.997 -22.1833 117.623 102.997 21.0866 121.284 102.997 21.0866 121.284 102.997 20.9704 121.284 102.997 20.9704 121.284 102.997 20.8629 121.285 102.997 20.8629 121.285 102.997 20.7631 121.285 102.997 20.7631 121.285 102.997 20.6704 121.283 102.997 20.6704 121.283 102.997 20.5851 121.272 102.997 20.5851 121.272 102.997 20.5197 121.23 102.997 20.5197 121.23 102.997 20.4899 121.15 102.997 20.4899 121.15 102.997 20.4967 120.838 102.997 20.4967 120.838 102.997 20.4962 120.714 102.997 20.4962 120.714 102.997 20.4924 120.427 102.997 20.4924 120.427 102.997 20.4929 119.684 102.997 20.4929 119.684 102.997 20.4926 119.46 102.997 20.4926 119.46 102.997 -22.1914 118.083 102.997 -22.1914 118.083 102.997 63.5165 175.247 82.3755 63.5165 175.247 82.3755 21.3671 117.504 102.997 21.3671 117.504 102.997 17.9524 198.63 106.467 20.5876 117.505 103.951 20.5876 117.505 103.951 20.5184 117.557 102.997 20.5184 117.557 102.997 20.5874 117.504 102.997 20.5874 117.504 102.997 20.5874 117.504 102.997 21.2119 121.284 102.997 21.2119 121.284 102.997 -22.1957 118.522 102.997 -22.1957 118.522 102.997 63.5163 171.76 82.1199 63.5163 171.76 82.1199 63.5163 171.76 82.1199 63.5163 171.76 82.1199 -22.1963 118.662 102.997 -22.1963 118.662 102.997 -22.1967 118.738 102.997 -22.1967 118.738 102.997 -22.1971 118.817 102.997 -22.1971 118.817 102.997 -22.1975 118.902 102.997 -22.1975 118.902 102.997 -22.1978 118.991 102.997 -22.1978 118.991 102.997 -22.1981 119.084 102.997 -22.1981 119.084 102.997 -22.1984 119.183 102.997 -22.1984 119.183 102.997 -22.1986 119.288 102.997 -22.1986 119.288 102.997 -22.1988 119.397 102.997 -22.1988 119.397 102.997 -22.1991 119.513 102.997 -22.1991 119.513 102.997 -22.1993 119.635 102.997 -22.1993 119.635 102.997 -22.1995 119.763 102.997 -22.1995 119.763 102.997 -22.1998 119.895 102.997 -22.1998 119.895 102.997 -22.2003 120.027 102.997 -22.2003 120.027 102.997 -22.2006 120.155 102.997 -22.2006 120.155 102.997 -22.2003 120.277 102.997 -22.2003 120.277 102.997 -22.2004 120.389 102.997 -22.2004 120.389 102.997 -22.2008 120.492 102.997 -22.2008 120.492 102.997 -22.2002 120.588 102.997 -22.2002 120.588 102.997 -22.1997 120.677 102.997 -22.1997 120.677 102.997 -22.2 120.761 102.997 -22.2 120.761 102.997 -22.201 120.84 102.997 -22.201 120.84 102.997 62.1869 171.759 84.2949 62.1869 171.759 84.2949 -22.2038 120.983 102.997 -22.2038 120.983 102.997 62.5387 173.507 83.9009 62.5387 173.507 83.9009 -22.2032 121.11 102.997 -22.2032 121.11 102.997 63.5164 171.308 82.087 63.5164 171.308 82.087 63.5164 171.308 82.087 63.0785 175.247 83.1539 63.0785 175.247 83.1539 20.4925 119.217 102.997 20.4925 119.217 102.997 -22.1062 121.282 102.997 -22.1062 121.282 102.997 20.4894 121.054 102.997 20.4894 121.054 102.997 -21.9978 121.287 102.997 -21.9978 121.287 102.997 20.4944 120.951 102.997 20.4944 120.951 102.997 20.4926 118.36 102.997 20.4926 118.36 102.997 -21.8134 121.277 102.997 -21.8134 121.277 102.997 62.1754 171.307 84.2771 62.1754 171.307 84.2771 -21.6739 121.277 102.997 -21.6739 121.277 102.997 -21.5986 121.278 102.997 -21.5986 121.278 102.997 -21.5194 121.28 102.997 -21.5194 121.28 102.997 -21.4355 121.282 102.997 -21.4355 121.282 102.997 -20.5873 117.504 104.507 -20.5873 117.504 104.507 -20.5874 117.504 102.997 -20.5874 117.504 102.997 -20.5874 117.504 102.997 -20.5189 117.557 102.997 -20.5189 117.557 102.997 21.347 121.284 104.38 21.347 121.284 104.38 21.347 121.284 104.38 21.347 121.284 104.38 21.5021 121.284 104.361 21.6758 121.282 104.341 21.8479 121.279 104.323 22.0038 121.268 104.308 22.1186 121.269 104.298 22.2318 121.225 104.288 22.2827 120.933 104.276 22.2322 120.459 104.261 22.2001 120.005 104.244 22.199 119.526 104.228 22.1983 119.164 104.216 22.1976 118.933 104.206 22.1969 118.769 104.199 22.1963 118.64 104.192 22.1957 118.524 104.186 22.1948 118.408 104.18 22.1936 118.282 104.174 22.1925 118.15 104.167 22.1912 118.014 104.159 22.1897 117.873 104.149 22.1874 117.73 104.139 22.1758 117.59 104.127 22.1069 117.504 104.127 22.1069 117.504 104.127 22.1069 117.504 104.127 21.3471 121.284 102.997 21.3471 121.284 102.997 21.3471 121.284 102.997 -48.2718 107.506 84.4877 -48.2718 107.506 84.4877 29.2757 102.257 91.36 29.2757 102.257 91.36 22.4278 100.928 93.5528 22.4278 100.928 93.5528 21.5924 121.278 102.997 21.5924 121.278 102.997 18.6273 100.229 94.4418 18.6273 100.229 94.4418 21.7016 121.276 102.997 21.7016 121.276 102.997 14.7848 99.5988 95.1739 14.7848 99.5988 95.1739 4.21024 98.4409 96.3126 4.21024 98.4409 96.3126 4.0216 98.4298 96.3187 4.0216 98.4298 96.3187 21.8973 121.281 102.997 21.8973 121.281 102.997 0.452085 98.3162 96.3551 0.452085 98.3162 96.3551 -0.635678 98.3171 96.325 -0.635678 98.3171 96.325 22.0263 121.289 102.997 22.0263 121.289 102.997 63.5164 173.507 82.2482 63.5164 173.507 82.2482 -4.43836 98.4403 96.0813 -4.43836 98.4403 96.0813 22.1383 121.268 102.997 22.1383 121.268 102.997 66.2124 171.764 75.6169 66.2124 171.764 75.6169 -4.61657 98.4496 96.0655 -4.61657 98.4496 96.0655 -6.40539 98.5641 95.8931 -6.40539 98.5641 95.8931 22.2011 121.121 102.997 22.2011 121.121 102.997 62.4517 171.759 83.901 62.4517 171.759 83.901 62.4517 171.759 83.901 62.4517 171.759 83.901 -10.7125 99.0025 95.3662 -10.7125 99.0025 95.3662 -12.2261 99.1993 95.1445 -12.2261 99.1993 95.1445 22.2024 120.923 102.997 22.2024 120.923 102.997 62.6232 175.247 83.9007 62.6232 175.247 83.9007 -25.1088 101.348 92.3336 -25.1088 101.348 92.3336 -30.6461 102.475 90.558 -30.6461 102.475 90.558 22.2001 120.687 102.997 22.2001 120.687 102.997 66.21 171.311 75.5986 66.21 171.311 75.5986 -41.123 104.659 85.7636 -41.123 104.659 85.7636 -42.1068 104.868 85.1955 -42.1068 104.868 85.1955 22.2007 120.401 102.997 22.2007 120.401 102.997 22.2005 120.32 102.997 22.2005 120.32 102.997 22.2005 120.235 102.997 22.2005 120.235 102.997 22.2004 120.144 102.997 22.2004 120.144 102.997 22.2003 120.049 102.997 22.2003 120.049 102.997 22.2 119.95 102.997 22.2 119.95 102.997 22.1997 119.849 102.997 22.1997 119.849 102.997 22.1995 119.747 102.997 22.1995 119.747 102.997 22.1993 119.646 102.997 22.1993 119.646 102.997 22.1991 119.547 102.997 22.1991 119.547 102.997 22.199 119.452 102.997 22.199 119.452 102.997 22.1988 119.36 102.997 22.1988 119.36 102.997 22.1986 119.273 102.997 22.1986 119.273 102.997 22.1984 119.189 102.997 22.1984 119.189 102.997 22.1982 119.108 102.997 22.1982 119.108 102.997 22.198 119.03 102.997 22.198 119.03 102.997 22.1977 118.955 102.997 22.1977 118.955 102.997 -60.8452 114.46 59.2403 -60.8452 114.46 59.2403 22.1971 118.813 102.997 22.1971 118.813 102.997 -63.0718 117.619 51.6731 -63.0718 117.619 51.6731 22.1964 118.683 102.997 22.1964 118.683 102.997 -64.4126 119.815 45.5893 -64.4126 119.815 45.5893 -64.5452 120.042 44.8925 -64.5452 120.042 44.8925 22.1955 118.505 102.997 22.1955 118.505 102.997 -65.6596 122.025 38.225 -65.6596 122.025 38.225 22.1948 118.397 102.997 22.1948 118.397 102.997 -66.5165 123.582 31.8083 -66.5165 123.582 31.8083 -67.2057 124.771 25.1753 -67.2057 124.771 25.1753 22.1933 118.249 102.997 22.1933 118.249 102.997 -67.3229 124.954 23.8173 -67.3229 124.954 23.8173 22.1922 118.159 102.997 22.1922 118.159 102.997 -67.7171 125.481 18.1914 -67.7171 125.481 18.1914 22.1914 118.075 102.997 22.1914 118.075 102.997 -67.9427 125.677 13.7368 -67.9427 125.677 13.7368 22.1908 117.996 102.997 22.1908 117.996 102.997 62.4702 116.615 54.3446 62.4702 116.615 54.3446 -68.2092 125.722 5.7076 -68.2092 125.722 5.7076 61.7967 115.635 56.6721 61.7967 115.635 56.6721 -68.2351 125.721 4.58672 -68.2351 125.721 4.58672 59.4763 112.67 63.3892 59.4763 112.67 63.3892 -68.2373 125.721 4.4838 -68.2373 125.721 4.4838 57.4474 110.582 68.3213 57.4474 110.582 68.3213 -68.2406 125.721 4.24327 -68.2406 125.721 4.24327 56.5861 109.843 70.2596 56.5861 109.843 70.2596 -63.5165 175.247 82.3756 -63.5165 175.247 82.3756 53.11 107.813 76.4318 53.11 107.813 76.4318 50.1738 106.802 79.6753 50.1738 106.802 79.6753 -62.6232 175.247 83.9007 -62.6232 175.247 83.9007 47.0887 106.024 82.191 47.0887 106.024 82.191 -62.5389 173.51 83.9008 -62.5389 173.51 83.9008 -62.4521 171.767 83.901 -62.4521 171.767 83.901 -62.4521 171.767 83.901 -62.4521 171.767 83.901 -63.0785 175.247 83.1539 -63.0785 175.247 83.1539 -62.1871 171.767 84.2952 -62.1871 171.767 84.2952 22.107 117.504 102.997 22.107 117.504 102.997 22.107 117.504 102.997 20.4926 117.66 104.297 20.4926 117.66 104.297 20.4926 117.66 104.297 20.4926 118.76 104.356 20.4931 119.549 104.388 20.4916 120.374 104.42 20.5087 121.22 104.449 20.4926 117.66 102.997 20.4926 117.66 102.997 20.4926 117.66 102.997 73.6545 136.87 11.8148 73.6545 136.87 11.8148 73.5632 136.093 10.6494 73.5632 136.093 10.6494 73.4699 135.396 9.54696 73.4699 135.396 9.54696 73.4699 135.396 9.54696 73.2787 134.143 7.28652 73.2787 134.143 7.28652 73.1312 133.256 4.95495 73.1312 133.256 4.95495 73.1312 133.256 4.95495 83.3583 132.92 4.95495 83.3583 132.92 4.95495 83.3583 132.92 4.95495 83.2924 132.95 5.04848 83.2924 132.95 5.04848 83.2271 132.98 5.14343 83.2271 132.98 5.14343 83.2271 132.98 5.14343 81.9152 133.617 6.75864 81.9152 133.617 6.75864 80.3156 134.476 8.36283 80.3156 134.476 8.36283 80.3156 134.476 8.36283 76.9687 136.529 11.4717 76.9687 136.529 11.4717 73.8224 138.675 14.336 73.8224 138.675 14.336 73.8224 138.675 14.336 73.8224 138.675 14.336 73.8224 138.675 14.336 73.8224 138.675 14.336 73.741 137.711 13.0291 73.741 137.711 13.0291 73.8051 138.447 14.0487 73.8051 138.447 14.0487 73.7873 138.227 13.7671 73.7873 138.227 13.7671 73.7873 138.227 13.7671 73.7687 138.011 13.482 73.7687 138.011 13.482 73.7492 137.795 13.1891 73.7492 137.795 13.1891 73.7492 137.795 13.1891 73.7087 137.378 12.6072 73.7087 137.378 12.6072 73.6649 136.961 12.0081 73.6649 136.961 12.0081 73.6649 136.961 12.0081 73.5677 136.129 10.7756 73.5677 136.129 10.7756 73.4649 135.361 9.56867 73.4649 135.361 9.56867 73.4649 135.361 9.56867 73.4674 135.378 9.55782 73.4674 135.378 9.55782 73.7832 138.471 14.7914 73.7832 138.471 14.7914 73.7314 138.137 15.0245 73.7314 138.137 15.0245 73.7314 138.137 15.0245 73.7942 138.18 14.3689 73.7942 138.18 14.3689 73.6898 137.738 15.0051 73.6898 137.738 15.0051 73.6322 137.261 14.8064 73.6322 137.261 14.8064 73.6322 137.261 14.8064 73.7348 137.535 13.9558 73.7348 137.535 13.9558 73.5436 136.535 14.3277 73.5436 136.535 14.3277 73.4455 135.788 13.6938 73.4455 135.788 13.6938 73.4455 135.788 13.6938 73.6104 136.397 12.8049 73.6104 136.397 12.8049 73.1843 134.091 11.8396 73.1843 134.091 11.8396 72.8626 132.406 9.43505 72.8626 132.406 9.43505 72.8626 132.406 9.43505 72.6305 131.352 7.55127 72.6305 131.352 7.55127 72.3951 130.408 5.47505 72.3951 130.408 5.47505 72.3951 130.408 5.47505 72.3358 130.19 4.92302 72.3358 130.19 4.92302 72.2759 129.977 4.356 72.2759 129.977 4.356 72.2759 129.977 4.356 72.7827 131.576 4.34654 72.7827 131.576 4.34654 73.0921 133.037 4.33775 73.0921 133.037 4.33775 73.0921 133.037 4.33775 73.2484 133.961 7.00527 73.2484 133.961 7.00527 73.0904 133.026 4.29689 73.0904 133.026 4.29689 73.0887 133.016 4.25593 73.0887 133.016 4.25593 73.0887 133.016 4.25593 73.1 133.07 4.25592 73.1 133.07 4.25592 73.1 133.07 4.25592 73.1152 133.16 4.61064 73.1152 133.16 4.61064 79.928 201.213 -5.78099 79.928 201.213 -5.78099 79.928 201.213 -5.78099 82.2243 200.408 -7.93095 82.2243 200.408 -7.93095 84.0756 199.446 -9.90352 84.0756 199.446 -9.90352 84.0756 199.446 -9.90352 88.2417 194.708 -16.878 88.2417 194.708 -16.878 88.2417 194.708 -16.878 88.428 194.315 -17.3285 88.428 194.315 -17.3285 89.8464 189.219 -22.0931 89.8464 189.219 -22.0931 89.8464 189.219 -22.0931 90.2378 180.899 -27.3668 90.2378 180.899 -27.3668 90.1688 178.149 -28.5343 90.1688 178.149 -28.5343 90.1688 178.149 -28.5343 90.0016 171.645 -30.3787 90.0016 171.645 -30.3787 89.8371 165.528 -31.0463 89.8371 165.528 -31.0463 89.8371 165.528 -31.0463 89.7434 162.072 -30.9848 89.7434 162.072 -30.9848 89.4172 152.834 -29.1417 89.4172 152.834 -29.1417 89.4172 152.834 -29.1417 88.7822 143.034 -23.8109 88.7822 143.034 -23.8109 88.7822 143.034 -23.8109 88.3563 138.469 -19.3218 88.3563 138.469 -19.3218 88.0812 135.793 -15.504 88.0812 135.793 -15.504 88.0812 135.793 -15.504 87.0142 132.298 -5.55406 87.0142 132.298 -5.55406 87.0142 132.298 -5.55406 86.9801 132.271 -5.36041 86.9801 132.271 -5.36041 75.5958 202.171 -1.68601 75.5958 202.171 -1.68601 76.0001 188.705 -25.8357 76.0001 188.705 -25.8357 73.1106 133.064 4.23246 73.1106 133.064 4.23246 76.0203 189.075 -26.0049 76.0203 189.075 -26.0049 76.0203 189.075 -26.0049 73.1141 133.058 4.20811 73.1141 133.058 4.20811 76.0484 189.59 -27.9893 76.0484 189.59 -27.9893 73.1164 133.05 4.17648 73.1164 133.05 4.17648 75.9427 187.652 -28.6368 75.9427 187.652 -28.6368 73.1178 133.04 4.13565 73.1178 133.04 4.13565 73.1181 133.034 4.11099 73.1181 133.034 4.11099 73.1182 133.028 4.08298 73.1182 133.028 4.08298 73.118 133.02 4.05114 73.118 133.02 4.05114 73.1175 133.012 4.01493 73.1175 133.012 4.01493 73.1167 133.002 3.97374 73.1167 133.002 3.97374 73.1156 132.992 3.92685 73.1156 132.992 3.92685 73.114 132.98 3.87343 73.114 132.98 3.87343 73.1121 132.966 3.81252 73.1121 132.966 3.81252 73.1096 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1174 1161 1161 1162 1162 1175 1175 1161 1161 1174 1174 1167 1167 1163 1163 1162 1162 1173 1173 1162 1162 1163 1163 1169 1169 1167 1167 1162 1162 1174 1174 1162 1162 1173 1173 1165 1165 1164 1164 1163 1163 1172 1172 1163 1163 1164 1164 1167 1167 1165 1165 1163 1163 1173 1173 1163 1163 1172 1172 1172 1172 1164 1164 1171 1171 1185 1185 1183 1183 1177 1177 1180 1180 1190 1190 626 626

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+ + + + + + + + + + + + + + + diff --git a/simmechanics/data/icub2_5/meshes/dae/l_shoulder_1.dae b/simmechanics/data/icub2_5/meshes/dae/l_shoulder_1.dae new file mode 100644 index 00000000..74227d1f --- /dev/null +++ b/simmechanics/data/icub2_5/meshes/dae/l_shoulder_1.dae @@ -0,0 +1,57 @@ + + + + + VCGLab + VCGLib | MeshLab + + dom ott 25 21:11:11 2015 GMT + dom ott 25 21:11:11 2015 GMT + Y_UP + + + + + + 100.543 -12.2346 4.68185 100.543 -12.2346 4.68185 100.543 -12.2346 4.68185 100.543 -12.2346 4.68185 100.543 -12.2346 4.68185 100.543 -12.2346 4.68185 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 98.5052 -7.23449 9.82998 101.42 -11.7688 10.6111 101.42 -11.7688 10.6111 101.42 -11.7688 10.6111 101.42 -11.7688 10.6111 97.7114 -7.24862 3.92325 97.7114 -7.24862 3.92325 97.7114 -7.24862 3.92325 97.7114 -7.24862 3.92325 97.7114 -7.24862 3.92325 97.7114 -7.24862 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10.5376 81.5345 58.0893 10.5376 81.5345 58.0893 10.5376 81.5345 58.0893 10.5376 81.5345 58.0893 10.5376 81.5345 58.0893 10.5376 81.5345 58.0893 10.5376 81.5345 58.0893 8.92806 76.1205 50.799 8.92806 76.1205 50.799 8.92806 76.1205 50.799 8.92806 76.1205 50.799 6.02727 74.5228 51.7997 6.02727 74.5228 51.7997 6.02727 74.5228 51.7997 6.02727 74.5228 51.7997 4.61084 87.6119 7.55072 4.61084 87.6119 7.55072 4.61084 87.6119 7.55072 4.61084 87.6119 7.55072 4.61084 87.6119 7.55072 4.61084 87.6119 7.55072 4.95 97.1584 7.30784 4.95 97.1584 7.30784 4.95 97.1584 7.30784 4.95 97.1584 7.30784 4.95 97.1584 7.30784 4.95 97.1584 7.30784 10.6612 109.219 1.55072 10.6612 109.219 1.55072 10.6612 109.219 1.55072 10.6612 109.219 1.55072 10.6612 109.219 1.55072 10.6612 109.219 1.55072 7.36163 94.6544 23.9059 7.36163 94.6544 23.9059 7.36163 94.6544 23.9059 7.36163 94.6544 23.9059 7.36163 94.6544 23.9059 7.36163 94.6544 23.9059 2.99161 98.4468 36.0056 2.99161 98.4468 36.0056 2.99161 98.4468 36.0056 2.99161 98.4468 36.0056 2.99161 98.4468 36.0056 2.99161 98.4468 36.0056 10.5403 108.092 14.212 10.5403 108.092 14.212 10.5403 108.092 14.212 10.5403 108.092 14.212 10.5403 108.092 14.212 7.36163 94.6544 36.0056 7.36163 94.6544 36.0056 7.36163 94.6544 36.0056 7.36163 94.6544 36.0056 7.36163 94.6544 36.0056 7.36163 94.6544 36.0056 10.5392 99.9794 55.3997 10.5392 99.9794 55.3997 10.5392 99.9794 55.3997 10.5392 99.9794 55.3997 10.5496 118.581 11.8063 10.5496 118.581 11.8063 10.5496 118.581 11.8063 10.5496 118.581 11.8063 10.5496 118.581 11.8063 10.5496 118.581 11.8063 10.5 116.03 1.55072 10.5 116.03 1.55072 10.5 116.03 1.55072 10.5 116.03 1.55072 10.5 116.03 1.55072 10.5 116.03 1.55072 10.5496 118.581 14.212 10.5496 118.581 14.212 10.5496 118.581 14.212 10.5496 118.581 14.212 10.5496 118.581 14.212 10.5496 118.581 14.212 13.2304 69.008 10.4489 13.2304 69.008 10.4489 13.2304 69.008 10.4489 13.2304 69.008 10.4489 19.4473 75.605 11.5852 19.4473 75.605 11.5852 19.4473 75.605 11.5852 19.4473 75.605 11.5852 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 19.6645 76.1621 7.84136 13.5 66.4968 12.5113 13.5 66.4968 12.5113 13.5 66.4968 12.5113 13.5 66.4968 12.5113 13.5 66.4968 12.5113 13.5 66.4968 12.5113 13.5 66.4968 12.5113 13.5 66.4968 12.5113 21.0807 65.0257 24.6922 21.0807 65.0257 24.6922 21.0807 65.0257 24.6922 21.0807 65.0257 24.6922 21.0807 65.0257 24.6922 21.0807 65.0257 24.6922 21.0807 65.1562 34.7751 21.0807 65.1562 34.7751 21.0807 65.1562 34.7751 21.0807 65.1562 34.7751 21.0807 65.1562 34.7751 21.0807 65.1562 34.7751 21.0807 69.0571 40.7841 21.0807 69.0571 40.7841 21.0807 69.0571 40.7841 21.0807 69.0571 40.7841 21.0807 69.0571 40.7841 21.0807 69.0571 40.7841 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 75.0037 44.4023 21.0807 85.1558 7.50072 21.0807 85.1558 7.50072 21.0807 85.1558 7.50072 21.0807 85.1558 7.50072 21.0807 85.1558 7.50072 21.0807 85.1558 7.50072 21.0807 84.2461 44.6667 21.0807 84.2461 44.6667 21.0807 84.2461 44.6667 21.0807 84.2461 44.6667 21.0807 84.2461 44.6667 21.0807 84.2461 44.6667 12.2522 81.5351 58.0893 12.2522 81.5351 58.0893 12.2522 81.5351 58.0893 12.2522 81.5351 58.0893 21.0807 96.624 7.50072 21.0807 96.624 7.50072 21.0807 96.624 7.50072 21.0807 96.624 7.50072 21.0807 96.624 7.50072 21.0807 96.624 7.50072 21.0807 94.6713 35.1575 21.0807 94.6713 35.1575 21.0807 94.6713 35.1575 21.0807 94.6713 35.1575 21.0807 94.6713 35.1575 21.0807 94.6713 35.1575 21.0807 94.8842 24.3934 21.0807 94.8842 24.3934 21.0807 94.8842 24.3934 21.0807 94.8842 24.3934 21.0807 94.8842 24.3934 21.0807 94.8842 24.3934 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 21.0807 90.3223 41.3578 16.5619 109.746 3.75072 16.5619 109.746 3.75072 16.5619 109.746 3.75072 16.5619 109.746 3.75072 16.5619 109.746 3.75072 16.5619 109.746 3.75072 16.5619 109.746 3.75072 21.0807 96.624 11.4007 21.0807 96.624 11.4007 21.0807 96.624 11.4007 21.0807 96.624 11.4007 21.0807 96.624 11.4007 17.1028 109.506 14.212 17.1028 109.506 14.212 17.1028 109.506 14.212 17.1028 109.506 14.212 17.1028 109.506 14.212 17.1028 109.506 14.212 18 107.333 11.1007 18 107.333 11.1007 18 107.333 11.1007 18 107.333 11.1007 18 107.333 11.1007 18 107.333 11.1007 18 107.333 11.1007 18 107.333 11.1007 12.2457 100.334 56.4602 12.2457 100.334 56.4602 12.2457 100.334 56.4602 12.2457 100.334 56.4602 12.2457 100.334 56.4602 12.2457 100.334 56.4602 11.7456 100.391 55.8101 11.7456 100.391 55.8101 11.7456 100.391 55.8101 11.7456 100.391 55.8101 16.4712 116.341 10.3007 16.4712 116.341 10.3007 16.4712 116.341 10.3007 16.4712 116.341 10.3007 16.4712 116.341 10.3007 16.4712 116.341 10.3007 15.9356 115.39 3.75073 15.9356 115.39 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+ + + + + + + + + + + + + + + diff --git a/simmechanics/data/icub2_5/model.config b/simmechanics/data/icub2_5/model.config new file mode 100644 index 00000000..5f615e7c --- /dev/null +++ b/simmechanics/data/icub2_5/model.config @@ -0,0 +1,16 @@ + + + iCubGenova02 + + 1.0 + iCubGenova02.sdf + + + Luca Fiorio + luca.fiorio@iit.it + + + + Model for the iCub humanoid robot. For more information check icub.org . + + diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt deleted file mode 100644 index 361c6bd6..00000000 --- a/src/CMakeLists.txt +++ /dev/null @@ -1,67 +0,0 @@ -# Copyright (C) 2010 RobotCub Consortium -# CopyPolicy: Released under the terms of the GNU GPL v2.0. - - -SET(PROJECTNAME urdf_utils) - -PROJECT(${PROJECTNAME}) - -# YARP needs CMake 2.6 or greater -cmake_minimum_required(VERSION 2.6) - - -find_package(YCM REQUIRED) -find_package(YARP REQUIRED) -find_package(ICUB REQUIRED) - -find_package(urdfdom REQUIRED) -find_package(orocos_kdl REQUIRED) -find_package(Eigen3 REQUIRED) -find_package(TinyXML REQUIRED) - -find_package(SDFormat REQUIRED) -find_package(iDynTree 0.3.5 REQUIRED) - - -set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}") -# Add Gazebo CXX flags, to support sdformat 3 reckless dependency on C++11 -set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${SDFormat_CXX_FLAGS}") - - -# add YARP include directories -include_directories(${urdfdom_INCLUDE_DIR} - ${orocos_kdl_INCLUDE_DIR} - ${EIGEN3_INCLUDE_DIR} ${YARP_INCLUDE_DIR} ${iDynTree_INCLUDE_DIRS} - ${iDyn_INCLUDE_DIRS} - ${YARP_INCLUDE_DIRS} - ${skinDynLib_INCLUDE_DIRS} ${SDFormat_INCLUDE_DIRS} - ${urdfdom_INCLUDE_DIRS}) - -add_library(urdf_utils STATIC urdf_utils.h urdf_utils.cpp) - -add_executable(urdf_get_meshes urdf_get_meshes.cpp) -add_executable(urdf_get_limits urdf_get_limits.cpp) -add_executable(urdf_gazebo_cleanup urdf_gazebo_cleanup.cpp) -add_executable(urdf_get_total_mass urdf_get_total_mass.cpp) -add_executable(icub_urdf_from_iDyn icub_urdf_from_iDyn.cpp) -add_executable(icub_urdf_sdf_generator icub_urdf_sdf_generator.cpp) -add_executable(urdf_print_homogeneous_transformations urdf_print_homogeneous_transformations.cpp) - - -target_link_libraries(urdf_get_meshes urdf_utils ${urdfdom_LIBRARIES} ${orocos_kdl_LIBRARIES} ${TinyXML_LIBRARIES} ${iDynTree_LIBRARIES}) -target_link_libraries(urdf_get_limits urdf_utils ${urdfdom_LIBRARIES} ${orocos_kdl_LIBRARIES} ${TinyXML_LIBRARIES} ${iDynTree_LIBRARIES}) -target_link_libraries(urdf_gazebo_cleanup urdf_utils ${urdfdom_LIBRARIES} ${orocos_kdl_LIBRARIES} ${TinyXML_LIBRARIES} ${iDynTree_LIBRARIES} ${YARP_LIBRARIES}) -target_link_libraries(urdf_get_total_mass urdf_utils ${urdfdom_LIBRARIES} ${orocos_kdl_LIBRARIES} ${TinyXML_LIBRARIES} ${iDynTree_LIBRARIES} ${YARP_LIBRARIES}) -target_link_libraries(icub_urdf_from_iDyn ${YARP_LIBRARIES} ${ICUB_LIBRARIES} ${iDynTree_LIBRARIES} ${kdl_codyco_LIBRARIES} ${orocos_kdl_LIBRARIES} ${urdfdom_LIBRARIES} ${iDynTree_LIBRARIES} ${TinyXML_LIBRARIES}) -target_link_libraries(icub_urdf_sdf_generator urdf_utils ${SDFormat_LIBRARIES} ${iDynTree_LIBRARIES} ${YARP_LIBRARIES} ${ICUB_LIBRARIES} ${kdl_codyco_LIBRARIES} ${orocos_kdl_LIBRARIES} ${urdfdom_LIBRARIES} ${iDynTree_LIBRARIES} ${TinyXML_LIBRARIES}) -target_link_libraries(urdf_print_homogeneous_transformations urdf_utils ${urdfdom_LIBRARIES} ${orocos_kdl_LIBRARIES} ${TinyXML_LIBRARIES} ${iDynTree_LIBRARIES} ${YARP_LIBRARIES}) - - -INSTALL(TARGETS urdf_get_meshes DESTINATION bin) -INSTALL(TARGETS urdf_get_limits DESTINATION bin) -INSTALL(TARGETS urdf_gazebo_cleanup DESTINATION bin) -INSTALL(TARGETS urdf_get_total_mass DESTINATION bin) -INSTALL(TARGETS icub_urdf_from_iDyn DESTINATION bin) -INSTALL(TARGETS icub_urdf_sdf_generator DESTINATION bin) -INSTALL(TARGETS urdf_print_homogeneous_transformations DESTINATION bin) - diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt new file mode 100644 index 00000000..8b48b353 --- /dev/null +++ b/tests/CMakeLists.txt @@ -0,0 +1,29 @@ +# Tests for generated models +# We use iDynTree & YARP for the tests +find_package(iDynTree REQUIRED) +find_package(YARP REQUIRED) + +add_executable(icub-model-test icub-model-test.cpp) +include_directories(${YARP_INCLUDE_DIRS}) +target_link_libraries(icub-model-test ${iDynTree_LIBRARIES} ${YARP_LIBRARIES}) + +macro(add_icub_model_test yarpRobotName) + add_test(NAME ${yarpRobotName}ConsistencyCheck + COMMAND icub-model-test --model ${CMAKE_SOURCE_DIR}/generated/robots/${yarpRobotName}/model.urdf) +endmacro() + +# Model generated from DH +if( ICUB_MODEL_GENERATE_DH ) + add_icub_model_test(iCubGenova03) + add_icub_model_test(iCubParis01) + add_icub_model_test(iCubParis02) +endif() + +# Model generated with simmechanics +if( ICUB_MODEL_GENERATE_SIMMECHANICS ) + add_icub_model_test(iCubGenova01) + add_icub_model_test(iCubGenova02) + add_icub_model_test(iCubGenova05) + add_icub_model_test(iCubDarmstadt01) +endif() + diff --git a/tests/icub-model-test.cpp b/tests/icub-model-test.cpp new file mode 100644 index 00000000..4299fd89 --- /dev/null +++ b/tests/icub-model-test.cpp @@ -0,0 +1,333 @@ + +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include + +inline bool checkDoubleAreEqual(const double & val1, + const double & val2, + const double tol) +{ + if( std::fabs(val1-val2) > tol ) + { + return false; + } + + return true; +} + + +template +bool checkVectorAreEqual(const VectorType1 & dir1, + const VectorType2 & dir2, + const double tol) +{ + if( dir1.size() != dir2.size() ) + { + return false; + } + + for(int i=0; i < dir1.size(); i++) + { + if( std::fabs(dir1(i)-dir2(i)) > tol ) + { + return false; + } + } + return true; +} + +template +bool checkMatrixAreEqual(const MatrixType1 & mat1, + const MatrixType2 & mat2, + const double tol) +{ + if( mat1.rows() != mat2.rows() || + mat1.cols() != mat2.cols() ) + { + return false; + } + + for(int i=0; i < mat1.rows(); i++) + { + for(int j=0; j < mat1.cols(); j++ ) + { + if( std::fabs(mat1(i,j)-mat2(i,j)) > tol ) + { + return false; + } + } + } + return true; +} + +bool checkTransformAreEqual(const iDynTree::Transform & t1, + const iDynTree::Transform & t2, + const double tol) +{ + return checkMatrixAreEqual(t1.getRotation(),t2.getRotation(),tol) && + checkVectorAreEqual(t1.getPosition(),t2.getPosition(),tol); +} + + +bool getAxisInRootLink(iDynTree::KinDynComputations & comp, + const std::string jointName, + iDynTree::Axis & axisInRootLink) +{ + iDynTree::LinkIndex rootLinkIdx = comp.getFrameIndex("root_link"); + + if( rootLinkIdx == iDynTree::FRAME_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find root_link in model" << std::endl; + return false; + } + + iDynTree::JointIndex jntIdx = comp.getRobotModel().getJointIndex(jointName); + + if( jntIdx == iDynTree::JOINT_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find " << jointName << " in model" << std::endl; + return false; + } + + iDynTree::LinkIndex childLinkIdx = comp.getRobotModel().getJoint(jntIdx)->getSecondAttachedLink(); + + // Check that the joint are actually revolute as all the joints in iCub + const iDynTree::RevoluteJoint * revJoint = dynamic_cast(comp.getRobotModel().getJoint(jntIdx)); + + if( !revJoint ) + { + std::cerr << "icub-model-test error: " << jointName << " is not revolute " << std::endl; + return false; + } + + axisInRootLink = comp.getRelativeTransform(rootLinkIdx,childLinkIdx)*(revJoint->getAxis(childLinkIdx)); + + return true; +} + +bool checkBaseLink(iDynTree::KinDynComputations & comp) +{ + iDynTree::LinkIndex rootLinkIdx = comp.getFrameIndex("root_link"); + + if( rootLinkIdx == iDynTree::FRAME_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find root_link in model" << std::endl; + return false; + } + + iDynTree::LinkIndex base_linkIdx = comp.getFrameIndex("base_link"); + + if( rootLinkIdx == iDynTree::FRAME_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find base_link in model" << std::endl; + return false; + } + + if( comp.getRobotModel().getFrameLink(base_linkIdx) != rootLinkIdx ) + { + std::cerr << "icub-model-test error: base_link is not attached to root_link" << std::endl; + return false; + } + + if( !checkTransformAreEqual(comp.getRobotModel().getFrameTransform(base_linkIdx),iDynTree::Transform::Identity(),1e-6) ) + { + std::cerr << "icub-model-test error: base_link <---> root_link transform is not an identity" << std::endl; + return false; + } + + std::cerr << "icub-model-test error: base_link test performed correctly " << std::endl; + + return true; +} + +bool checkSolesAreParallel(iDynTree::KinDynComputations & comp) +{ + iDynTree::LinkIndex rootLinkIdx = comp.getFrameIndex("root_link"); + + if( rootLinkIdx == iDynTree::FRAME_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find root_link in model" << std::endl; + return false; + } + + iDynTree::LinkIndex l_sole = comp.getFrameIndex("l_sole"); + + if( rootLinkIdx == iDynTree::FRAME_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find frame l_sole in model" << std::endl; + return false; + } + + iDynTree::LinkIndex r_sole = comp.getFrameIndex("r_sole"); + + if( rootLinkIdx == iDynTree::FRAME_INVALID_INDEX ) + { + std::cerr << "icub-model-test error: impossible to find frame r_sole in model" << std::endl; + return false; + } + + iDynTree::Transform root_H_l_sole = comp.getRelativeTransform(rootLinkIdx,l_sole); + iDynTree::Transform root_H_r_sole = comp.getRelativeTransform(rootLinkIdx,r_sole); + + double l_sole_height = root_H_l_sole.getPosition().getVal(2); + double r_sole_height = root_H_r_sole.getPosition().getVal(2); + + if( !checkDoubleAreEqual(l_sole_height,r_sole_height,1e-5) ) + { + std::cerr << "icub-model-test error: l_sole_height is " << l_sole_height << ", while r_sole_height is " << r_sole_height << " (diff : " << std::fabs(l_sole_height-r_sole_height) << " )" << std::endl; + return false; + } + + std::cerr << "icub-model-test error: sole are parallel test performed correctly " << std::endl; + + return true; +} + + + +bool checkAxisDirections(iDynTree::KinDynComputations & comp) +{ + // Check axis for the first thing + // see https://github.com/robotology/codyco-superbuild/issues/55#issuecomment-227872325 and + // http://wiki.icub.org/wiki/ICub_Model_naming_conventions // Check axis for the first thing + // see https://github.com/robotology/codyco-superbuild/issues/55#issuecomment-227872325 and + // http://wiki.icub.org/wiki/ICub_Model_naming_conventions + + std::vector axisNames; + std::vector expectedDirectionInRootLink; + + axisNames.push_back("torso_pitch"); + expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0,-1.0,0.0)); + axisNames.push_back("torso_roll"); + expectedDirectionInRootLink.push_back(iDynTree::Direction(1.0,0.0,0.0)); + axisNames.push_back("torso_yaw"); + expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0,0.0,-1.0)); + + for(int i=0; i < axisNames.size(); i++) + { + std::string axisToCheck = axisNames[i]; + iDynTree::Axis axisInRootLink; + iDynTree::Direction expectedDirection = expectedDirectionInRootLink[i]; + bool getAxisOk = getAxisInRootLink(comp,axisToCheck,axisInRootLink); + + if( !getAxisOk ) + { + return false; + } + + if( !checkVectorAreEqual(axisInRootLink.getDirection(),expectedDirection,1e-5) ) + { + std::cerr << "icub-model-test error:" << axisToCheck << " got direction of " << axisInRootLink.getDirection().toString() + << " instead of expected " << expectedDirection.toString() << std::endl; + return false; + } + } + + return true; +} + +/** + * All the iCub have a even and not null number of F/T sensors. + */ +bool checkFTSensorsAreEvenAndNotNull(iDynTree::ModelLoader & mdlLoader) +{ + int nrOfFTSensors = mdlLoader.sensors().getNrOfSensors(iDynTree::SIX_AXIS_FORCE_TORQUE); + + if( nrOfFTSensors == 0 ) + { + std::cerr << "icub-model-test error: no F/T sensor found in the model" << std::endl; + return false; + } + + if( nrOfFTSensors % 2 == 1 ) + { + std::cerr << "icub-model-test error: odd number of F/T sensor found in the model" << std::endl; + return false; + } + + + return true; +} + +int main(int argc, char ** argv) +{ + yarp::os::Property prop; + + // Parse command line options + prop.fromCommand(argc,argv); + + // Skip upper body tests (to support testing iCubHeidelberg01 model) + bool skipUpperBody = prop.check("skipUpperBody"); + + // Get model name + if( ! prop.find("model").isString() ) + { + std::cerr << "icub-model-test error: model option not found" << std::endl; + return EXIT_FAILURE; + } + + std::string modelPath = prop.find("model").asString().c_str(); + + // Open the model + iDynTree::KinDynComputations comp; + + bool modelLoaded = comp.loadRobotModelFromFile(modelPath); + + if( !modelLoaded ) + { + std::cerr << "icub-model-test error: impossible to load model from " << modelLoaded << std::endl; + return EXIT_FAILURE; + } + + iDynTree::Vector3 grav; + grav.zero(); + iDynTree::JointPosDoubleArray qj(comp.getRobotModel()); + iDynTree::JointDOFsDoubleArray dqj(comp.getRobotModel()); + qj.zero(); + dqj.zero(); + + comp.setRobotState(qj,dqj,grav); + + // Check axis + if( !checkAxisDirections(comp) ) + { + return EXIT_FAILURE; + } + + // Check if base_link exist, and check that is a frame attached to root_link and if its + // transform is the idyn + if( !checkBaseLink(comp) ) + { + return EXIT_FAILURE; + } + + + // Check if l_sole/r_sole have the same distance from the root_link + if( !checkSolesAreParallel(comp) ) + { + return EXIT_FAILURE; + } + + // Now some test that test the sensors + iDynTree::ModelLoader mdlLoader; + mdlLoader.loadModelFromFile(modelPath); + + + if( !checkFTSensorsAreEvenAndNotNull(mdlLoader) ) + { + return EXIT_FAILURE; + } + + std::cerr << "Check for model " << modelPath << " concluded correctly!" << std::endl; + + return EXIT_SUCCESS; +}