From 44929876e0874118281e26395fe899b5f9f4bd75 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 29 Dec 2022 16:42:41 +0100
Subject: [PATCH] format
---
CMakeLists.txt | 43 +++++++++++++++---------
config/joint_limits.yaml | 1 -
config/talos_plotjuggler.xml | 1 -
gazebo/gazebo.urdf.xacro | 13 ++++---
launch/talos_gazebo_spawn_hs.launch | 4 +--
launch/talos_gazebo_spawn_hs_wide.launch | 4 +--
robots/talos_full_v2.urdf.xacro | 4 +--
robots/talos_left_arm.urdf | 1 -
robots/talos_reduced.urdf | 9 +++--
srdf/talos.srdf | 6 ++--
urdf/gripper/gripper.transmission.xacro | 2 +-
urdf/leg/leg.transmission.xacro | 1 -
urdf/sensors/calibration.xacro | 2 --
urdf/talos_full.urdf | 8 ++---
urdf/talos_full_common.urdf.xacro | 2 +-
urdf/talos_full_v2.urdf | 1 -
urdf/talos_reduced.urdf | 5 ++-
urdf/talos_reduced_v2.urdf | 1 -
urdf/torso/torso.urdf.xacro | 1 -
19 files changed, 54 insertions(+), 55 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 19e0988..1a8ee3a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,28 +1,39 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.1)
+cmake_minimum_required(VERSION 3.1)
# Project properties
-SET(PROJECT_ORG stack-of-tasks)
-SET(PROJECT_NAME talos_data)
-SET(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
-SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
+set(PROJECT_ORG stack-of-tasks)
+set(PROJECT_NAME talos_data)
+set(PROJECT_DESCRIPTION "Talos urdf model, srdf model and other data")
+set(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
# Project configuration
-SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+set(PROJECT_USE_CMAKE_EXPORT TRUE)
# JRL-cmakemodule setup
-INCLUDE(cmake/base.cmake)
+include(cmake/base.cmake)
# Project definition
-COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX C)
-PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
+compute_project_args(PROJECT_ARGS LANGUAGES CXX C)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
# Main Library
-ADD_LIBRARY(${PROJECT_NAME} INTERFACE)
-INSTALL(TARGETS ${PROJECT_NAME} EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
+add_library(${PROJECT_NAME} INTERFACE)
+install(
+ TARGETS ${PROJECT_NAME}
+ EXPORT ${TARGETS_EXPORT_NAME}
+ DESTINATION lib)
-FOREACH(dir config gazebo meshes robots urdf srdf launch)
- INSTALL(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
-ENDFOREACH(dir)
+foreach(
+ dir
+ config
+ gazebo
+ meshes
+ robots
+ urdf
+ srdf
+ launch)
+ install(DIRECTORY ${dir} DESTINATION share/${PROJECT_NAME})
+endforeach(dir)
-INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
-SET(PACKAGE_EXTRA_MACROS "set(TALOS_DATA_PREFIX ${CMAKE_INSTALL_PREFIX})")
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+set(PACKAGE_EXTRA_MACROS "set(TALOS_DATA_PREFIX ${CMAKE_INSTALL_PREFIX})")
diff --git a/config/joint_limits.yaml b/config/joint_limits.yaml
index 0c73ba3..857de74 100644
--- a/config/joint_limits.yaml
+++ b/config/joint_limits.yaml
@@ -58,4 +58,3 @@ joint_limits:
max_velocity: *max_arm_vel
# Hands and legs keep the default values from URDF
-
diff --git a/config/talos_plotjuggler.xml b/config/talos_plotjuggler.xml
index db2b765..f5ec373 100644
--- a/config/talos_plotjuggler.xml
+++ b/config/talos_plotjuggler.xml
@@ -1326,4 +1326,3 @@
</Plugins>
<previouslyLoadedDatafile filename="/home/user/2018-09-23-18-06-22.bag"/>
</root>
-
diff --git a/gazebo/gazebo.urdf.xacro b/gazebo/gazebo.urdf.xacro
index 8e72728..955c063 100644
--- a/gazebo/gazebo.urdf.xacro
+++ b/gazebo/gazebo.urdf.xacro
@@ -23,7 +23,7 @@
<topicName>wrench</topicName>
</plugin>
</gazebo>
-
+
<gazebo reference="imu_link">
<!-- this is expected to be reparented to pelvis with appropriate offset
@@ -52,7 +52,7 @@
the biases are fixed additive offsets. We choose
bias means and stddevs to produce biases close to the provided
data. -->
-
+
<!--
<rate>
<mean>0.0</mean>
@@ -67,8 +67,8 @@
<bias_stddev>0.001</bias_stddev>
</accel>
-->
-
-
+
+
<rate>
<mean>0.0</mean>
<stddev>0.0</stddev>
@@ -81,8 +81,8 @@
<bias_mean>0.0</bias_mean>
<bias_stddev>0.000</bias_stddev>
</accel>
-
-
+
+
</noise>
</imu>
</sensor>
@@ -92,4 +92,3 @@
<!-- <xacro:property name="M_PI" value="3.1415926535897931" /> -->
</robot>
-
diff --git a/launch/talos_gazebo_spawn_hs.launch b/launch/talos_gazebo_spawn_hs.launch
index 2b917ab..392929c 100644
--- a/launch/talos_gazebo_spawn_hs.launch
+++ b/launch/talos_gazebo_spawn_hs.launch
@@ -9,10 +9,10 @@
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) " />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
-
+
<include file="$(find talos_data)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
-
+
</launch>
diff --git a/launch/talos_gazebo_spawn_hs_wide.launch b/launch/talos_gazebo_spawn_hs_wide.launch
index 54238b1..db71185 100644
--- a/launch/talos_gazebo_spawn_hs_wide.launch
+++ b/launch/talos_gazebo_spawn_hs_wide.launch
@@ -9,10 +9,10 @@
<arg name="gzpose" default="-x 0.0 -y 0.0 -z 1.02 -R 0.0 -P 0.0 -Y 0.0 $(arg left_leg_pose) $(arg right_leg_pose) $(arg left_arm_pose) $(arg right_arm_pose) $(arg torso_pose) -u" />
<arg name="robot" default="full_v2"/> <!-- full, lower_body, foot -->
-
+
<include file="$(find talos_gazebo)/launch/talos_spawn.launch">
<arg name="robot" value="$(arg robot)"/>
<arg name="gzpose" value="$(arg gzpose)"/>
</include>
-
+
</launch>
diff --git a/robots/talos_full_v2.urdf.xacro b/robots/talos_full_v2.urdf.xacro
index 73fb67d..0235214 100644
--- a/robots/talos_full_v2.urdf.xacro
+++ b/robots/talos_full_v2.urdf.xacro
@@ -30,8 +30,8 @@
<xacro:property name="var_enable_leg_passive" value="$(arg enable_leg_passive)"/>
<xacro:if value="${var_enable_leg_passive != 'true'}">
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
- </xacro:if>
-
+ </xacro:if>
+
<xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
diff --git a/robots/talos_left_arm.urdf b/robots/talos_left_arm.urdf
index 3184fc2..7b44e7d 100644
--- a/robots/talos_left_arm.urdf
+++ b/robots/talos_left_arm.urdf
@@ -836,4 +836,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/robots/talos_reduced.urdf b/robots/talos_reduced.urdf
index 56bbdfe..fb21fc4 100644
--- a/robots/talos_reduced.urdf
+++ b/robots/talos_reduced.urdf
@@ -2190,8 +2190,8 @@
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2516,8 +2516,8 @@
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2783,4 +2783,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/srdf/talos.srdf b/srdf/talos.srdf
index 86186d2..a6a3c8f 100644
--- a/srdf/talos.srdf
+++ b/srdf/talos.srdf
@@ -162,7 +162,7 @@
<joint name="torso_2_joint" value="0.006761" />
</group_state>
-
+
<rotor_params>
<joint name="arm_left_1_joint" mass="1e-5" gear_ratio="100." />
<joint name="arm_left_2_joint" mass="1e-5" gear_ratio="100." />
@@ -195,7 +195,7 @@
<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.
@@ -694,5 +694,5 @@ TALOS disabled collisions generated by Moveit! using the moveit_setup_assistant.
<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/urdf/gripper/gripper.transmission.xacro b/urdf/gripper/gripper.transmission.xacro
index ea9b889..bf92580 100644
--- a/urdf/gripper/gripper.transmission.xacro
+++ b/urdf/gripper/gripper.transmission.xacro
@@ -35,4 +35,4 @@
</xacro:macro>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/urdf/leg/leg.transmission.xacro b/urdf/leg/leg.transmission.xacro
index ec55dcf..fd28b13 100644
--- a/urdf/leg/leg.transmission.xacro
+++ b/urdf/leg/leg.transmission.xacro
@@ -23,4 +23,3 @@
</transmission>
</xacro:macro>
</robot>
-
diff --git a/urdf/sensors/calibration.xacro b/urdf/sensors/calibration.xacro
index 55f7e73..f11c413 100644
--- a/urdf/sensors/calibration.xacro
+++ b/urdf/sensors/calibration.xacro
@@ -27,5 +27,3 @@
<xacro:property name="cal_head_mount_xtion_yaw" value="0.0" />
</robot>
-
-
diff --git a/urdf/talos_full.urdf b/urdf/talos_full.urdf
index 1e359a0..50e7c67 100644
--- a/urdf/talos_full.urdf
+++ b/urdf/talos_full.urdf
@@ -2188,8 +2188,8 @@
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2514,8 +2514,8 @@
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 ${reflect*1} 1"/>
</geometry>
- </collision>
-
+ </collision>
+
-->
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
diff --git a/urdf/talos_full_common.urdf.xacro b/urdf/talos_full_common.urdf.xacro
index 47d7364..75a2c27 100644
--- a/urdf/talos_full_common.urdf.xacro
+++ b/urdf/talos_full_common.urdf.xacro
@@ -29,7 +29,7 @@
<xacro:unless value="${var_enable_leg_passive != 'true'}">
<xacro:include filename="$(find talos_data)/urdf/leg/leg.urdf.xacro" />
</xacro:unless> -->
-
+
<xacro:include filename="$(find talos_data)/urdf/leg/foot_collision_$(arg foot_collision).urdf.xacro" />
<xacro:include filename="$(find talos_description_inertial)/urdf/inertial.xacro" />
diff --git a/urdf/talos_full_v2.urdf b/urdf/talos_full_v2.urdf
index ed00b4b..780cb70 100644
--- a/urdf/talos_full_v2.urdf
+++ b/urdf/talos_full_v2.urdf
@@ -2719,4 +2719,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/urdf/talos_reduced.urdf b/urdf/talos_reduced.urdf
index 3f91216..ddabb42 100644
--- a/urdf/talos_reduced.urdf
+++ b/urdf/talos_reduced.urdf
@@ -2189,7 +2189,7 @@
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 1 1"/>
</geometry>
- </collision>
+ </collision>
<!--
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2514,7 +2514,7 @@
<geometry>
<mesh filename="package://talos_data/meshes/v2/ankle_X_collision.stl" scale="1 -1 1"/>
</geometry>
- </collision>
+ </collision>
<!--
<collision>
<origin rpy="0 0 0" xyz="0 0 -0.1"/>
@@ -2781,4 +2781,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/urdf/talos_reduced_v2.urdf b/urdf/talos_reduced_v2.urdf
index 1a77db5..6ee6de7 100644
--- a/urdf/talos_reduced_v2.urdf
+++ b/urdf/talos_reduced_v2.urdf
@@ -2719,4 +2719,3 @@
<color rgba="1.0 0.5 0.0 1.0"/>
</material>
</robot>
-
diff --git a/urdf/torso/torso.urdf.xacro b/urdf/torso/torso.urdf.xacro
index acffea1..fe1d955 100644
--- a/urdf/torso/torso.urdf.xacro
+++ b/urdf/torso/torso.urdf.xacro
@@ -165,4 +165,3 @@
</xacro:macro>
</robot>
-
--
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