Double pendulum:

renamed files

CMakeLists.txt

@@ -46,7 +46,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY 2dof_description DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
 
 SETUP_PROJECT_FINALIZE()

python/example_robot_data/__init__.py

 # flake8: noqa
 from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
-                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, load2dof, readParamsFromSrdf)
+                            loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, loadDoublePendulum, readParamsFromSrdf)

python/example_robot_data/__main__.py

@@ -3,7 +3,7 @@ from argparse import ArgumentParser
 from . import robots_loader
 
 ROBOTS = [
-    'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'hector', '2dof'
+    'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'hector', 'double_pendulum'
 ]
 
 parser = ArgumentParser()
@@ -72,7 +72,7 @@ if args.robot == 'hector':
     hector.display(hector.q0)
 
 
-if args.robot == '2dof':
+if args.robot == 'double_pendulum':
     planar2dof = robots_loader.load2dof()
     planar2dof.initViewer(loadModel=True)
     planar2dof.display(planar2dof.q0)

python/example_robot_data/robots_loader.py

@@ -238,9 +238,9 @@ def loadHector():
     return robot
 
 
-def load2dof():
-    URDF_FILENAME = "2dof_planar.urdf"
-    URDF_SUBPATH = "/2dof_description/urdf/" + URDF_FILENAME
+def loadDoublePendulum():
+    URDF_FILENAME = "double_pendulum.urdf"
+    URDF_SUBPATH = "/double_pendulum_description/urdf/" + URDF_FILENAME
     modelPath = getModelPath(URDF_SUBPATH)
     robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
     return robot