From 8eecdb7da32ec9a6dc646005f9fb0bda5f5e2f3f Mon Sep 17 00:00:00 2001
From: "pre-commit-ci[bot]"
<66853113+pre-commit-ci[bot]@users.noreply.github.com>
Date: Fri, 19 Jan 2024 15:41:51 +0000
Subject: [PATCH] [pre-commit.ci] auto fixes from pre-commit.com hooks
for more information, see https://pre-commit.ci
---
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/b1_description/meshes/thigh.dae | 2 +-
robots/b1_description/meshes/thigh_mirror.dae | 2 +-
robots/b1_description/meshes/trunk.dae | 2 +-
robots/b1_description/urdf/b1-z1.urdf | 4 ++--
robots/go1_description/meshes/calf.dae | 2 +-
robots/go1_description/meshes/hip.dae | 2 +-
robots/go1_description/meshes/thigh.dae | 2 +-
robots/z1_description/meshes/visual/z1_GripperMover.dae | 2 +-
robots/z1_description/meshes/visual/z1_GripperStator.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link00.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link01.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link02.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link03.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link04.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link05.dae | 2 +-
robots/z1_description/meshes/visual/z1_Link06.dae | 2 +-
robots/z1_description/urdf/z1.urdf | 5 ++---
23 files changed, 28 insertions(+), 25 deletions(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 80fe677..2a9a929 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -182,6 +182,7 @@ class A1Loader(RobotLoader):
ref_posture = "standing"
free_flyer = True
+
class Z1Loader(RobotLoader):
path = "z1_description"
urdf_filename = "z1.urdf"
@@ -189,11 +190,13 @@ class Z1Loader(RobotLoader):
srdf_filename = "z1.srdf"
ref_posture = "arm_up"
+
class B1Z1Loader(B1Loader):
urdf_filename = "b1-z1.urdf"
srdf_filename = "b1-z1.srdf"
ref_posture = "standing_with_arm_home"
+
class ANYmalLoader(RobotLoader):
path = "anymal_b_simple_description"
urdf_filename = "anymal.urdf"
@@ -525,6 +528,7 @@ class IrisLoader(RobotLoader):
urdf_filename = "iris_simple.urdf"
free_flyer = True
+
ROBOTS = {
"b1": B1Loader,
"go1": Go1Loader,
diff --git a/robots/a1_description/meshes/calf.dae b/robots/a1_description/meshes/calf.dae
index 0579b68..32c82cc 100644
--- a/robots/a1_description/meshes/calf.dae
+++ b/robots/a1_description/meshes/calf.dae
@@ -86,4 +86,4 @@
<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 5b60b38..ae0f9c6 100644
--- a/robots/a1_description/meshes/hip.dae
+++ b/robots/a1_description/meshes/hip.dae
@@ -86,4 +86,4 @@
<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 7f3755f..64cd153 100644
--- a/robots/a1_description/meshes/thigh.dae
+++ b/robots/a1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
<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 89c709c..a33d08c 100644
--- a/robots/a1_description/meshes/thigh_mirror.dae
+++ b/robots/a1_description/meshes/thigh_mirror.dae
@@ -86,4 +86,4 @@
<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 f54036a..33f15a8 100644
--- a/robots/a1_description/meshes/trunk.dae
+++ b/robots/a1_description/meshes/trunk.dae
@@ -98,4 +98,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/thigh.dae b/robots/b1_description/meshes/thigh.dae
index b2c1452..64cc777 100644
--- a/robots/b1_description/meshes/thigh.dae
+++ b/robots/b1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/thigh_mirror.dae b/robots/b1_description/meshes/thigh_mirror.dae
index be72893..d59e29a 100644
--- a/robots/b1_description/meshes/thigh_mirror.dae
+++ b/robots/b1_description/meshes/thigh_mirror.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/meshes/trunk.dae b/robots/b1_description/meshes/trunk.dae
index 41e65ff..de29964 100644
--- a/robots/b1_description/meshes/trunk.dae
+++ b/robots/b1_description/meshes/trunk.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/b1_description/urdf/b1-z1.urdf b/robots/b1_description/urdf/b1-z1.urdf
index 94ec59a..844164f 100644
--- a/robots/b1_description/urdf/b1-z1.urdf
+++ b/robots/b1_description/urdf/b1-z1.urdf
@@ -1128,7 +1128,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.04764427 -0.00035819 -0.00249162"/>
<mass value="0.52603655"/>
- <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
+ <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
@@ -1154,7 +1154,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.01320633 0.00476708 0.00380534"/>
<mass value="0.27621302"/>
- <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
+ <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
</inertial>
</link>
diff --git a/robots/go1_description/meshes/calf.dae b/robots/go1_description/meshes/calf.dae
index b1f0606..06f7c9e 100644
--- a/robots/go1_description/meshes/calf.dae
+++ b/robots/go1_description/meshes/calf.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/hip.dae b/robots/go1_description/meshes/hip.dae
index 5352e3f..4d64df4 100644
--- a/robots/go1_description/meshes/hip.dae
+++ b/robots/go1_description/meshes/hip.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/go1_description/meshes/thigh.dae b/robots/go1_description/meshes/thigh.dae
index aead77c..dc0393f 100644
--- a/robots/go1_description/meshes/thigh.dae
+++ b/robots/go1_description/meshes/thigh.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_GripperMover.dae b/robots/z1_description/meshes/visual/z1_GripperMover.dae
index 5f2de21..56092a8 100644
--- a/robots/z1_description/meshes/visual/z1_GripperMover.dae
+++ b/robots/z1_description/meshes/visual/z1_GripperMover.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_GripperStator.dae b/robots/z1_description/meshes/visual/z1_GripperStator.dae
index 91b0cb1..8494418 100644
--- a/robots/z1_description/meshes/visual/z1_GripperStator.dae
+++ b/robots/z1_description/meshes/visual/z1_GripperStator.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link00.dae b/robots/z1_description/meshes/visual/z1_Link00.dae
index 1484d65..e9bea8c 100644
--- a/robots/z1_description/meshes/visual/z1_Link00.dae
+++ b/robots/z1_description/meshes/visual/z1_Link00.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link01.dae b/robots/z1_description/meshes/visual/z1_Link01.dae
index 4f9a5b5..43a5b48 100644
--- a/robots/z1_description/meshes/visual/z1_Link01.dae
+++ b/robots/z1_description/meshes/visual/z1_Link01.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link02.dae b/robots/z1_description/meshes/visual/z1_Link02.dae
index f26d298..b1b1d44 100644
--- a/robots/z1_description/meshes/visual/z1_Link02.dae
+++ b/robots/z1_description/meshes/visual/z1_Link02.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link03.dae b/robots/z1_description/meshes/visual/z1_Link03.dae
index db358b6..56b7356 100644
--- a/robots/z1_description/meshes/visual/z1_Link03.dae
+++ b/robots/z1_description/meshes/visual/z1_Link03.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link04.dae b/robots/z1_description/meshes/visual/z1_Link04.dae
index c63cb8b..a90aac4 100644
--- a/robots/z1_description/meshes/visual/z1_Link04.dae
+++ b/robots/z1_description/meshes/visual/z1_Link04.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link05.dae b/robots/z1_description/meshes/visual/z1_Link05.dae
index f8a8a90..eae3417 100644
--- a/robots/z1_description/meshes/visual/z1_Link05.dae
+++ b/robots/z1_description/meshes/visual/z1_Link05.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/meshes/visual/z1_Link06.dae b/robots/z1_description/meshes/visual/z1_Link06.dae
index 69424bc..c929245 100644
--- a/robots/z1_description/meshes/visual/z1_Link06.dae
+++ b/robots/z1_description/meshes/visual/z1_Link06.dae
@@ -86,4 +86,4 @@
<scene>
<instance_visual_scene url="#Scene"/>
</scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/robots/z1_description/urdf/z1.urdf b/robots/z1_description/urdf/z1.urdf
index 19432f3..6999b3f 100644
--- a/robots/z1_description/urdf/z1.urdf
+++ b/robots/z1_description/urdf/z1.urdf
@@ -245,7 +245,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.04764427 -0.00035819 -0.00249162"/>
<mass value="0.52603655"/>
- <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
+ <inertia ixx="0.00038683" ixy="-0.00000359" ixz="0.00007662" iyy="0.00068614" iyz="0.00000209" izz="0.00066293"/>
</inertial>
</link>
<joint name="jointGripper" type="revolute">
@@ -271,7 +271,7 @@
<inertial>
<origin rpy="0 0 0" xyz="0.01320633 0.00476708 0.00380534"/>
<mass value="0.27621302"/>
- <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
+ <inertia ixx="0.00017716" ixy="0.00001683" ixz="-0.00001786" iyy="0.00026787" iyz="0.00000262" izz="0.00035728"/>
</inertial>
</link>
<transmission name="JointTrans1">
@@ -335,4 +335,3 @@
</actuator>
</transmission>
</robot>
-
--
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