diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py index a4d7b620..e759f239 100644 --- a/python/example_robot_data/robots_loader.py +++ b/python/example_robot_data/robots_loader.py @@ -387,6 +387,18 @@ class PandaLoader(RobotLoader): urdf_subpath = "urdf" +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" @@ -489,6 +501,8 @@ class IrisLoader(RobotLoader): "kinova": KinovaLoader, "laikago": LaikagoLoader, "panda": PandaLoader, + "allegro_right_hand": AllegroRightHandLoader, + "allegro_left_hand": AllegroLeftHandLoader, "romeo": RomeoLoader, "simple_humanoid": SimpleHumanoidLoader, "simple_humanoid_classical": SimpleHumanoidClassicalLoader, diff --git a/robots/allegro_hand_description/meshes/base_link.STL b/robots/allegro_hand_description/meshes/base_link.STL new file mode 100644 index 00000000..5901473f Binary files /dev/null and b/robots/allegro_hand_description/meshes/base_link.STL differ diff --git a/robots/allegro_hand_description/meshes/base_link_left.STL b/robots/allegro_hand_description/meshes/base_link_left.STL new file mode 100644 index 00000000..365d7e7f Binary files /dev/null and b/robots/allegro_hand_description/meshes/base_link_left.STL differ diff --git a/robots/allegro_hand_description/meshes/link_0.0.STL b/robots/allegro_hand_description/meshes/link_0.0.STL new file mode 100755 index 00000000..6db5cdb1 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_0.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_1.0.STL b/robots/allegro_hand_description/meshes/link_1.0.STL new file mode 100644 index 00000000..84e43514 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_1.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_12.0_left.STL b/robots/allegro_hand_description/meshes/link_12.0_left.STL new file mode 100644 index 00000000..aeaa37a1 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_12.0_left.STL differ diff --git a/robots/allegro_hand_description/meshes/link_12.0_right.STL b/robots/allegro_hand_description/meshes/link_12.0_right.STL new file mode 100755 index 00000000..7eecece5 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_12.0_right.STL differ diff --git a/robots/allegro_hand_description/meshes/link_13.0.STL b/robots/allegro_hand_description/meshes/link_13.0.STL new file mode 100644 index 00000000..3ca4ec36 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_13.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_14.0.STL b/robots/allegro_hand_description/meshes/link_14.0.STL new file mode 100644 index 00000000..73d6f695 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_14.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_15.0.STL b/robots/allegro_hand_description/meshes/link_15.0.STL new file mode 100644 index 00000000..e16bff45 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_15.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_15.0_tip.STL b/robots/allegro_hand_description/meshes/link_15.0_tip.STL new file mode 100644 index 00000000..9b1d8119 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_15.0_tip.STL differ diff --git a/robots/allegro_hand_description/meshes/link_2.0.STL b/robots/allegro_hand_description/meshes/link_2.0.STL new file mode 100644 index 00000000..20a911a4 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_2.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_3.0.STL b/robots/allegro_hand_description/meshes/link_3.0.STL new file mode 100644 index 00000000..a1fffee0 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_3.0.STL differ diff --git a/robots/allegro_hand_description/meshes/link_3.0_tip.STL b/robots/allegro_hand_description/meshes/link_3.0_tip.STL new file mode 100644 index 00000000..b7d9be8a Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_3.0_tip.STL differ diff --git a/robots/allegro_hand_description/meshes/link_4.0.STL b/robots/allegro_hand_description/meshes/link_4.0.STL new file mode 100644 index 00000000..ae75f704 Binary files /dev/null and b/robots/allegro_hand_description/meshes/link_4.0.STL differ diff --git a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf new file mode 100644 index 00000000..ddcd1069 --- /dev/null +++ b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf @@ -0,0 +1,509 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/robots/allegro_hand_description/urdf/allegro_right_hand.urdf b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf new file mode 100644 index 00000000..c5d068d7 --- /dev/null +++ b/robots/allegro_hand_description/urdf/allegro_right_hand.urdf @@ -0,0 +1,503 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/unittest/test_load.py b/unittest/test_load.py index 7e1d4150..813ce080 100755 --- a/unittest/test_load.py +++ b/unittest/test_load.py @@ -86,6 +86,12 @@ def test_kinova(self): def test_panda(self): self.check("panda", 9, 9) + def test_allegro_right(self): + self.check("allegro_right_hand", 16, 16) + + def test_allegro_left(self): + self.check("allegro_left_hand", 16, 16) + def test_romeo(self): self.check("romeo", 62, 61)