diff --git a/.gitignore b/.gitignore
index 3f8dca336bc86e53629624549564af2e29ad1ac0..4adbfaafeab638556e68a4a2452158ad162d64ac 100644
--- a/.gitignore
+++ b/.gitignore
@@ -2,4 +2,4 @@
*.pyd
*.pyo
build*
-*~
\ No newline at end of file
+*~
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index a8a9591563df50e034ddc20d423076afe9a33c96..5eda2af0b96badc8583a548c04bfd87b3203d844 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -496,7 +496,6 @@ ROBOTS = {
"simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader,
"bolt": BoltLoader,
- "solo": SoloLoader,
"solo8": Solo8Loader,
"solo12": Solo12Loader,
"finger_edu": FingerEduLoader,
@@ -544,6 +543,7 @@ def load(name, display=False, rootNodeName=""):
def load_full(name, display=False, rootNodeName=""):
- """Load a robot by its name, optionnaly display it in a viewer, and provide its q0 and paths."""
+ """Load a robot by its name, optionnaly display it in a viewer,
+ and provide its q0 and paths."""
inst = loader(name, display, rootNodeName)
return inst.robot, inst.robot.q0, inst.df_path, inst.srdf_path
diff --git a/robots/a1_description/meshes/calf.dae b/robots/a1_description/meshes/calf.dae
index ac4b964bb3a0874319b272e843332c896139f328..07fd1ab0baebfa8ac56c1667c92888fe97bbaa95 100644
--- a/robots/a1_description/meshes/calf.dae
+++ b/robots/a1_description/meshes/calf.dae
@@ -159,4 +159,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/hip.dae b/robots/a1_description/meshes/hip.dae
index 134ecef81ac2c02585d5051bfe1d856efa7436b0..6f47032774ff4ac56cf98605ddf3483a4a6918dc 100644
--- a/robots/a1_description/meshes/hip.dae
+++ b/robots/a1_description/meshes/hip.dae
@@ -159,4 +159,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/thigh.dae b/robots/a1_description/meshes/thigh.dae
index a867d6a7d0a6977a466bdda7b83c3abd18f12efe..c61fce7c3adc8f600cf05a2110064e4f26f3b1a1 100644
--- a/robots/a1_description/meshes/thigh.dae
+++ b/robots/a1_description/meshes/thigh.dae
@@ -159,4 +159,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/thigh_mirror.dae b/robots/a1_description/meshes/thigh_mirror.dae
index 8ca98eecd51f6f5d94d4d37dda1f246b45c2f364..4b83a59908cdd48c0b1d120beea43397b1712c77 100644
--- a/robots/a1_description/meshes/thigh_mirror.dae
+++ b/robots/a1_description/meshes/thigh_mirror.dae
@@ -159,4 +159,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/a1_description/meshes/trunk.dae b/robots/a1_description/meshes/trunk.dae
index 351f0c50f3692b3d64518fd1bc9fc8d425dda5b7..3c5f2658a796c45156ab40708e2633fec7f67bfa 100644
--- a/robots/a1_description/meshes/trunk.dae
+++ b/robots/a1_description/meshes/trunk.dae
@@ -185,4 +185,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
index a807f0531cb0e3551b96253c33308a78504fba68..a913aed94ec7f647ae858f72d5a33132057d4082 100644
--- a/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal-kinova.urdf
@@ -3,7 +3,7 @@
<!-- | This URDF was edited to fix inertias. | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
-<robot name="anymal"
+<robot name="anymal"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
@@ -1377,4 +1377,3 @@
</actuator>
</transmission>
</robot>
-
diff --git a/robots/anymal_b_simple_description/robots/anymal.urdf b/robots/anymal_b_simple_description/robots/anymal.urdf
index 0613b002ca986e4fcd626a49ea62ca51b5be0312..b2c7d860c4886902bad8477d85f967d4ef8bf73c 100644
--- a/robots/anymal_b_simple_description/robots/anymal.urdf
+++ b/robots/anymal_b_simple_description/robots/anymal.urdf
@@ -3,7 +3,7 @@
<!-- | This URDF was edited to fix inertias. | -->
<!-- =================================================================================== -->
<!-- This file contains the description of the ANYmal B robot. -->
-<robot name="anymal"
+<robot name="anymal"
xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="black">
<color rgba="0.0 0.0 0.0 1.0"/>
@@ -877,4 +877,3 @@
<origin rpy="0 3.14159265359 0" xyz="0.038 0.06245 0.1837"/>
</joint>
</robot>
-
diff --git a/robots/anymal_b_simple_description/srdf/anymal.srdf b/robots/anymal_b_simple_description/srdf/anymal.srdf
index 7d24a158318931630a5cf287ef1d918d00946dbe..a9c8300bb16c3431fc80a873e94add577fae75a2 100644
--- a/robots/anymal_b_simple_description/srdf/anymal.srdf
+++ b/robots/anymal_b_simple_description/srdf/anymal.srdf
@@ -108,7 +108,7 @@
<disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
<disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
<disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
-
+
<disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" />
<disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" />
<disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" />
@@ -137,7 +137,7 @@
<disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" />
<disable_collisions link1="base" link2="imu_link" reason="Adjacent" />
-
+
<!-- Need to check these 4 ? there may be auto-collisions ... -->
<disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" />
<disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
diff --git a/robots/asr_twodof_description/LICENSE b/robots/asr_twodof_description/LICENSE
index 51da22b489cd50dba5ca55ee35924eb38aff5ee9..e4f9ab1e4bbeb316a2e1ae02e1cdd42be4d9c523 100644
--- a/robots/asr_twodof_description/LICENSE
+++ b/robots/asr_twodof_description/LICENSE
@@ -21,4 +21,4 @@ DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE
-USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
+USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/robots/asr_twodof_description/README.md b/robots/asr_twodof_description/README.md
index 404cee147f219343577603805c94a0c20df7377f..068748c60645b50020a4068a8ed6b4946065af91 100644
--- a/robots/asr_twodof_description/README.md
+++ b/robots/asr_twodof_description/README.md
@@ -6,4 +6,4 @@ qbmove is a muscle-like building block actuator, small and lightweight, and base
upstream: https://bitbucket.org/qbrobotics/qbmove-ros/src/production-melodic/qb_move_description/
-license: BSD
\ No newline at end of file
+license: BSD
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE
index 98e7c51dab0b7e84dca7a8d9e4b5aba7e4b3693d..23b3fa2bf485c62eaa0b6ba511e28722ea62402f 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE
@@ -97,4 +97,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE
index 6241f6f308230ea23c6ef2cb9e2b98817c75e354..608ad36a0d9b1b6e05449900450034e4c8d1c155 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE
@@ -97,4 +97,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/extended_narrow.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/extended_narrow.DAE
index acfe21817049f88229234034fba8e80762f8e86f..99940ad9df36d5114c89c0e6fa41370d044a82f0 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/extended_narrow.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/extended_narrow.DAE
@@ -101,4 +101,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/extended_wide.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/extended_wide.DAE
index f3897a8724df0ae1c826e50b9d81a073e39986ee..f1a7d1976046892290d6ab4072d7dcd57f14a743 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/extended_wide.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/extended_wide.DAE
@@ -101,4 +101,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/half_round_tip.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/half_round_tip.DAE
index 55c4640e3f9f11af4c9a3c6b4e406269572a000f..774bd99f833360058c3390dcf6dfc704a5493d7f 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/half_round_tip.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/half_round_tip.DAE
@@ -97,4 +97,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/paddle_tip.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/paddle_tip.DAE
index 906bc455579734a6e4463472d844c124d6c22287..f6553db0fbc57fb15cb92f1799119bcc7c377d72 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/paddle_tip.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/paddle_tip.DAE
@@ -97,4 +97,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/standard_narrow.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/standard_narrow.DAE
index 473e1e255ca866ebfca942d346f0056a18e48495..19af1ec1cbe719599abc96d75b27d774649281ee 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/standard_narrow.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/standard_narrow.DAE
@@ -97,4 +97,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/electric_gripper/fingers/standard_wide.DAE b/robots/baxter_description/meshes/electric_gripper/fingers/standard_wide.DAE
index 4cbd91db66cf70ec119ae796201b8f063fb98c7a..eed05a782930284d3a74318a2ba294920433ab25 100644
--- a/robots/baxter_description/meshes/electric_gripper/fingers/standard_wide.DAE
+++ b/robots/baxter_description/meshes/electric_gripper/fingers/standard_wide.DAE
@@ -101,4 +101,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/baxter_description/meshes/torso/base_link_collision.DAE b/robots/baxter_description/meshes/torso/base_link_collision.DAE
index 1f822581a696e7fd21b8f68a27b577950abf53bd..4774a0968ff21a12c1ee5cce70bab0e4c42db3c4 100644
--- a/robots/baxter_description/meshes/torso/base_link_collision.DAE
+++ b/robots/baxter_description/meshes/torso/base_link_collision.DAE
@@ -59,4 +59,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/cassie_description/robots/cassie.sdf b/robots/cassie_description/robots/cassie.sdf
index 8436b9fd0b303cf5f1041ac2adc27fe0571f5ad0..af0d2069d1fc68715c43180e1b78345cf99a99a8 100644
--- a/robots/cassie_description/robots/cassie.sdf
+++ b/robots/cassie_description/robots/cassie.sdf
@@ -164,7 +164,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -254,7 +254,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-hip-pitch_collision">
<pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
@@ -353,7 +353,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -391,7 +391,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -513,7 +513,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-shin_collision">
<pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
@@ -566,7 +566,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-tarsus_collision">
<pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
@@ -617,7 +617,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -657,7 +657,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -699,7 +699,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -735,7 +735,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-foot_collision">
<pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
@@ -842,7 +842,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -933,7 +933,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -1024,7 +1024,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-hip-pitch_collision">
<pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
@@ -1124,7 +1124,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -1163,7 +1163,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -1288,7 +1288,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-shin_collision">
<pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
@@ -1342,7 +1342,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-tarsus_collision">
<pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
@@ -1394,7 +1394,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -1434,7 +1434,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -1477,7 +1477,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -1513,7 +1513,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-foot_collision">
<pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
diff --git a/robots/cassie_description/robots/cassie_v2.sdf b/robots/cassie_description/robots/cassie_v2.sdf
index 3c5c7f530cc494f150246cdc03aacb6ba69ac95e..9f85ab75b35c93b6f41cf822dbdb5c90fa73f899 100644
--- a/robots/cassie_description/robots/cassie_v2.sdf
+++ b/robots/cassie_description/robots/cassie_v2.sdf
@@ -115,7 +115,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -156,7 +156,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-hip-pitch_collision">
<pose frame="">0.053 0.0 -0.0379 0 1.57 0</pose>
@@ -206,7 +206,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -244,7 +244,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -285,7 +285,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-shin_collision">
<pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
@@ -337,7 +337,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-tarsus_collision">
<pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
@@ -387,7 +387,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -426,7 +426,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -467,7 +467,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -502,7 +502,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="left-foot_collision">
<pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
@@ -560,7 +560,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -602,7 +602,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -644,7 +644,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-hip-pitch_collision">
<pose frame="">0.053 0.0 0.0379 0 1.57 0</pose>
@@ -695,7 +695,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -734,7 +734,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -776,7 +776,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-shin_collision">
<pose frame="">0.22 0.01 0.0 0 1.57 0</pose>
@@ -829,7 +829,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-tarsus_collision">
<pose frame="">0.21 -0.03 0.0 0 1.57 0</pose>
@@ -880,7 +880,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -919,7 +919,7 @@
</geometry>
<material>
<ambient>0.35 0.35 0.35 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -961,7 +961,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
</link>
@@ -996,7 +996,7 @@
</geometry>
<material>
<ambient>0.75 0.75 0.75 1</ambient>
- </material>
+ </material>
</visual>
<collision name="right-foot_collision">
<pose frame="">0.01 0.045 0 0 1.57 -0.695</pose>
diff --git a/robots/cassie_description/srdf/cassie_v2.srdf b/robots/cassie_description/srdf/cassie_v2.srdf
index 53f843ab8b7597e8c229f08c95b41af28790580c..442c4df01c44f0cd3f2ddbcfb707cb192a16eae8 100644
--- a/robots/cassie_description/srdf/cassie_v2.srdf
+++ b/robots/cassie_description/srdf/cassie_v2.srdf
@@ -15,9 +15,9 @@
<joint name="left-crank-rod-joint1" />
<joint name="left-foot-op" />
<joint name="right-roll-op" />
- <joint name="right-yaw-op" />
- <joint name="right-pitch-op" />
- <joint name="right-knee-op" />
+ <joint name="right-yaw-op" />
+ <joint name="right-pitch-op" />
+ <joint name="right-knee-op" />
<joint name="right-knee-shin-joint" />
<joint name="right-shin-tarsus-joint" />
<joint name="right-tarsus-spring-joint" />
diff --git a/robots/hector_description/meshes/quadrotor/quadrotor_base.dae b/robots/hector_description/meshes/quadrotor/quadrotor_base.dae
index ab62cd749e95359df4bc97fb300c8b93e8780a34..0065209ee23c18a0d6d18a940d85aefb524d0fd2 100644
--- a/robots/hector_description/meshes/quadrotor/quadrotor_base.dae
+++ b/robots/hector_description/meshes/quadrotor/quadrotor_base.dae
@@ -232,4 +232,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/hyq_description/srdf/hyq.srdf b/robots/hyq_description/srdf/hyq.srdf
index 0889825b6eefbfbae4cf241a1442f518b326353e..2a607d6c890d6eae9403ba6c51c28eeede8c3969 100644
--- a/robots/hyq_description/srdf/hyq.srdf
+++ b/robots/hyq_description/srdf/hyq.srdf
@@ -96,7 +96,7 @@
<joint name="rh_hfe_joint" value="-0.75" />
<joint name="rh_kfe_joint" value="1.5" />
</group_state>
-
+
<disable_collisions link1="lf_hipassembly" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="lh_hipassembly" link2="trunk" reason="Adjacent"/>
<disable_collisions link1="rf_hipassembly" link2="trunk" reason="Adjacent"/>
@@ -113,7 +113,7 @@
<disable_collisions link1="lh_lowerleg" link2="lh_foot" reason="Adjacent"/>
<disable_collisions link1="rf_lowerleg" link2="rf_foot" reason="Adjacent"/>
<disable_collisions link1="rh_lowerleg" link2="rh_foot" reason="Adjacent"/>
-
+
<disable_collisions link1="lf_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="lh_hipassembly" reason="Never" />
@@ -122,7 +122,7 @@
<disable_collisions link1="lf_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_upperleg" reason="Never" />
<disable_collisions link1="lf_hipassembly" link2="rh_lowerleg" reason="Never" />
-
+
<disable_collisions link1="rf_hipassembly" link2="lf_upperleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="lh_hipassembly" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="lh_upperleg" reason="Never" />
@@ -130,7 +130,7 @@
<disable_collisions link1="rf_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="rh_upperleg" reason="Never" />
<disable_collisions link1="rf_hipassembly" link2="rh_lowerleg" reason="Never" />
-
+
<disable_collisions link1="lh_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rf_lowerleg" reason="Never" />
@@ -138,7 +138,7 @@
<disable_collisions link1="lh_hipassembly" link2="lf_lowerleg" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rh_hipassembly" reason="Never" />
<disable_collisions link1="lh_hipassembly" link2="rh_upperleg" reason="Never" />
-
+
<disable_collisions link1="rh_hipassembly" link2="rf_hipassembly" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="rf_upperleg" reason="Never" />
<disable_collisions link1="rh_hipassembly" link2="rf_lowerleg" reason="Never" />
diff --git a/robots/iris_description/meshes/iris_prop_ccw.dae b/robots/iris_description/meshes/iris_prop_ccw.dae
index eb6fe937f9711845f0eace482cacfc955a3e0048..2952264d7823293f70a39b52dc4c569968f06e1f 100644
--- a/robots/iris_description/meshes/iris_prop_ccw.dae
+++ b/robots/iris_description/meshes/iris_prop_ccw.dae
@@ -157,4 +157,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/iris_description/meshes/iris_prop_cw.dae b/robots/iris_description/meshes/iris_prop_cw.dae
index f939111fdb1820b8bea4276f5c736d5ee5166530..9144384ef6f45f5ce149d35c5eb3bdc7c396b305 100644
--- a/robots/iris_description/meshes/iris_prop_cw.dae
+++ b/robots/iris_description/meshes/iris_prop_cw.dae
@@ -157,4 +157,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/arm.dae b/robots/kinova_description/meshes/arm.dae
index a7f4ff187b075cd851caab3e2231d98966fd6a05..7774e3718775b417b2a2c08689f7a470a9b77eb2 100644
--- a/robots/kinova_description/meshes/arm.dae
+++ b/robots/kinova_description/meshes/arm.dae
@@ -89,4 +89,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/base.dae b/robots/kinova_description/meshes/base.dae
index 316fa2cbc2018b843e8495957d653616e7d5b43e..5a9afbadc04bdb6fbc272e02cecfc7d3d9bc815c 100644
--- a/robots/kinova_description/meshes/base.dae
+++ b/robots/kinova_description/meshes/base.dae
@@ -89,4 +89,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/finger_distal.dae b/robots/kinova_description/meshes/finger_distal.dae
index 644661f3f3b0a918d1c243d3a2fe6a3917ca8ad7..538b9630118d48b9eb1b0039aee55017e7fbeffc 100644
--- a/robots/kinova_description/meshes/finger_distal.dae
+++ b/robots/kinova_description/meshes/finger_distal.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/finger_proximal.dae b/robots/kinova_description/meshes/finger_proximal.dae
index 0eb6c819053e986d4afe961775c8d76640367781..bb47f7aa6471105f3a60fc1bb951e207fcfb799e 100644
--- a/robots/kinova_description/meshes/finger_proximal.dae
+++ b/robots/kinova_description/meshes/finger_proximal.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/forearm.dae b/robots/kinova_description/meshes/forearm.dae
index 0e3771392fa3f3911f138515c1661d329410f394..bb42fe010aaf00f01fb2cfb4b479857d203bcce6 100644
--- a/robots/kinova_description/meshes/forearm.dae
+++ b/robots/kinova_description/meshes/forearm.dae
@@ -89,4 +89,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/hand_2finger.dae b/robots/kinova_description/meshes/hand_2finger.dae
index c12d6bc063ee4b8a6a0dcf1f306f4a4d10561dd1..d7322e00ea1caccddfcb09c77f4734aa69e55450 100644
--- a/robots/kinova_description/meshes/hand_2finger.dae
+++ b/robots/kinova_description/meshes/hand_2finger.dae
@@ -56,4 +56,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae b/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae
index a76fe9a24b86e99feac998dbf02100d937b0565b..14aa57e6c4df05d18e24f940132f5fc47fdfae1d 100644
--- a/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae
+++ b/robots/kinova_description/meshes/jaco_front_hatch_support_v2.dae
@@ -56,4 +56,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/jaco_mounting_block.dae b/robots/kinova_description/meshes/jaco_mounting_block.dae
index 1d0044b5fb44dd47bc840b1ba224ebbfbe7ba092..1e30ffe700122946b6ec8436fff63edc1d4e53a1 100644
--- a/robots/kinova_description/meshes/jaco_mounting_block.dae
+++ b/robots/kinova_description/meshes/jaco_mounting_block.dae
@@ -56,4 +56,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/ring_big.dae b/robots/kinova_description/meshes/ring_big.dae
index 3e2c022efefb323403fa325f77f91293da1a2aae..93e33e43008c04ab24ea276f5fc404964ec20619 100644
--- a/robots/kinova_description/meshes/ring_big.dae
+++ b/robots/kinova_description/meshes/ring_big.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/ring_small.dae b/robots/kinova_description/meshes/ring_small.dae
index d7f4e9a2a9e9def94221cdc1a67c4961956d246c..479f941b8602afaf495c209bf1f6c1f7ea167d49 100644
--- a/robots/kinova_description/meshes/ring_small.dae
+++ b/robots/kinova_description/meshes/ring_small.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/shoulder.dae b/robots/kinova_description/meshes/shoulder.dae
index ddc64fbd3865ba0e1f4615d08316a4efe6bb11be..212ec75e10d0989f50a9297c9cf22bc4ea96bcd9 100644
--- a/robots/kinova_description/meshes/shoulder.dae
+++ b/robots/kinova_description/meshes/shoulder.dae
@@ -89,4 +89,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/wrist_spherical_1.dae b/robots/kinova_description/meshes/wrist_spherical_1.dae
index 19a1914d4c9387ff1c49b9e7b48ac377701b2395..bac002a1001e78e35115b3ce32f47cb4585ea797 100644
--- a/robots/kinova_description/meshes/wrist_spherical_1.dae
+++ b/robots/kinova_description/meshes/wrist_spherical_1.dae
@@ -56,4 +56,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/kinova_description/meshes/wrist_spherical_2.dae b/robots/kinova_description/meshes/wrist_spherical_2.dae
index b7bade01483049203bc2313763fc533772ffe96b..26c58c82f82e6ecaadc71c705cd4e609a351a959 100644
--- a/robots/kinova_description/meshes/wrist_spherical_2.dae
+++ b/robots/kinova_description/meshes/wrist_spherical_2.dae
@@ -56,4 +56,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/laikago_description/meshes/calf.mtl b/robots/laikago_description/meshes/calf.mtl
index 7a69e5af67b922223b0fbebdb120b8d7ca565dbd..cfec81e54b82f290c7fcdffab1f1d183dda1ab62 100644
--- a/robots/laikago_description/meshes/calf.mtl
+++ b/robots/laikago_description/meshes/calf.mtl
@@ -10,4 +10,3 @@ Ks 0.500000 0.500000 0.500000
Tr 1.000000
illum 2
Ns 0.000000
-
diff --git a/robots/laikago_description/meshes/hip.mtl b/robots/laikago_description/meshes/hip.mtl
index 7a69e5af67b922223b0fbebdb120b8d7ca565dbd..cfec81e54b82f290c7fcdffab1f1d183dda1ab62 100644
--- a/robots/laikago_description/meshes/hip.mtl
+++ b/robots/laikago_description/meshes/hip.mtl
@@ -10,4 +10,3 @@ Ks 0.500000 0.500000 0.500000
Tr 1.000000
illum 2
Ns 0.000000
-
diff --git a/robots/laikago_description/meshes/thigh.mtl b/robots/laikago_description/meshes/thigh.mtl
index 7a69e5af67b922223b0fbebdb120b8d7ca565dbd..cfec81e54b82f290c7fcdffab1f1d183dda1ab62 100644
--- a/robots/laikago_description/meshes/thigh.mtl
+++ b/robots/laikago_description/meshes/thigh.mtl
@@ -10,4 +10,3 @@ Ks 0.500000 0.500000 0.500000
Tr 1.000000
illum 2
Ns 0.000000
-
diff --git a/robots/laikago_description/meshes/thigh_mirror.mtl b/robots/laikago_description/meshes/thigh_mirror.mtl
index 7a69e5af67b922223b0fbebdb120b8d7ca565dbd..cfec81e54b82f290c7fcdffab1f1d183dda1ab62 100644
--- a/robots/laikago_description/meshes/thigh_mirror.mtl
+++ b/robots/laikago_description/meshes/thigh_mirror.mtl
@@ -10,4 +10,3 @@ Ks 0.500000 0.500000 0.500000
Tr 1.000000
illum 2
Ns 0.000000
-
diff --git a/robots/laikago_description/meshes/trunk.mtl b/robots/laikago_description/meshes/trunk.mtl
index 707cf7910acdb621cc07e9eae0cc1bbf652cc197..584b4b47744010cb798a40a27cc91d737bfaf94f 100644
--- a/robots/laikago_description/meshes/trunk.mtl
+++ b/robots/laikago_description/meshes/trunk.mtl
@@ -33,4 +33,3 @@ d 1
Ni 1
Ns 2
illum 2
-
diff --git a/robots/laikago_description/meshes/trunk.obj b/robots/laikago_description/meshes/trunk.obj
index 441fd267d1408132fd82fc301cb20f3cfef282cf..2fb5e892a4271badeabdca3beeecbaa0243fae0e 100644
--- a/robots/laikago_description/meshes/trunk.obj
+++ b/robots/laikago_description/meshes/trunk.obj
@@ -52882,4 +52882,3 @@ f 11108/15487/100 11139/15517/100 11109/15516/100
f 11108/15487/100 11141/15486/100 11139/15517/100
f 11193/15379/46 11168/15518/46 11170/15519/46
f 11168/15518/46 11193/15379/46 11192/15382/46
-
diff --git a/robots/laikago_description/meshes/trunk_origin.mtl b/robots/laikago_description/meshes/trunk_origin.mtl
index fc8d9b8f17f66d6694a7f409a4145039b86aef0b..6fa80fff7ed0c3ab855ebfe2e02edf0a11721112 100644
--- a/robots/laikago_description/meshes/trunk_origin.mtl
+++ b/robots/laikago_description/meshes/trunk_origin.mtl
@@ -33,4 +33,3 @@ d 1
Ni 1
Ns 2
illum 2
-
diff --git a/robots/laikago_description/urdf/laikago.urdf b/robots/laikago_description/urdf/laikago.urdf
index 08d52a1852fefc5aeae01d56a4e3f492eb36bd67..abff999961193b5f7584e65d3d045818ba6333b3 100644
--- a/robots/laikago_description/urdf/laikago.urdf
+++ b/robots/laikago_description/urdf/laikago.urdf
@@ -295,7 +295,7 @@
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
-
+
<joint name="RR_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 -0.0875 0"/>
<parent link="trunk"/>
@@ -417,7 +417,7 @@
<inertia ixx="1.6854e-05" ixy="0.0" ixz="0.0" iyy="1.6854e-05" iyz="0.0" izz="1.6854e-05"/>
</inertial>
</link>
-
+
<joint name="RL_hip_joint" type="revolute">
<origin rpy="0 0 0" xyz="-0.21935 0.0875 0"/>
<parent link="trunk"/>
@@ -538,4 +538,3 @@
</inertial>
</link>
</robot>
-
diff --git a/robots/panda_description/LICENSE b/robots/panda_description/LICENSE
index 2bb9ad240fa04c8cf706a4901c4807878e90c2dc..d9a10c0d8e868ebf8da0b3dc95bb0be634c34bfe 100644
--- a/robots/panda_description/LICENSE
+++ b/robots/panda_description/LICENSE
@@ -173,4 +173,4 @@
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
- END OF TERMS AND CONDITIONS
\ No newline at end of file
+ END OF TERMS AND CONDITIONS
diff --git a/robots/romeo_description/urdf/Readme.txt b/robots/romeo_description/urdf/Readme.txt
index d60ee58f73fce08816ad2107c5e9f28ccfbd697d..27898045a8af3aff03711694bd76070b323f0a4d 100644
--- a/robots/romeo_description/urdf/Readme.txt
+++ b/robots/romeo_description/urdf/Readme.txt
@@ -12,7 +12,7 @@ Romeo Aldebaran
base_link --- base_joint ---> torso --- trunkYaw --> body
Romeo sot
-base_link -- waist --> body -- trunkYaw --> torso
+base_link -- waist --> body -- trunkYaw --> torso
diff --git a/robots/romeo_description/urdf/romeo.urdf b/robots/romeo_description/urdf/romeo.urdf
index 4a0bd75507e427a2e54ba1a831e151dd9a734933..865d44d49c72b165ee50315d133e98b71ec657cc 100644
--- a/robots/romeo_description/urdf/romeo.urdf
+++ b/robots/romeo_description/urdf/romeo.urdf
@@ -3,7 +3,7 @@
<!-- - rename joint_base by waist (joint base name in sot is already joint_base) -->
<!-- - waist joint goes from base_link to body (and not torso) -->
<!-- - inverse trunkYaw joint direction (now from body to torso) -->
-<!-- Aldebaran file comes from -->
+<!-- Aldebaran file comes from -->
<!-- https://github.com/ros-aldebaran/romeo_robot/blob/master/romeo_description/urdf/romeoV1_generated_urdf/romeo.urdf -->
<robot name="romeo" xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="NeckYaw" type="revolute">
@@ -92,9 +92,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="LHipYaw" type="revolute">
<parent link="body"/>
<child link="LHipYawLink"/>
@@ -219,9 +219,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="RHipYaw" type="revolute">
<parent link="body"/>
<child link="RHipYawLink"/>
@@ -346,17 +346,17 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<link name="base_link">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="waist" type="fixed">
<parent link="base_link"/>
<child link="body"/>
@@ -704,9 +704,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="ImuTorsoGyrometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoGyrometer_frame"/>
@@ -717,9 +717,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="RFsrRCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrRCenter_frame"/>
@@ -730,9 +730,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="LFsrRCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrRCenter_frame"/>
@@ -743,7 +743,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="RFsrFR_joint" type="fixed">
@@ -756,9 +756,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="CameraLeftEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeftEye_frame"/>
@@ -769,9 +769,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="CameraRight_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRight_frame"/>
@@ -782,9 +782,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="ImuHeadGyrometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadGyrometer_frame"/>
@@ -795,9 +795,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="ImuHeadAccelerometer_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="ImuHeadAccelerometer_frame"/>
@@ -808,7 +808,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="HeadTouchMiddle_joint" type="fixed">
@@ -821,9 +821,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="CameraLeft_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraLeft_frame"/>
@@ -834,9 +834,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="RFsrCenter_joint" type="fixed">
<parent link="r_ankle"/>
<child link="RFsrCenter_frame"/>
@@ -847,9 +847,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="LFsrCenter_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrCenter_frame"/>
@@ -860,9 +860,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="CameraDepth_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraDepth_frame"/>
@@ -873,9 +873,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="ImuTorsoAccelerometer_joint" type="fixed">
<parent link="body"/>
<child link="ImuTorsoAccelerometer_frame"/>
@@ -886,7 +886,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="RFsrFL_joint" type="fixed">
@@ -899,9 +899,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="LFsrFL_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFL_frame"/>
@@ -912,9 +912,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="CameraRightEye_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="CameraRightEye_frame"/>
@@ -925,9 +925,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="HeadTouchFront_joint" type="fixed">
<parent link="HeadRollLink"/>
<child link="HeadTouchFront_frame"/>
@@ -938,9 +938,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="LFsrFR_joint" type="fixed">
<parent link="l_ankle"/>
<child link="LFsrFR_frame"/>
@@ -951,7 +951,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="HeadTouchRear_joint" type="fixed">
@@ -969,7 +969,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="r_gripper_joint" type="fixed">
<parent link="r_wrist"/>
@@ -981,9 +981,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<link name="LFinger11Link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -1654,4 +1654,3 @@
<mimic joint="RHand" multiplier="1" offset="0"/>
</joint>
</robot>
-
diff --git a/robots/romeo_description/urdf/romeo_small.urdf b/robots/romeo_description/urdf/romeo_small.urdf
index 2a11257542497b9972c58576a04b8ccda5bbeb90..468e4b886eb56e43072991d318843a641d0d3286 100644
--- a/robots/romeo_description/urdf/romeo_small.urdf
+++ b/robots/romeo_description/urdf/romeo_small.urdf
@@ -3,7 +3,7 @@
<!-- - rename joint_base by waist (joint base name in sot is already joint_base) -->
<!-- - waist joint goes from base_link to body (and not torso) -->
<!-- - inverse trunkYaw joint direction (now from body to torso) -->
-<!-- Aldebaran file comes from -->
+<!-- Aldebaran file comes from -->
<!-- https://github.com/ros-aldebaran/romeo_robot/blob/master/romeo_description/urdf/romeoV1_generated_urdf/romeo.urdf -->
<robot name="romeo" xmlns:xacro="http://www.ros.org/wiki/xacro">
<joint name="NeckYaw" type="revolute">
@@ -804,4 +804,3 @@
</joint>
<link name="r_gripper"/>
</robot>
-
diff --git a/robots/simple_humanoid_description/srdf/simple_humanoid.srdf b/robots/simple_humanoid_description/srdf/simple_humanoid.srdf
index 72c92468f898275e2ee6ddc78913d6100bcbd775..dedc402e2f5ab290969076584fc6a85bbe76a5f2 100644
--- a/robots/simple_humanoid_description/srdf/simple_humanoid.srdf
+++ b/robots/simple_humanoid_description/srdf/simple_humanoid.srdf
@@ -51,7 +51,7 @@
<joint name="RLEG_KNEE" />
<joint name="RLEG_ANKLE_P" />
<joint name="RLEG_ANKLE_R" />
-
+
<joint name="LLEG_HIP_R" />
<joint name="LLEG_HIP_P" />
<joint name="LLEG_HIP_Y" />
@@ -78,9 +78,9 @@
<joint name="LARM_WRIST_Y" />
<joint name="LARM_WRIST_P" />
<joint name="LARM_WRIST_R" />
-
+
</group>
-
+
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
diff --git a/robots/simple_humanoid_description/srdf/simple_humanoid_classical.srdf b/robots/simple_humanoid_description/srdf/simple_humanoid_classical.srdf
index 6ef70c255318b8d58c68566fda974d3d3cb4d0ec..eb5e9390b8bef1058a730f2802f769b33ffabc4f 100644
--- a/robots/simple_humanoid_description/srdf/simple_humanoid_classical.srdf
+++ b/robots/simple_humanoid_description/srdf/simple_humanoid_classical.srdf
@@ -51,7 +51,7 @@
<joint name="RLEG_KNEE" />
<joint name="RLEG_ANKLE_P" />
<joint name="RLEG_ANKLE_R" />
-
+
<joint name="LLEG_HIP_R" />
<joint name="LLEG_HIP_P" />
<joint name="LLEG_HIP_Y" />
@@ -78,9 +78,9 @@
<joint name="LARM_WRIST_Y" />
<joint name="LARM_WRIST_P" />
<joint name="LARM_WRIST_R" />
-
+
</group>
-
+
<!-- end effector -->
<!-- To remove when the grippers will be added
<end_effector name="r_arm" parent_link="r_gripper" group="r_arm"/>
diff --git a/robots/simple_humanoid_description/urdf/simple_humanoid.urdf b/robots/simple_humanoid_description/urdf/simple_humanoid.urdf
index 5c0530b3dd3affc8f64d80d6232e5ead41b12a0f..787dea86ea1018adb87b696416d883d839ac8ab9 100644
--- a/robots/simple_humanoid_description/urdf/simple_humanoid.urdf
+++ b/robots/simple_humanoid_description/urdf/simple_humanoid.urdf
@@ -308,7 +308,7 @@
<axis xyz="0 1 0"/>
<parent link="RLEG_LINK3"/>
<child link="RLEG_LINK4"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
</joint>
<joint name="RLEG_ANKLE_P" type="revolute">
@@ -324,7 +324,7 @@
<axis xyz="1 0 0"/>
<parent link="RLEG_LINK5"/>
<child link="r_ankle"/>
- <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
</joint>
<joint name="RARM_SHOULDER_P" type="revolute">
@@ -332,7 +332,7 @@
<axis xyz="0 1 0"/>
<parent link="torso"/>
<child link="RARM_LINK1"/>
- <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
</joint>
<joint name="RARM_SHOULDER_R" type="revolute">
@@ -348,7 +348,7 @@
<axis xyz="0 0 1"/>
<parent link="RARM_LINK2"/>
<child link="RARM_LINK3"/>
- <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
</joint>
<joint name="RARM_ELBOW" type="revolute">
@@ -356,7 +356,7 @@
<axis xyz="0 1 0"/>
<parent link="RARM_LINK3"/>
<child link="RARM_LINK4"/>
- <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
</joint>
<joint name="RARM_WRIST_Y" type="revolute">
@@ -372,7 +372,7 @@
<axis xyz="0 1 0"/>
<parent link="RARM_LINK5"/>
<child link="RARM_LINK6"/>
- <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
+ <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
</joint>
<joint name="RARM_WRIST_R" type="revolute">
@@ -380,7 +380,7 @@
<axis xyz="1 0 0"/>
<parent link="RARM_LINK6"/>
<child link="r_wrist"/>
- <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
+ <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
</joint>
<joint name="LLEG_HIP_R" type="revolute">
@@ -388,7 +388,7 @@
<axis xyz="1 0 0"/>
<parent link="BODY"/>
<child link="LLEG_LINK1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
</joint>
<joint name="LLEG_HIP_P" type="revolute">
@@ -396,7 +396,7 @@
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK1"/>
<child link="LLEG_LINK2"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
</joint>
<joint name="LLEG_HIP_Y" type="revolute">
@@ -404,7 +404,7 @@
<axis xyz="0 0 1"/>
<parent link="LLEG_LINK2"/>
<child link="LLEG_LINK3"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
</joint>
<joint name="LLEG_KNEE" type="revolute">
@@ -412,7 +412,7 @@
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK3"/>
<child link="LLEG_LINK4"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
</joint>
<joint name="LLEG_ANKLE_P" type="revolute">
@@ -420,7 +420,7 @@
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK4"/>
<child link="LLEG_LINK5"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
</joint>
<joint name="LLEG_ANKLE_R" type="revolute">
@@ -428,7 +428,7 @@
<axis xyz="1 0 0"/>
<parent link="LLEG_LINK5"/>
<child link="l_ankle"/>
- <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
</joint>
<joint name="LARM_SHOULDER_P" type="revolute">
@@ -436,7 +436,7 @@
<axis xyz="0 1 0"/>
<parent link="torso"/>
<child link="LARM_LINK1"/>
- <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
</joint>
<joint name="LARM_SHOULDER_R" type="revolute">
@@ -452,7 +452,7 @@
<axis xyz="0 0 1"/>
<parent link="LARM_LINK2"/>
<child link="LARM_LINK3"/>
- <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
</joint>
<joint name="LARM_ELBOW" type="revolute">
@@ -468,7 +468,7 @@
<axis xyz="0 0 1"/>
<parent link="LARM_LINK4"/>
<child link="LARM_LINK5"/>
- <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
</joint>
<joint name="LARM_WRIST_P" type="revolute">
diff --git a/robots/simple_humanoid_description/urdf/simple_humanoid_classical.urdf b/robots/simple_humanoid_description/urdf/simple_humanoid_classical.urdf
index 65a39132fbe696d86c3a5864c4b7ed16c355700a..f2da926f0d8351cd29d11996e14f717de96e1dbc 100644
--- a/robots/simple_humanoid_description/urdf/simple_humanoid_classical.urdf
+++ b/robots/simple_humanoid_description/urdf/simple_humanoid_classical.urdf
@@ -292,7 +292,7 @@
<axis xyz="0 1 0"/>
<parent link="RLEG_LINK3"/>
<child link="RLEG_LINK4"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
</joint>
<joint name="RLEG_ANKLE_P" type="revolute">
@@ -308,7 +308,7 @@
<axis xyz="1 0 0"/>
<parent link="RLEG_LINK5"/>
<child link="r_ankle"/>
- <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
</joint>
<joint name="RARM_SHOULDER_P" type="revolute">
@@ -316,7 +316,7 @@
<axis xyz="0 1 0"/>
<parent link="torso"/>
<child link="RARM_LINK1"/>
- <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
</joint>
<joint name="RARM_SHOULDER_R" type="revolute">
@@ -332,7 +332,7 @@
<axis xyz="0 0 1"/>
<parent link="RARM_LINK2"/>
<child link="RARM_LINK3"/>
- <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.42600766027" upper="2.42600766027" velocity="4.58"/>
</joint>
<joint name="RARM_ELBOW" type="revolute">
@@ -340,7 +340,7 @@
<axis xyz="0 1 0"/>
<parent link="RARM_LINK3"/>
<child link="RARM_LINK4"/>
- <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
</joint>
<joint name="RARM_WRIST_Y" type="revolute">
@@ -356,7 +356,7 @@
<axis xyz="0 1 0"/>
<parent link="RARM_LINK5"/>
<child link="RARM_LINK6"/>
- <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
+ <limit effort="8.0" lower="-1.37008346282" upper="1.37008346282" velocity="1.76"/>
</joint>
<joint name="RARM_WRIST_R" type="revolute">
@@ -364,7 +364,7 @@
<axis xyz="1 0 0"/>
<parent link="RARM_LINK6"/>
<child link="r_wrist"/>
- <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
+ <limit effort="8.0" lower="-0.680678408278" upper="0.680678408278" velocity="1.76"/>
</joint>
<joint name="LLEG_HIP_Y" type="revolute">
@@ -372,7 +372,7 @@
<axis xyz="0 0 1"/>
<parent link="BODY"/>
<child link="LLEG_LINK1"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
</joint>
<joint name="LLEG_HIP_R" type="revolute">
@@ -380,7 +380,7 @@
<axis xyz="1 0 0"/>
<parent link="LLEG_LINK1"/>
<child link="LLEG_LINK2"/>
- <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
+ <limit effort="100" lower="-0.349065850399" upper="1.57079632679" velocity="3.87"/>
</joint>
<joint name="LLEG_HIP_P" type="revolute">
@@ -388,7 +388,7 @@
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK2"/>
<child link="LLEG_LINK3"/>
- <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
+ <limit effort="160" lower="-0.5236" upper="0.5236" velocity="5.8"/>
</joint>
<joint name="LLEG_KNEE" type="revolute">
@@ -396,7 +396,7 @@
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK3"/>
<child link="LLEG_LINK4"/>
- <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
+ <limit effort="160" lower="-2.095" upper="0.7" velocity="5.8"/>
</joint>
<joint name="LLEG_ANKLE_P" type="revolute">
@@ -404,7 +404,7 @@
<axis xyz="0 1 0"/>
<parent link="LLEG_LINK4"/>
<child link="LLEG_LINK5"/>
- <limit effort="300" lower="0" upper="2.618" velocity="7"/>
+ <limit effort="300" lower="0" upper="2.618" velocity="7"/>
</joint>
<joint name="LLEG_ANKLE_R" type="revolute">
@@ -412,7 +412,7 @@
<axis xyz="1 0 0"/>
<parent link="LLEG_LINK5"/>
<child link="l_ankle"/>
- <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
+ <limit effort="160" lower="-1.27" upper="0.68" velocity="5.8"/>
</joint>
<joint name="LARM_SHOULDER_P" type="revolute">
@@ -420,7 +420,7 @@
<axis xyz="0 1 0"/>
<parent link="torso"/>
<child link="LARM_LINK1"/>
- <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
</joint>
<joint name="LARM_SHOULDER_R" type="revolute">
@@ -436,7 +436,7 @@
<axis xyz="0 0 1"/>
<parent link="LARM_LINK2"/>
<child link="LARM_LINK3"/>
- <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
+ <limit effort="100.0" lower="-1.57079632679" upper="0.785398163397" velocity="2.7"/>
</joint>
<joint name="LARM_ELBOW" type="revolute">
@@ -452,7 +452,7 @@
<axis xyz="0 0 1"/>
<parent link="LARM_LINK4"/>
<child link="LARM_LINK5"/>
- <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
+ <limit effort="70.0" lower="-2.23402144255" upper="0.00349065850399" velocity="4.58"/>
</joint>
<joint name="LARM_WRIST_P" type="revolute">
diff --git a/robots/solo_description/meshes/plane.mtl b/robots/solo_description/meshes/plane.mtl
index cd101528d364fc8f6553c4312cd0f90757f2b6bb..6d256d897ba0fc354f1a4115d987327179e4f9e6 100644
--- a/robots/solo_description/meshes/plane.mtl
+++ b/robots/solo_description/meshes/plane.mtl
@@ -3,7 +3,7 @@ newmtl Material
Ni 1.5000
d 1.0000
Tr 0.0000
- Tf 1.0000 1.0000 1.0000
+ Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
@@ -11,5 +11,3 @@ newmtl Material
Ke 0.0000 0.0000 0.0000
map_Ka cube.tga
map_Kd checker_blue.png
-
-
diff --git a/robots/talos_data/robots/talos_left_arm.urdf b/robots/talos_data/robots/talos_left_arm.urdf
index 93202e1a05858165117d097e47b8aa92249349f3..913e97f3e032d11b1d4c2160c3cd5f062c14c5aa 100644
--- a/robots/talos_data/robots/talos_left_arm.urdf
+++ b/robots/talos_data/robots/talos_left_arm.urdf
@@ -837,4 +837,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/robots/talos_data/robots/talos_reduced.urdf b/robots/talos_data/robots/talos_reduced.urdf
index d1f125dcbe686c28f21a7af3327edacaefabee98..b0d881366efe63ea49442f56167d6742efa1073e 100644
--- a/robots/talos_data/robots/talos_reduced.urdf
+++ b/robots/talos_data/robots/talos_reduced.urdf
@@ -2175,7 +2175,7 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_left_6_joint" type="revolute">
<parent link="leg_left_5_link"/>
@@ -2492,7 +2492,7 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_right_6_joint" type="revolute">
<parent link="leg_right_5_link"/>
@@ -2751,4 +2751,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/robots/talos_data/robots/talos_reduced_corrected.urdf b/robots/talos_data/robots/talos_reduced_corrected.urdf
index 8eb8e3643909890538dd998d8f20c37ae47ec409..e88f49202cbe4748da8b1eaca36ba0d89b333ba0 100644
--- a/robots/talos_data/robots/talos_reduced_corrected.urdf
+++ b/robots/talos_data/robots/talos_reduced_corrected.urdf
@@ -2172,7 +2172,7 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_left_6_joint" type="revolute">
<parent link="leg_left_5_link"/>
@@ -2489,7 +2489,7 @@
<geometry>
<mesh filename="package://example-robot-data/robots/talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
</geometry>
- </collision>
+ </collision>
</link>
<joint name="leg_right_6_joint" type="revolute">
<parent link="leg_right_5_link"/>
@@ -2748,4 +2748,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/robots/talos_data/srdf/talos.srdf b/robots/talos_data/srdf/talos.srdf
index 84b2365b9bf3cdada8151a8f9e95bb189c6442f3..0baab48fbbfa4f86d885ad374a26706e7b77ae6b 100644
--- a/robots/talos_data/srdf/talos.srdf
+++ b/robots/talos_data/srdf/talos.srdf
@@ -166,7 +166,7 @@
<joint name="torso_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="torso_2_joint" mass="1e-5" gear_ratio="100." />
</rotor_params>
-
+
<!--
Talos Specificities.
@@ -661,5 +661,5 @@
<link name="gripper_right_base_link" />
<joint name="gripper_right_joint" />
<torque_constant value="48e-3" unit="N.m/A"/>
- </gripper>
+ </gripper>
</robot>
diff --git a/robots/tiago_description/robots/tiago_no_hand.urdf b/robots/tiago_description/robots/tiago_no_hand.urdf
index 04eca6d063dab3b8ae16f1d77088b541174e1e02..c7278fba5497334ab4645cfc915a149369f34b1f 100644
--- a/robots/tiago_description/robots/tiago_no_hand.urdf
+++ b/robots/tiago_description/robots/tiago_no_hand.urdf
@@ -143,9 +143,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="base_footprint_joint" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0.0985"/>
<child link="base_link"/>
diff --git a/robots/ur_description/meshes/ur10/visual/base.dae b/robots/ur_description/meshes/ur10/visual/base.dae
index 701a9f0f17d584f8d5c6c1e0cfe1a63c4ce94b61..e5c22da89e680fb297ccbad8b5632046c237dfdd 100644
--- a/robots/ur_description/meshes/ur10/visual/base.dae
+++ b/robots/ur_description/meshes/ur10/visual/base.dae
@@ -157,4 +157,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/meshes/ur3/visual/wrist3.dae b/robots/ur_description/meshes/ur3/visual/wrist3.dae
index d4ebe422992da59b6794b001a092d2b55b0a9181..73168a6cbdc6b7c0daa176c3c1d1ff00e171b1df 100644
--- a/robots/ur_description/meshes/ur3/visual/wrist3.dae
+++ b/robots/ur_description/meshes/ur3/visual/wrist3.dae
@@ -169,4 +169,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/ur_description/urdf/ur10_robot.urdf b/robots/ur_description/urdf/ur10_robot.urdf
index 5bc3ff2ac32c1e806cf1112206bd514ce50e0fc6..a760fd8cac902170d659adbaf1059abbde551deb 100644
--- a/robots/ur_description/urdf/ur10_robot.urdf
+++ b/robots/ur_description/urdf/ur10_robot.urdf
@@ -16,7 +16,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -233,9 +233,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="shoulder_pan_joint">
@@ -312,12 +312,12 @@
<selfCollide>true</selfCollide>
</gazebo>
<!-- ROS base_link to UR 'Base' Coordinates transform -->
- <link name="base">
+ <link name="base">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed">
@@ -335,9 +335,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0922 0"/>
<parent link="wrist_3_link"/>
@@ -350,4 +350,3 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
-
diff --git a/robots/ur_description/urdf/ur3.urdf b/robots/ur_description/urdf/ur3.urdf
index 3e587f9162686bbacdd24c7e9b2b4d4ac8e1b710..d73b633b462d8ca9fb8b6d3393abc3aaec6d5acb 100644
--- a/robots/ur_description/urdf/ur3.urdf
+++ b/robots/ur_description/urdf/ur3.urdf
@@ -8,4 +8,3 @@
Author: Felix Messmer
-->
</robot>
-
diff --git a/robots/ur_description/urdf/ur3_joint_limited_robot.urdf b/robots/ur_description/urdf/ur3_joint_limited_robot.urdf
index 55ad8b1a1f98ad5db8bf403333f7aa14518a8915..1c7024177ec7b8d29515c58dc015f19f427f1301 100644
--- a/robots/ur_description/urdf/ur3_joint_limited_robot.urdf
+++ b/robots/ur_description/urdf/ur3_joint_limited_robot.urdf
@@ -16,7 +16,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -232,7 +232,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
@@ -315,7 +315,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
@@ -332,7 +332,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
@@ -347,4 +347,3 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
-
diff --git a/robots/ur_description/urdf/ur3_robot.urdf b/robots/ur_description/urdf/ur3_robot.urdf
index d4aac18844b2d36bfb63af0b66cf57caf314acff..e4e51a26c8f1b4b83e91f878d4a947b6862d47bb 100644
--- a/robots/ur_description/urdf/ur3_robot.urdf
+++ b/robots/ur_description/urdf/ur3_robot.urdf
@@ -16,7 +16,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -232,7 +232,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
@@ -315,9 +315,9 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
-
+
<joint name="base_link-base_fixed_joint" type="fixed">
<!-- NOTE: this rotation is only needed as long as base_link itself is
not corrected wrt the real robot (ie: rotated over 180
@@ -328,12 +328,12 @@
<child link="base"/>
</joint>
<!-- Frame coincident with all-zeros TCP on UR controller -->
- <link name="tool0">
+ <link name="tool0">
<inertial>
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
@@ -348,4 +348,3 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
-
diff --git a/robots/ur_description/urdf/ur5_joint_limited_robot.urdf b/robots/ur_description/urdf/ur5_joint_limited_robot.urdf
index 266efddc82a3fde9434879d051c29f98a576af61..11a8248cdac877c837c551033db4d0e7b0115723 100644
--- a/robots/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/robots/ur_description/urdf/ur5_joint_limited_robot.urdf
@@ -16,7 +16,7 @@
<timeout>5</timeout>
<powerStateTopic>power_state</powerStateTopic>
<powerStateRate>10.0</powerStateRate>
- <fullChargeCapacity>87.78</fullChargeCapacity>
+ <fullChargeCapacity>87.78</fullChargeCapacity>
<dischargeRate>-474</dischargeRate>
<chargeRate>525</chargeRate>
<dischargeVoltage>15.52</dischargeVoltage>
@@ -242,7 +242,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<transmission name="shoulder_pan_trans">
<type>transmission_interface/SimpleTransmission</type>
@@ -342,7 +342,7 @@
<mass value="0.0"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
- </inertial>
+ </inertial>
</link>
<joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
<origin rpy="-1.57079632679 0 0" xyz="0 0.0823 0"/>
@@ -356,4 +356,3 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
-
diff --git a/robots/ur_description/urdf/ur5_robot.urdf b/robots/ur_description/urdf/ur5_robot.urdf
index 49d6cc5269e50e52b78ebc8f784826ef1f93dde7..12736589b7007e07fc0c73b24ffdace2c724b96e 100644
--- a/robots/ur_description/urdf/ur5_robot.urdf
+++ b/robots/ur_description/urdf/ur5_robot.urdf
@@ -356,4 +356,3 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
</joint>
</robot>
-
diff --git a/unittest/test_load.py b/unittest/test_load.py
index b7687a3820ca3b13a12d3a07f754e0011e82437e..e650bdce0b57971c2b255dacb9dc5bec9d3d8910 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -27,7 +27,8 @@ class RobotTestCase(unittest.TestCase):
dynamics = pybullet.getDynamicsInfo(robot_id, joint_id, client_id)
if dynamics[0] == 1:
joint = pybullet.getJointInfo(robot_id, joint_id, client_id)
- # with self.subTest(): # uncomment on python >= 3.4 to get full list of wrong bodies at once
+ # uncomment on python >= 3.4 to get full list of wrong bodies at once
+ # with self.subTest():
self.assertIn(joint[12].decode(), one_kg_bodies)
pybullet.disconnect(client_id)