From 9ff10f3d936e6ce146e8f26cb028eaddfaa2f200 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Wed, 13 Nov 2019 09:32:37 +0000
Subject: [PATCH] [cleanup] Removed package of hector robot + formatted the
code
---
hector_description/package.xml | 25 ---------
python/example_robot_data/__init__.py | 3 +-
python/example_robot_data/__main__.py | 5 +-
python/example_robot_data/robots_loader.py | 63 +++++++---------------
4 files changed, 23 insertions(+), 73 deletions(-)
delete mode 100644 hector_description/package.xml
diff --git a/hector_description/package.xml b/hector_description/package.xml
deleted file mode 100644
index c3e725a..0000000
--- a/hector_description/package.xml
+++ /dev/null
@@ -1,25 +0,0 @@
-<package>
- <name>hector-description</name>
- <version>0.3.5</version>
- <description>hector-description provides an URDF model of a quadrotor UAV.</description>
- <maintainer email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</maintainer>
-
- <license>BSD</license>
-
- <url type="website">http://ros.org/wiki/hector_quadrotor_description</url>
- <url type="bugtracker">https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor/issues</url>
-
- <author email="meyer@fsr.tu-darmstadt.de">Johannes Meyer</author>
- <author email="kohlbrecher@sim.tu-darmstadt.de">Stefan Kohlbrecher</author>
-
- <!-- Dependencies which this package needs to build itself. -->
- <buildtool_depend>catkin</buildtool_depend>
-
- <!-- Dependencies needed to compile this package. -->
-
- <!-- Dependencies needed after this package is compiled. -->
- <run_depend>hector_sensors_description</run_depend>
-
- <!-- Dependencies needed only for running tests. -->
-
-</package>
diff --git a/python/example_robot_data/__init__.py b/python/example_robot_data/__init__.py
index 704993d..870975f 100644
--- a/python/example_robot_data/__init__.py
+++ b/python/example_robot_data/__init__.py
@@ -1,3 +1,4 @@
# flake8: noqa
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadKinova, loadRomeo, loadSolo, loadTalos,
- loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf, loadHector, loadDoublePendulum)
+ loadTalosArm, loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf,
+ loadHector, loadDoublePendulum)
diff --git a/python/example_robot_data/__main__.py b/python/example_robot_data/__main__.py
index b5b83dd..8c812b7 100644
--- a/python/example_robot_data/__main__.py
+++ b/python/example_robot_data/__main__.py
@@ -3,9 +3,8 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
- 'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm',
- 'talos_legs', 'kinova', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'romeo',
- 'hector', 'double_pendulum'
+ 'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
+ 'tiago_no_hand', 'icub', 'ur5', 'romeo', 'hector', 'double_pendulum'
]
parser = ArgumentParser()
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 53c8a5e..cfa3da6 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -8,10 +8,8 @@ from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath, printmsg=False):
base = '../../../share/example-robot-data'
- for path in [
- dirname(dirname(dirname(dirname(__file__)))),
- dirname(dirname(dirname(__file__)))
- ] + [join(p, base.strip('/')) for p in sys.path]:
+ for path in [dirname(dirname(dirname(dirname(__file__)))),
+ dirname(dirname(dirname(__file__)))] + [join(p, base.strip('/')) for p in sys.path]:
if exists(join(path, subpath.strip('/'))):
if printmsg:
print("using %s as modelPath" % path)
@@ -19,17 +17,12 @@ def getModelPath(subpath, printmsg=False):
raise IOError('%s not found' % (subpath))
-def readParamsFromSrdf(robot,
- SRDF_PATH,
- verbose,
- has_rotor_parameters=True,
- referencePose='half_sitting'):
+def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True, referencePose='half_sitting'):
rmodel = robot.model
if has_rotor_parameters:
pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
- rmodel.armature = np.multiply(rmodel.rotorInertia.flat,
- np.square(rmodel.rotorGearRatio.flat))
+ rmodel.armature = np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat))
pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
robot.q0.flat[:] = rmodel.referenceConfigurations[referencePose].copy()
return
@@ -59,14 +52,9 @@ def loadANYmal(withArm=None):
SRDF_SUBPATH = "/anymal_b_simple_description/srdf/" + SRDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot,
- modelPath + SRDF_SUBPATH,
- False,
- False,
- referencePose=REF_POSTURE)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, referencePose=REF_POSTURE)
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -93,8 +81,7 @@ def loadTalos():
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
assert ((robot.model.armature[:6] == 0.).all())
@@ -114,17 +101,13 @@ def loadTalosLegs():
legMaxId = 14
m1 = robot.model
m2 = pinocchio.Model()
- for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names,
- m1.parents, m1.inertias):
+ for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names, m1.parents, m1.inertias):
if j.id < legMaxId:
- jid = m2.addJoint(parent,
- getattr(pinocchio, j.shortname())(), M, name)
+ jid = m2.addJoint(parent, getattr(pinocchio, j.shortname())(), M, name)
up = m2.upperPositionLimit
down = m2.lowerPositionLimit
- up[m2.joints[jid].idx_q:m2.joints[jid].idx_q +
- j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq]
- down[m2.joints[jid].idx_q:m2.joints[jid].idx_q +
- j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq]
+ up[m2.joints[jid].idx_q:m2.joints[jid].idx_q + j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq]
+ down[m2.joints[jid].idx_q:m2.joints[jid].idx_q + j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq]
m2.upperPositionLimit = up
m2.lowerPositionLimit = down
assert (jid == j.id)
@@ -170,11 +153,9 @@ def loadHyQ():
URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False,
- "standing")
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing")
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -190,11 +171,9 @@ def loadSolo(solo=True):
URDF_SUBPATH = "/solo_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False,
- "standing")
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False, "standing")
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -249,8 +228,7 @@ def loadICub(reduced=True):
URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False)
# Add the free-flyer joint limits
@@ -260,8 +238,7 @@ def loadICub(reduced=True):
def loadUR(robot=5, limited=False, gripper=False):
assert (not (gripper and (robot == 10 or limited)))
- URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else
- '', 'gripper' if gripper else 'robot')
+ URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else '', 'gripper' if gripper else 'robot')
URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
@@ -271,8 +248,7 @@ def loadHector():
URDF_FILENAME = "quadrotor_base.urdf"
URDF_SUBPATH = "/hector_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
- robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
return robot
@@ -288,5 +264,4 @@ def loadRomeo():
URDF_FILENAME = "romeo.urdf"
URDF_SUBPATH = "/romeo_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
- return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
--
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