| import typing |
|
|
| import pinocchio as pin |
|
|
| try: |
| from .path import ( |
| EXAMPLE_ROBOT_DATA_MODEL_DIR, |
| EXAMPLE_ROBOT_DATA_SOURCE_DIR, |
| ) |
| except ImportError: |
| pass |
|
|
| from .human import HumanLoader |
| from .panda import PandaLoader, PandaLoaderCollision |
| from .talos import ( |
| TalosArmLoader, |
| TalosBoxLoader, |
| TalosFullBoxLoader, |
| TalosFullLoader, |
| TalosLegsLoader, |
| TalosLoader, |
| ) |
| from .utils import RobotLoader, getModelPath, readParamsFromSrdf |
|
|
|
|
| class CentauroLoader(RobotLoader): |
| path = "centauro_description" |
| urdf_filename = "centauro.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "centauro.srdf" |
| ref_posture = "homing_balanced" |
| free_flyer = True |
|
|
|
|
| class B1Loader(RobotLoader): |
| path = "b1_description" |
| urdf_filename = "b1.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "b1.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class Go1Loader(RobotLoader): |
| path = "go1_description" |
| urdf_filename = "go1.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "go1.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class FalconBravo7NoEndEffectorLoader(RobotLoader): |
| path = "falcon_description" |
| urdf_filename = "falcon_bravo7_no_ee.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "falcon_bravo7_no_ee.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class BluevoltaBravo7NoEndEffectorLoader(RobotLoader): |
| path = "bluevolta_description" |
| urdf_filename = "bluevolta_bravo7_no_ee.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "bluevolta_bravo7_no_ee.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class FalconBravo7GripperLoader(RobotLoader): |
| path = "falcon_description" |
| urdf_filename = "falcon_bravo7_gripper.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "falcon_bravo7_gripper.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class BluevoltaBravo7GripperLoader(RobotLoader): |
| path = "bluevolta_description" |
| urdf_filename = "bluevolta_bravo7_gripper.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "bluevolta_bravo7_gripper.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class Bravo7NoEndEffectorLoader(RobotLoader): |
| path = "bravo7_description" |
| urdf_filename = "bravo7_no_ee.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "bravo7_no_ee.srdf" |
| ref_posture = "standing" |
| free_flyer = False |
|
|
|
|
| class Bravo7GripperLoader(RobotLoader): |
| path = "bravo7_description" |
| urdf_filename = "bravo7_gripper.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "bravo7_gripper.srdf" |
| ref_posture = "standing" |
| free_flyer = False |
|
|
|
|
| class Go2Loader(RobotLoader): |
| path = "go2_description" |
| urdf_filename = "go2.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "go2.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class A1Loader(RobotLoader): |
| path = "a1_description" |
| urdf_filename = "a1.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "a1.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class G1Loader(RobotLoader): |
| path = "g1_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "g1_29dof_rev_1_0.urdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class G1WithHandsLoader(G1Loader): |
| path = "g1_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "g1_29dof_with_hand_rev_1_0.urdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class Z1Loader(RobotLoader): |
| path = "z1_description" |
| urdf_filename = "z1.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "z1.srdf" |
| ref_posture = "arm_up" |
|
|
|
|
| class B1Z1Loader(B1Loader): |
| urdf_filename = "b1-z1.urdf" |
| srdf_filename = "b1-z1.srdf" |
| ref_posture = "standing_with_arm_home" |
|
|
|
|
| class ANYmalLoader(RobotLoader): |
| path = "anymal_b_simple_description" |
| urdf_filename = "anymal.urdf" |
| srdf_filename = "anymal.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class ANYmalCLoader(RobotLoader): |
| path = "anymal_c_simple_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "anymal.urdf" |
| srdf_filename = "anymal.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class LaikagoLoader(RobotLoader): |
| path = "laikago_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "laikago.urdf" |
| free_flyer = True |
|
|
|
|
| class ANYmalKinovaLoader(ANYmalLoader): |
| urdf_filename = "anymal-kinova.urdf" |
| srdf_filename = "anymal-kinova.srdf" |
| ref_posture = "standing_with_arm_up" |
|
|
|
|
| class BaxterLoader(RobotLoader): |
| path = "baxter_description" |
| urdf_filename = "baxter.urdf" |
| srdf_filename = "baxter_manipulation.srdf" |
| urdf_subpath = "urdf" |
| srdf_subpath = "srdf" |
| ref_posture = "neutral" |
|
|
|
|
| class CassieLoader(RobotLoader): |
| path = "cassie_description" |
| if tuple(int(i) for i in pin.__version__.split(".")) > (2, 9, 1): |
| sdf_filename = "cassie.sdf" |
| else: |
| sdf_filename = "cassie_v2.sdf" |
| sdf_subpath = "robots" |
| srdf_filename = "cassie_v2.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
| sdf_root_link_name = "pelvis" |
| sdf_parent_guidance: typing.ClassVar = [ |
| "left-roll-op", |
| "left-yaw-op", |
| "left-pitch-op", |
| "left-knee-op", |
| "left-tarsus-spring-joint", |
| "left-foot-op", |
| "right-roll-op", |
| "right-yaw-op", |
| "right-pitch-op", |
| "right-knee-op", |
| "right-tarsus-spring-joint", |
| "right-foot-op", |
| ] |
|
|
|
|
| class AsrTwoDofLoader(RobotLoader): |
| path = "asr_twodof_description" |
| urdf_filename = "TwoDofs.urdf" |
| urdf_subpath = "urdf" |
|
|
|
|
| class HyQLoader(RobotLoader): |
| path = "hyq_description" |
| urdf_filename = "hyq_no_sensors.urdf" |
| srdf_filename = "hyq.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class BoltLoader(RobotLoader): |
| path = "bolt_description" |
| urdf_filename = "bolt.urdf" |
| srdf_filename = "bolt.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class BorinotLoader(RobotLoader): |
| path = "borinot_description" |
| urdf_subpath = "urdf" |
| srdf_subpath = "srdf" |
| urdf_filename = "borinot_flying_arm_2.urdf" |
| srdf_filename = "borinot_flying_arm_2.srdf" |
| ref_posture = "home" |
| free_flyer = True |
|
|
|
|
| class Solo8Loader(RobotLoader): |
| path = "solo_description" |
| urdf_filename = "solo.urdf" |
| srdf_filename = "solo.srdf" |
| ref_posture = "standing" |
| free_flyer = True |
|
|
|
|
| class Solo12Loader(Solo8Loader): |
| urdf_filename = "solo12.urdf" |
|
|
|
|
| class FingerEduLoader(RobotLoader): |
| path = "finger_edu_description" |
| urdf_filename = "finger_edu.urdf" |
| srdf_filename = "finger_edu.srdf" |
| ref_posture = "hanging" |
| free_flyer = False |
|
|
|
|
| class KinovaLoader(RobotLoader): |
| path = "kinova_description" |
| urdf_filename = "kinova.urdf" |
| srdf_filename = "kinova.srdf" |
| ref_posture = "arm_up" |
|
|
|
|
| class TiagoLoader(RobotLoader): |
| path = "tiago_description" |
| urdf_filename = "tiago.urdf" |
|
|
|
|
| class TiagoDualLoader(TiagoLoader): |
| urdf_filename = "tiago_dual.urdf" |
|
|
|
|
| class TiagoNoHandLoader(TiagoLoader): |
| urdf_filename = "tiago_no_hand.urdf" |
|
|
|
|
| class TiagoProLoader(RobotLoader): |
| path = "tiago_pro_description" |
| urdf_filename = "tiago_pro.urdf" |
|
|
|
|
| class ICubLoader(RobotLoader): |
| path = "icub_description" |
| urdf_filename = "icub.urdf" |
| srdf_filename = "icub.srdf" |
| free_flyer = True |
|
|
|
|
| class ICubReducedLoader(ICubLoader): |
| urdf_filename = "icub_reduced.urdf" |
|
|
|
|
| class AlexanderLoader(RobotLoader): |
| path = "alexander_description" |
| urdf_filename = "alexander_v1.lowerBodyOnly.urdf" |
| urdf_subpath = "urdf" |
| free_flyer = True |
| ref_posture = "default" |
| srdf_filename = "alexander.srdf" |
|
|
|
|
| class AlexNubHandsLoader(RobotLoader): |
| path = "alex_description" |
| urdf_filename = "alex_nub_hands.urdf" |
| urdf_subpath = "urdf" |
| ref_posture = "default" |
|
|
|
|
| class AlexPsyonicHandsLoader(RobotLoader): |
| path = "alex_description" |
| urdf_filename = "alex_psyonic_hands.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "alex_psyonic_hands.srdf" |
| ref_posture = "default" |
|
|
|
|
| class AlexSakeHandsLoader(RobotLoader): |
| path = "alex_description" |
| urdf_filename = "alex_sake_hands.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "alex_sake_hands.srdf" |
| ref_posture = "default" |
|
|
|
|
| class AllegroRightHandLoader(RobotLoader): |
| path = "allegro_hand_description" |
| urdf_filename = "allegro_right_hand.urdf" |
| urdf_subpath = "urdf" |
|
|
|
|
| class AllegroLeftHandLoader(RobotLoader): |
| path = "allegro_hand_description" |
| urdf_filename = "allegro_left_hand.urdf" |
| urdf_subpath = "urdf" |
|
|
|
|
| class UR3Loader(RobotLoader): |
| path = "ur_description" |
| urdf_filename = "ur3_robot.urdf" |
| urdf_subpath = "urdf" |
| ref_posture = None |
|
|
|
|
| class UR3GripperLoader(UR3Loader): |
| urdf_filename = "ur3_gripper.urdf" |
| srdf_filename = "ur3_gripper.srdf" |
|
|
|
|
| class UR3LimitedLoader(UR3Loader): |
| urdf_filename = "ur3_joint_limited_robot.urdf" |
|
|
|
|
| class UR5Loader(UR3Loader): |
| urdf_filename = "ur5_robot.urdf" |
| srdf_filename = "ur5.srdf" |
|
|
|
|
| class UR5GripperLoader(UR5Loader): |
| urdf_filename = "ur5_gripper.urdf" |
| srdf_filename = "ur5_gripper.srdf" |
|
|
|
|
| class UR5LimitedLoader(UR5Loader): |
| urdf_filename = "ur5_joint_limited_robot.urdf" |
|
|
|
|
| class UR10Loader(UR3Loader): |
| urdf_filename = "ur10_robot.urdf" |
|
|
|
|
| class UR10LimitedLoader(UR10Loader): |
| urdf_filename = "ur10_joint_limited_robot.urdf" |
|
|
|
|
| class HectorLoader(RobotLoader): |
| path = "hector_description" |
| urdf_filename = "quadrotor_base.urdf" |
| free_flyer = True |
|
|
|
|
| class HextiltLoader(RobotLoader): |
| path = "hextilt_description" |
| urdf_subpath = "urdf" |
| srdf_subpath = "srdf" |
| urdf_filename = "hextilt_flying_arm_5.urdf" |
| srdf_filename = "hextilt_flying_arm_5.srdf" |
| ref_posture = "home" |
| free_flyer = True |
|
|
|
|
| class DoublePendulumLoader(RobotLoader): |
| path = "double_pendulum_description" |
| urdf_filename = "double_pendulum.urdf" |
| urdf_subpath = "urdf" |
|
|
|
|
| class DoublePendulumContinuousLoader(DoublePendulumLoader): |
| urdf_filename = "double_pendulum_continuous.urdf" |
|
|
|
|
| class DoublePendulumSimpleLoader(DoublePendulumLoader): |
| urdf_filename = "double_pendulum_simple.urdf" |
|
|
|
|
| class QuadrupedLoader(RobotLoader): |
| path = "quadruped_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "quadruped.urdf" |
| free_flyer = True |
|
|
|
|
| class RomeoLoader(RobotLoader): |
| path = "romeo_description" |
| urdf_filename = "romeo.urdf" |
| urdf_subpath = "urdf" |
| free_flyer = True |
|
|
|
|
| class SimpleHumanoidLoader(RobotLoader): |
| path = "simple_humanoid_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "simple_humanoid.urdf" |
| srdf_filename = "simple_humanoid.srdf" |
| free_flyer = True |
|
|
|
|
| class SimpleHumanoidClassicalLoader(SimpleHumanoidLoader): |
| urdf_filename = "simple_humanoid_classical.urdf" |
| srdf_filename = "simple_humanoid_classical.srdf" |
|
|
|
|
| class IrisLoader(RobotLoader): |
| path = "iris_description" |
| urdf_filename = "iris_simple.urdf" |
| free_flyer = True |
|
|
|
|
| class SO100Loader(RobotLoader): |
| path = "so_arm_description" |
| urdf_filename = "so100.urdf" |
| urdf_subpath = "urdf" |
| free_flyer = True |
|
|
|
|
| class SO101Loader(RobotLoader): |
| path = "so_arm_description" |
| urdf_filename = "so101.urdf" |
| urdf_subpath = "urdf" |
| free_flyer = True |
|
|
|
|
| class PR2Loader(RobotLoader): |
| path = "pr2_description" |
| urdf_filename = "pr2.urdf" |
| urdf_subpath = "urdf" |
| srdf_filename = "pr2.srdf" |
| free_flyer = True |
| ref_posture = "tuck_left_arm" |
|
|
|
|
| class xArm7Loader(RobotLoader): |
| path = "xarm_description" |
| urdf_subpath = "urdf" |
| urdf_filename = "xarm7.urdf" |
| srdf_filename = "xarm7.srdf" |
| ref_posture = "home" |
|
|
|
|
| ROBOTS = { |
| "centauro": CentauroLoader, |
| "b1": B1Loader, |
| "bravo7_gripper": Bravo7GripperLoader, |
| "bravo7_no_ee": Bravo7NoEndEffectorLoader, |
| "falcon_bravo7_no_ee": FalconBravo7NoEndEffectorLoader, |
| "falcon_bravo7_gripper": FalconBravo7GripperLoader, |
| "bluevolta_bravo7_no_ee": BluevoltaBravo7NoEndEffectorLoader, |
| "bluevolta_bravo7_gripper": BluevoltaBravo7GripperLoader, |
| "go1": Go1Loader, |
| "go2": Go2Loader, |
| "a1": A1Loader, |
| "g1": G1Loader, |
| "g1_with_hands": G1WithHandsLoader, |
| "z1": Z1Loader, |
| "b1_z1": B1Z1Loader, |
| "anymal": ANYmalLoader, |
| "anymal_c": ANYmalCLoader, |
| "anymal_kinova": ANYmalKinovaLoader, |
| "asr_twodof": AsrTwoDofLoader, |
| "baxter": BaxterLoader, |
| "cassie": CassieLoader, |
| "double_pendulum": DoublePendulumLoader, |
| "double_pendulum_continuous": DoublePendulumContinuousLoader, |
| "double_pendulum_simple": DoublePendulumSimpleLoader, |
| "hector": HectorLoader, |
| "hextilt": HextiltLoader, |
| "human": HumanLoader, |
| "hyq": HyQLoader, |
| "icub": ICubLoader, |
| "icub_reduced": ICubReducedLoader, |
| "iris": IrisLoader, |
| "kinova": KinovaLoader, |
| "laikago": LaikagoLoader, |
| "panda": PandaLoader, |
| "panda_collision": PandaLoaderCollision, |
| "alexander": AlexanderLoader, |
| "alex_nub_hands": AlexNubHandsLoader, |
| "alex_psyonic_hands": AlexPsyonicHandsLoader, |
| "alex_sake_hands": AlexSakeHandsLoader, |
| "allegro_right_hand": AllegroRightHandLoader, |
| "allegro_left_hand": AllegroLeftHandLoader, |
| "quadruped": QuadrupedLoader, |
| "romeo": RomeoLoader, |
| "simple_humanoid": SimpleHumanoidLoader, |
| "simple_humanoid_classical": SimpleHumanoidClassicalLoader, |
| "bolt": BoltLoader, |
| "borinot": BorinotLoader, |
| "so100": SO100Loader, |
| "so101": SO101Loader, |
| "solo8": Solo8Loader, |
| "solo12": Solo12Loader, |
| "finger_edu": FingerEduLoader, |
| "pr2": PR2Loader, |
| "talos": TalosLoader, |
| "talos_box": TalosBoxLoader, |
| "talos_arm": TalosArmLoader, |
| "talos_legs": TalosLegsLoader, |
| "talos_full": TalosFullLoader, |
| "talos_full_box": TalosFullBoxLoader, |
| "tiago": TiagoLoader, |
| "tiago_dual": TiagoDualLoader, |
| "tiago_no_hand": TiagoNoHandLoader, |
| "tiago_pro": TiagoProLoader, |
| "ur3": UR5Loader, |
| "ur3_gripper": UR3GripperLoader, |
| "ur3_limited": UR3LimitedLoader, |
| "ur5": UR5Loader, |
| "ur5_gripper": UR5GripperLoader, |
| "ur5_limited": UR5LimitedLoader, |
| "ur10": UR10Loader, |
| "ur10_limited": UR10LimitedLoader, |
| "xarm7": xArm7Loader, |
| } |
|
|
|
|
| def loader(name, display=False, rootNodeName="", verbose=False): |
| """Load a robot by its name, and optionally display it in a viewer.""" |
| if name not in ROBOTS: |
| robots = ", ".join(sorted(ROBOTS.keys())) |
| raise ValueError(f"Robot '{name}' not found. Possible values are {robots}") |
| inst = ROBOTS[name](verbose=verbose) |
| if display: |
| if rootNodeName: |
| inst.robot.initViewer() |
| inst.robot.viz.loadViewerModel(rootNodeName=rootNodeName) |
| else: |
| inst.robot.initViewer(loadModel=True) |
| inst.robot.display(inst.robot.q0) |
| return inst |
|
|
|
|
| def load(name, display=False, rootNodeName="", verbose=False): |
| """Load a robot by its name, and optionnaly display it in a viewer.""" |
| return loader(name, display, rootNodeName, verbose).robot |
|
|
|
|
| def load_full(name, display=False, rootNodeName="", verbose=False): |
| """Load a robot by its name, optionnaly display it in a viewer, |
| and provide its q0 and paths.""" |
| inst = loader(name, display, rootNodeName, verbose) |
| return inst.robot, inst.robot.q0, inst.df_path, inst.srdf_path |
|
|
