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CMakeLists.txt
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CMakeLists.txt
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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
INCREASE_INERTIA_FOR_GAZEBO
ICUB_PLUS
ICUB_2_6
ICUB_2_7
ICUB_3_COLLISION_GEOM_MOD)
set(oneValueArgs YARP_ROBOT_NAME SIMMECHANICS_XML YAML_TEMPLATE CSV_TEMPLATE)
set(multiValueArgs)
cmake_parse_arguments(GIVTWO "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN})
# Fallback if no assigned collision geometry is requested
set(ASSIGNED_COLLISION_GEOMETRIES "")
# Generate the YAML file from the CMake configuration
if(GIVTWO_NO_BACKPACK)
set(CHEST_ASSIGNED_MASS 5.6380)
else()
set(CHEST_ASSIGNED_MASS 7.6380)
endif()
if(GIVTWO_INCREASE_INERTIA_FOR_GAZEBO)
set(GAZEBO_ASSIGNED_INERTIAS
"assignedInertias:
- linkName: r_hip_3
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_ankle_2
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_hip_3
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_ankle_2
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_shoulder_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_shoulder_2
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_shoulder_3
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_elbow_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_wrist_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: r_hand
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_shoulder_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_shoulder_2
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_shoulder_3
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_elbow_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_wrist_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: l_hand
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: neck_1
xx: 0.01
yy: 0.01
zz: 0.01
- linkName: neck_2
xx: 0.01
yy: 0.01
zz: 0.01
")
set(LOWERBODY_JOINT_DAMPING 1.0)
set(UPPERBODY_JOINT_DAMPING 1.0)
if(GIVTWO_ICUB_PLUS)
set(ASSIGNED_COLLISION_GEOMETRIES
"assignedCollisionGeometry:
- linkName: r_foot
geometricShape:
shape: box
size: 0.16 0.072 0.001
origin: \"0.0417858 0.00499780 0.000725075 3.14159264324 0.261799192098 0.0\"
- linkName: l_foot
geometricShape:
shape: box
size: 0.16 0.072 0.001
origin: \"0.0417858 -0.00499780 0.000725075 3.14159264324 0.261799192098 0.0\"
")
else()
set(ASSIGNED_COLLISION_GEOMETRIES
"assignedCollisionGeometry:
- linkName: r_foot
geometricShape:
shape: box
size: 0.16 0.072 0.001
origin: \"0.03 0.005 0.014 0.0 0.0 0.0\"
- linkName: l_foot
geometricShape:
shape: box
size: 0.16 0.072 0.001
origin: \"0.03 -0.005 0.014 0.0 0.0 0.0\"
")
endif()
else()
set(GAZEBO_ASSIGNED_INERTIAS "")
set(LOWERBODY_JOINT_DAMPING 0.223)
set(UPPERBODY_JOINT_DAMPING 0.06)
endif()
if (GIVTWO_ICUB_3_COLLISION_GEOM_MOD)
set(ASSIGNED_COLLISION_GEOMETRIES
"assignedCollisionGeometry:
- linkName: r_foot_front
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
- linkName: r_foot_rear
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
- linkName: l_foot_front
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
- linkName: l_foot_rear
geometricShape:
shape: box
size: 0.117 0.100 0.006
origin: \"0.0 0.0 0.003 0.0 0.0 0.0\"
")
endif()
# If we are generating the icub2.5+ model we need to add the xsens IMU, change the mesh folder
# and change the rotation axis list that need to be reversed.
if(GIVTWO_ICUB_PLUS)
set(MESH_FILE_FORMAT "filenameformatchangeext: \"package://iCub/meshes/simmechanics/2-5_plus/%s-binary.stl\"")
set(ANKLE_PITCH_ROM "-50,20")
set(CUSTOM_EPSILON "epsilon: 2e-7")
set(XSENS_IMU_FRAME
" - frameName: SCSYS_ROOT_LINK_XSENS_IMU
frameReferenceLink: root_link
exportedFrameName: root_link_imu_frame
")
set(FT_IMU_SENSORS "")
set(XSENS_IMU_SENSOR
" - frameName: SCSYS_ROOT_LINK_XSENS_IMU
linkName: root_link
exportFrameInURDF: Yes
sensorName: root_link_imu_acc
sensorType: \"accelerometer\"
updateRate: \"400\"
sensorBlobs:
- |
<plugin name=\"root_link_xsens_imu_plugin\" filename=\"libgazebo_yarp_imu.so\">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
</plugin>
")
set(REVERSE_ROTATION_AXIS
"reverseRotationAxis:
l_shoulder_roll
l_elbow
l_hip_yaw
l_knee
l_ankle_pitch
l_hip_pitch
r_ankle_roll
r_shoulder_pitch
r_shoulder_yaw
r_elbow
r_wrist_prosup
torso_pitch
neck_roll
r_wrist_yaw
")
else()
set(MESH_FILE_FORMAT "filenameformatchangeext: \"package://iCub/meshes/simmechanics/%s-binary.stl\"")
set(ANKLE_PITCH_ROM "-35,35")
set(CUSTOM_EPSILON "")
set(XSENS_IMU_FRAME "")
set(FT_IMU_SENSORS
" - frameName: SCSYS_R_UPPER_LEG_FT-IMU_3B11
linkName: r_hip_2
sensorName: r_upper_leg_ft_acc_3b11
sensorType: \"accelerometer\"
sensorBlobs: \"\"
- frameName: SCSYS_R_UPPER_LEG_FT-IMU_3B11
linkName: r_hip_2
sensorName: r_upper_leg_ft_gyro_3b11
sensorType: \"gyroscope\"
sensorBlobs: \"\"
- frameName: SCSYS_R_FOOT_FT-IMU_3B14
linkName: r_ankle_2
sensorName: r_foot_ft_acc_3b14
sensorType: \"accelerometer\"
sensorBlobs: \"\"
- frameName: SCSYS_R_FOOT_FT-IMU_3B14
linkName: r_ankle_2
sensorName: r_foot_ft_gyro_3b14
sensorType: \"gyroscope\"
sensorBlobs: \"\"
- frameName: SCSYS_L_UPPER_LEG_FT-IMU_3B12
linkName: l_hip_2
sensorName: l_upper_leg_ft_acc_3b12
sensorType: \"accelerometer\"
sensorBlobs: \"\"
- frameName: SCSYS_L_UPPER_LEG_FT-IMU_3B12
linkName: l_hip_2
sensorName: l_upper_leg_ft_gyro_3b12
sensorType: \"gyroscope\"
sensorBlobs: \"\"
- frameName: SCSYS_L_FOOT_FT-IMU_3B13
linkName: l_ankle_2
sensorName: l_foot_ft_acc_3b13
sensorType: \"accelerometer\"
sensorBlobs: \"\"
- frameName: SCSYS_L_FOOT_FT-IMU_3B13
linkName: l_ankle_2
sensorName: l_foot_ft_gyro_3b13
sensorType: \"gyroscope\"
sensorBlobs: \"\"
")
set(XSENS_IMU_SENSOR "")
set(REVERSE_ROTATION_AXIS
"reverseRotationAxis:
l_shoulder_roll
l_elbow
l_hip_yaw
l_knee
l_ankle_pitch
r_hip_pitch
r_ankle_roll
r_shoulder_pitch
r_shoulder_yaw
r_elbow
r_wrist_prosup
torso_pitch
neck_roll
r_wrist_yaw
")
endif()
# The ICUB_2_6 option is used to modify the iCub 2.5.5 model to
# add some details of the iCub 2.6 until a proper iCub 2.6 model
# is produced
set(RFE_ADDITIONAL_TRANSFORMATION "")
if(GIVTWO_ICUB_2_6 OR GIVTWO_ICUB_2_7)
set(RFE_ADDITIONAL_TRANSFORMATION
"additionalTransformation: [0.0323779, -0.0139537, 0.072, -3.14159265358979, 0, -1.5707963267949]")
endif()
# The ICUB_2_7 option is used to modify the iCub 2.5.5 model to
# add some details of the iCub 2.7 until a proper iCub 2.7 model
# is produced
set(ADDITIONAL_XML_BLOBS "")
if(GIVTWO_ICUB_2_7)
set(ADDITIONAL_XML_BLOBS
" - |
<link name=\"root_link_imu_frame\"/>
- |
<joint name=\"root_link_imu_frame_fixed_joint\" type=\"fixed\">
<origin xyz=\"0.08515499999999998 -0.011000000000000022 -0.11230899999999999\" rpy=\"-2.0943952105869323 0 -1.5707963267948963\"/>
<parent link=\"root_link\"/>
<child link=\"root_link_imu_frame\"/>
</joint>
- |
<gazebo reference=\"root_link\">
<sensor name=\"root_link_imu_acc\" type=\"imu\">
<always_on>1</always_on>
<update_rate>400</update_rate>
<pose>0.08515499999999998 -0.011000000000000022 -0.11230899999999999 -2.0943952105869323 -3.885780586188048e-16 -1.5707963267948963</pose>
<plugin name=\"root_link_xsens_imu_plugin\" filename=\"libgazebo_yarp_imu.so\">
<yarpConfigurationFile>model://iCub/conf/gazebo_icub_xsens_inertial.ini</yarpConfigurationFile>
</plugin>
</sensor>
</gazebo>")
endif()
set(GENERATED_YAML_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${GIVTWO_YARP_ROBOT_NAME}.yaml)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_YAML_TEMPLATE}
${GENERATED_YAML_LOCATION}
@ONLY)
set(GENERATED_CSV_LOCATION ${CMAKE_CURRENT_BINARY_DIR}/${GIVTWO_YARP_ROBOT_NAME}.csv)
configure_file(${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_CSV_TEMPLATE}
${GENERATED_CSV_LOCATION}
@ONLY)
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 ${GENERATED_YAML_LOCATION}
--csv-joints ${GENERATED_CSV_LOCATION}
--outputfile ${GIVTWO_YARP_ROBOT_NAME}.urdf
MAIN_DEPENDENCY "${CMAKE_CURRENT_SOURCE_DIR}/data/${GIVTWO_SIMMECHANICS_XML}"
DEPENDS "${GENERATED_YAML_LOCATION}"
"${GENERATED_CSV_LOCATION}")
# If we are generating a model without backpack, we need to tweak the COM of the chest link,
# and we have a custom python script for this
if(${GIVTWO_NO_BACKPACK})
# instead of just copying, we also modify the com on the fly
add_custom_command(OUTPUT "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf"
MAIN_DEPENDENCY "${GIVTWO_YARP_ROBOT_NAME}.urdf"
COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/adjust_com_for_model_without_backpack.py
--input_urdf "${GIVTWO_YARP_ROBOT_NAME}.urdf"
--output_urdf "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf")
else()
add_custom_command(OUTPUT "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf"
MAIN_DEPENDENCY "${GIVTWO_YARP_ROBOT_NAME}.urdf"
COMMAND ${CMAKE_COMMAND} -E
copy "${GIVTWO_YARP_ROBOT_NAME}.urdf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf")
endif()
list(APPEND model-simmechanics-generated-models "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/${GIVTWO_YARP_ROBOT_NAME}/model.urdf")
endmacro()
set(model-simmechanics-generated-models "")
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_5
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
INCREASE_INERTIA_FOR_GAZEBO)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_6
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
INCREASE_INERTIA_FOR_GAZEBO ICUB_2_6)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_7
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
INCREASE_INERTIA_FOR_GAZEBO ICUB_2_7)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV3
SIMMECHANICS_XML "icub3/ICUB3_ALL_SIM_MODEL.xml"
YAML_TEMPLATE "icub3/ICUB_3_all_options_gazebo.yaml.in"
CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv"
ICUB_3_COLLISION_GEOM_MOD)
generate_icub_simmechanics(YARP_ROBOT_NAME left_hand_mk3
SIMMECHANICS_XML "components/left_hand_mk3/SIM_LEFT_HAND.xml"
YAML_TEMPLATE "components/left_hand_mk3/simmechanics2urdf_configfile.yaml"
CSV_TEMPLATE "components/left_hand_mk3/simmechanics2urdf_joints_configfile.csv")
generate_icub_simmechanics(YARP_ROBOT_NAME left_wrist_mk2
SIMMECHANICS_XML "components/left_wrist_mk2/SIM_L_WRIST.xml"
YAML_TEMPLATE "components/left_wrist_mk2/simmechanics2urdf_configfile.yaml"
CSV_TEMPLATE "components/left_wrist_mk2/simmechanics2urdf_joints_configfile.csv")
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGazeboV2_5_plus
SIMMECHANICS_XML "icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
INCREASE_INERTIA_FOR_GAZEBO ICUB_PLUS)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova04_plus
SIMMECHANICS_XML "icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
ICUB_PLUS)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova02
SIMMECHANICS_XML "icub2_5/ICUB_2-5_plus_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
ICUB_PLUS)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova04
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in")
generate_icub_simmechanics(YARP_ROBOT_NAME iCubDarmstadt01
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
NO_BACKPACK)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova01
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in"
NO_BACKPACK)
generate_icub_simmechanics(YARP_ROBOT_NAME iCubGenova09
SIMMECHANICS_XML "icub3/ICUB3_ALL_SIM_MODEL.xml"
YAML_TEMPLATE "icub3/ICUB_3_all_options.yaml"
CSV_TEMPLATE "icub3/ICUB_3_joint_all_parameters.csv")
generate_icub_simmechanics(YARP_ROBOT_NAME iCubErzelli02
SIMMECHANICS_XML "icub2_5/ICUB_2-5_BB_SIM_MODEL.xml"
YAML_TEMPLATE "icub2_5/ICUB_2-5_BB_simmechanics_options.yaml.in"
CSV_TEMPLATE "icub2_5/ICUB_2-5_BB_joint_parameters.csv.in")
add_custom_target(generate-models-simmechanics
ALL
DEPENDS ${model-simmechanics-generated-models})
# Copy the meshes in the meshes/simmechanics directory
add_custom_command(TARGET generate-models-simmechanics
POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub2_5/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub3/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/icub3/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf_icub3"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_wrist_mk2/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_wrist_mk2/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf_left_wrist_mk2"
COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_wrist_mk2/model.config" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/left_wrist_mk2/."
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_hand_mk3/meshes" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes"
COMMAND ${CMAKE_COMMAND} -E copy_directory "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_hand_mk3/conf" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/conf_left_hand_mk3"
COMMAND ${CMAKE_COMMAND} -E copy "${CMAKE_CURRENT_SOURCE_DIR}/data/components/left_hand_mk3/model.config" "${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/robots/left_hand_mk3/."
COMMENT "Copying Simmechanics meshes")
# Convert meshes from ASCII to binary
add_custom_command(TARGET generate-models-simmechanics
POST_BUILD
WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
COMMAND ruby ./scripts/convertSTL.rb ${CMAKE_BINARY_DIR}/${BUILD_PREFIX}/meshes/simmechanics/*.stl
COMMENT "Converting Simmechanics meshes to binary")