From 3ff105e250d5f984d5200a52c2791263be96da5d Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 1 Apr 2022 15:04:58 +0200
Subject: [PATCH] pre-commit clean
---
.gitignore | 2 +-
python/example_robot_data/robots_loader.py | 4 +-
robots/a1_description/meshes/calf.dae | 2 +-
robots/a1_description/meshes/hip.dae | 2 +-
robots/a1_description/meshes/thigh.dae | 2 +-
robots/a1_description/meshes/thigh_mirror.dae | 2 +-
robots/a1_description/meshes/trunk.dae | 2 +-
.../robots/anymal-kinova.urdf | 3 +-
.../robots/anymal.urdf | 3 +-
.../srdf/anymal.srdf | 4 +-
robots/asr_twodof_description/LICENSE | 2 +-
robots/asr_twodof_description/README.md | 2 +-
.../fingers/basic_hard_tip.DAE | 2 +-
.../fingers/basic_soft_tip.DAE | 2 +-
.../fingers/extended_narrow.DAE | 2 +-
.../fingers/extended_wide.DAE | 2 +-
.../fingers/half_round_tip.DAE | 2 +-
.../electric_gripper/fingers/paddle_tip.DAE | 2 +-
.../fingers/standard_narrow.DAE | 2 +-
.../fingers/standard_wide.DAE | 2 +-
.../meshes/torso/base_link_collision.DAE | 2 +-
robots/cassie_description/robots/cassie.sdf | 42 ++++----
.../cassie_description/robots/cassie_v2.sdf | 42 ++++----
robots/cassie_description/srdf/cassie_v2.srdf | 6 +-
.../meshes/quadrotor/quadrotor_base.dae | 2 +-
robots/hyq_description/srdf/hyq.srdf | 10 +-
.../iris_description/meshes/iris_prop_ccw.dae | 2 +-
.../iris_description/meshes/iris_prop_cw.dae | 2 +-
robots/kinova_description/meshes/arm.dae | 2 +-
robots/kinova_description/meshes/base.dae | 2 +-
.../meshes/finger_distal.dae | 2 +-
.../meshes/finger_proximal.dae | 2 +-
robots/kinova_description/meshes/forearm.dae | 2 +-
.../meshes/hand_2finger.dae | 2 +-
.../meshes/jaco_front_hatch_support_v2.dae | 2 +-
.../meshes/jaco_mounting_block.dae | 2 +-
robots/kinova_description/meshes/ring_big.dae | 2 +-
.../kinova_description/meshes/ring_small.dae | 2 +-
robots/kinova_description/meshes/shoulder.dae | 2 +-
.../meshes/wrist_spherical_1.dae | 2 +-
.../meshes/wrist_spherical_2.dae | 2 +-
robots/laikago_description/meshes/calf.mtl | 1 -
robots/laikago_description/meshes/hip.mtl | 1 -
robots/laikago_description/meshes/thigh.mtl | 1 -
.../meshes/thigh_mirror.mtl | 1 -
robots/laikago_description/meshes/trunk.mtl | 1 -
robots/laikago_description/meshes/trunk.obj | 1 -
.../meshes/trunk_origin.mtl | 1 -
robots/laikago_description/urdf/laikago.urdf | 5 +-
robots/panda_description/LICENSE | 2 +-
robots/romeo_description/urdf/Readme.txt | 2 +-
robots/romeo_description/urdf/romeo.urdf | 97 +++++++++----------
.../romeo_description/urdf/romeo_small.urdf | 3 +-
.../srdf/simple_humanoid.srdf | 6 +-
.../srdf/simple_humanoid_classical.srdf | 6 +-
.../urdf/simple_humanoid.urdf | 32 +++---
.../urdf/simple_humanoid_classical.urdf | 32 +++---
robots/solo_description/meshes/plane.mtl | 4 +-
robots/talos_data/robots/talos_left_arm.urdf | 1 -
robots/talos_data/robots/talos_reduced.urdf | 5 +-
.../robots/talos_reduced_corrected.urdf | 5 +-
robots/talos_data/srdf/talos.srdf | 4 +-
.../robots/tiago_no_hand.urdf | 4 +-
.../meshes/ur10/visual/base.dae | 2 +-
.../meshes/ur3/visual/wrist3.dae | 2 +-
robots/ur_description/urdf/ur10_robot.urdf | 15 ++-
robots/ur_description/urdf/ur3.urdf | 1 -
.../urdf/ur3_joint_limited_robot.urdf | 9 +-
robots/ur_description/urdf/ur3_robot.urdf | 13 ++-
.../urdf/ur5_joint_limited_robot.urdf | 7 +-
robots/ur_description/urdf/ur5_robot.urdf | 1 -
unittest/test_load.py | 3 +-
72 files changed, 213 insertions(+), 235 deletions(-)
diff --git a/.gitignore b/.gitignore
index 3f8dca3..4adbfaa 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 a8a9591..5eda2af 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 ac4b964..07fd1ab 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 134ecef..6f47032 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 a867d6a..c61fce7 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 8ca98ee..4b83a59 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 351f0c5..3c5f265 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 a807f05..a913aed 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 0613b00..b2c7d86 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 7d24a15..a9c8300 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 51da22b..e4f9ab1 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 404cee1..068748c 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 98e7c51..23b3fa2 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 6241f6f..608ad36 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 acfe218..99940ad 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 f3897a8..f1a7d19 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 55c4640..774bd99 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 906bc45..f6553db 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 473e1e2..19af1ec 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 4cbd91d..eed05a7 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 1f82258..4774a09 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 8436b9f..af0d206 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 3c5c7f5..9f85ab7 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 53f843a..442c4df 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 ab62cd7..0065209 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 0889825..2a607d6 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 eb6fe93..2952264 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 f939111..9144384 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 a7f4ff1..7774e37 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 316fa2c..5a9afba 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 644661f..538b963 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 0eb6c81..bb47f7a 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 0e37713..bb42fe0 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 c12d6bc..d7322e0 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 a76fe9a..14aa57e 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 1d0044b..1e30ffe 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 3e2c022..93e33e4 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 d7f4e9a..479f941 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 ddc64fb..212ec75 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 19a1914..bac002a 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 b7bade0..26c58c8 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 7a69e5a..cfec81e 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 7a69e5a..cfec81e 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 7a69e5a..cfec81e 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 7a69e5a..cfec81e 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 707cf79..584b4b4 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 441fd26..2fb5e89 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 fc8d9b8..6fa80ff 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 08d52a1..abff999 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 2bb9ad2..d9a10c0 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 d60ee58..2789804 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 4a0bd75..865d44d 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 2a11257..468e4b8 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 72c9246..dedc402 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 6ef70c2..eb5e939 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 5c0530b..787dea8 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 65a3913..f2da926 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 cd10152..6d256d8 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 93202e1..913e97f 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 d1f125d..b0d8813 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 8eb8e36..e88f492 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 84b2365..0baab48 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 04eca6d..c7278fb 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 701a9f0..e5c22da 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 d4ebe42..73168a6 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 5bc3ff2..a760fd8 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 3e587f9..d73b633 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 55ad8b1..1c70241 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 d4aac18..e4e51a2 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 266efdd..11a8248 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 49d6cc5..1273658 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 b7687a3..e650bdc 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)
--
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