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Added fixed models. #27

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merged 2 commits into from
Mar 15, 2020
Merged

Added fixed models. #27

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b39abb9
Added fixed models.
S-Dafarra Mar 12, 2020
9d035d2
Added also feet_fixed models.
S-Dafarra Mar 13, 2020
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
/build*/
*.user
14 changes: 14 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -39,13 +39,27 @@ SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_BINARY_DIR}/iCub/robots)
foreach (ROBOT_DIRNAME ${ROBOTS_NAMES})
set(ROBOT_NAME ${ROBOT_DIRNAME})
set(ROBOT_MODEL_CONFIG_FILE "${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config")
set(ROBOT_FIXED_MODEL_FOLDER "${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}_fixed")
set(ROBOT_FIXED_MODEL_CONFIG_FILE "${ROBOT_FIXED_MODEL_FOLDER}/model.config")
set(ROBOT_FIXED_MODEL_SDF_FILE "${ROBOT_FIXED_MODEL_FOLDER}/${ROBOT_NAME}_fixed.sdf")

if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS OR ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/model.config.in
${ROBOT_MODEL_CONFIG_FILE}
@ONLY)

file(MAKE_DIRECTORY ${ROBOT_FIXED_MODEL_FOLDER})

configure_file(${CMAKE_CURRENT_SOURCE_DIR}/fixed_model.config.in
${ROBOT_FIXED_MODEL_CONFIG_FILE}
@ONLY)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/fixed_model.sdf.in
${ROBOT_FIXED_MODEL_SDF_FILE}
@ONLY)
else()
# Cleanup is before ICUB_MODELS_INSTALL_ALL_GAZEBO_MODELS was set to ON
file(REMOVE ${ROBOT_MODEL_CONFIG_FILE})
file(REMOVE_RECURSE ${ROBOT_FIXED_MODEL_FOLDER})
endif()

endforeach()
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11 changes: 11 additions & 0 deletions fixed_model.config.in
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<?xml version="1.0" encoding="UTF-8"?>
<model>
<name>@ROBOT_NAME@_fixed (no hands)</name>
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That (no hands) is not ideal, but I see that you got it from the existing model.config.in, so if we remove it we will remove it from both.

<version>1.0</version>
<sdf version='1.5'>@ROBOT_NAME@_fixed.sdf</sdf>
<author>
<name>Stefano Dafarra</name>
<email>stefano.dafarra@iit.it</email>
</author>
<description>Model for the iCub humanoid robot, fixed on the air. For more information check icub.org</description>
</model>
14 changes: 14 additions & 0 deletions fixed_model.sdf.in
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<?xml version='1.0'?>
<sdf version='1.5'>
<model name="iCub_fixed_no_hands">
<include>
<uri>model://@ROBOT_NAME@</uri>
<pose>0.0 0 1.0 0 0 3.14</pose>
</include>

<joint name="fixed" type="fixed">
<parent>world</parent>
<child>iCub::base_link</child>
</joint>
</model>
</sdf>