Switching to new xacros (#130)

* F refactoring sr description multi (#126)

* Remove redundant definition of pi

pi is available globally in xacro as python's math.pi

* Delete unused meshes in ubi_tactiles

* Remove use of ubi param

* Remove ubi params

* Replace $(find xacro)/xacro -> xacro

* Remove deprecated --inorder option

* Fix missing xacro namespace prefixes

* Fix typo

* Improved xacro for modularity and to permit sensor selection

Modern xacro allows to automatically forward macro arguments when they are
defined with the arg:=^ syntax. Using this feature simplifies macro calling.

Also, instead of specifying hand attributes with an ever-growing set of
binary parameters, this commit introduces parameters hand_type and
(palm|prox|mid|tip)_sensor to modularize parameterization.
This allows for more flexible definition of the (tactile) sensors used across the hand.

Using a value of 'none' for those sensors allows to deactivate (Gazebo) sensors.

Backward compatibility for old parameters is maintained via file backward_compat.urdf.xacro,
which translates from old to new parameters.

* Add compatibility test

Cloned all files from robots/*.urdf.xacro prior to this PR into test/robots.old.
Run xacro on all corresponding files and compare their content.

* Fix backward compatibility

- Restore deleted files required by compatibility test
- Fix use of deprecated properties
- Fix use of deprecated parameters
- Undo unrelated changes w.r.t. upstream
- Fix extra_lite hands: it is missing MF not FF

* More simplifications

- Simpify one_finger_unit.urdf.xacro
  There is only one finger. No need to pass *_sensors. A single one is sufficient.
  Also, a fingers parameter doesn't make sense.

- Reduce number of xacro:if in fingers.urdf.xacro

- Plain string default parameters don't need to be quoted

* More specific variable tests

Using `'text' in variable` is a rather sloppy equivalence check.
This commit attempts to harden these checks using the following regexp
replacements:

- More specific test of hand_type
  ('hand.+?') in ([a-z_]+)  ->  $2.startswith($1)

- More specific variable tests
  ('.+') in ([a-z_]+)  ->  $2 == $1

* Simplify if-else clauses

Improve extensibility (adding more sensors) by emloying an exclusive-if-and-final-else
strategy, utilizing a helper variable. This way we avoid augmenting the list in the
'sensor in [...]' tests.

* Issue deprecation warning

Use python's None value as default to know whether old parameters were specified.

* Deprecate specific hand.urdf.xacro files

* More readable hand_types: muscle, muscletrans, motor, motor+

- hand_mt -> muscletrans
- hand_m -> muscle, regexp: (["' ])hand_m -> $1muscle
- hand_e_plus -> motor+
- hand_e -> motor

* Make fingers parameter a string

* Python 2.x compatibility

As xacro returns unicode objects from property evaluations
we cannot apply str.lower to them in Python 2.x
In Python 3.x str and unicode is essentially the same.

* Simplify syntax for sensor specification

Use textual sensor specifications:
- tip_sensors=bio
- tip_sensors='th=bio, ff=bio, mf=std, rf=std, lf=none'
- tip_sensors='bio, bio, std, std, none'

- Rename backward_compat.urdf.xacro -> process_sensor_parameters.xacro
- Introduce macro validate_tokens

* Apply new sensor specification

* Internally use dotified dict for *_sensors

* hand e working with versions and hand type

* distal refactored

* Deleted deprecated changelog

* Replaced std

* Replaced muscletrans with hand_c

* Fixed finger

* Fixed Thumb plus a few issues from finger forearm and palm

* Fixed wrist

* Moved files to legacy folder for now

* Replaced full_hand with hand xacro and updated hand_g

* Fixed hand lite and extra lite

* Removed arm and old meshes

* Moved gazebo and materials to a common folder

* Fixed xacro errors

* Added mucle hand

* Reformated load files

* Refactored meshes to use only components

* Added all robots to legacy folder for now. And left only two robots: unimanual and bimanual

* Adapting test script after xacro refactoring

* Refactoring sr_description: adapted test and added more parameters validation (#124)

* Removing robots.old folder

* Lint fixes

* Fixing CMakeLists

* Removing whitespace

* Applying changes from ubi-agni#2

* Adapting tests to refactored sr_description

* Adding validation xacro

* Update process_hand_type_parameter.xacro

* Updated validation xacro and small fixes

* Update test_models.sh

* Fixed validation of parameters

* Fixing formtating and deleted unnecessary files

* Work in progress

* Removed unnecessary files

Co-authored-by: Beatriz Leon <beatriz@shadowrobot.com>

* Update process_hand_type_version_side_parameters.xacro

* refactoring

* cleaning

* according to review

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Co-authored-by: Guillaume Walck <gwalck@techfak.uni-bielefeld.de>
Co-authored-by: Beatriz Leon <beatriz@shadowrobot.com>
Co-authored-by: maxzieba <max@shadowrobot.com>
Co-authored-by: maxzieba <77073326+maxzieba@users.noreply.github.com>

* Migrating to dae and adding materials (#129)

* testing

* migrating to daes

* removing stl reference

* all changed to dae

* adding material to palm

* Revert "adding material to palm"

This reverts commit 9330265.

* removing redundant dae elements

* all meshes colored

* fixing hand c colors

* fixing test

* Fixing the color of wrist mesh (#131)

* updating

* testing

* testing

* testing

* fixing

* removing nosetests

* excluding copyright check

* acording to review

Co-authored-by: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Co-authored-by: Guillaume Walck <gwalck@techfak.uni-bielefeld.de>
Co-authored-by: Beatriz Leon <beatriz@shadowrobot.com>
Co-authored-by: maxzieba <max@shadowrobot.com>
Co-authored-by: maxzieba <77073326+maxzieba@users.noreply.github.com>

sr_description/CMakeLists.txt

@@ -16,10 +16,8 @@ if (CATKIN_ENABLE_TESTING)
   include_directories(${urdf_INCLUDE_DIRS})
   catkin_add_gtest(test_sr_description_urdf test/test_sr_description_urdf.cpp)
   target_link_libraries(test_sr_description_urdf ${urdf_LIBRARIES})
-endif()
 
-install(DIRECTORY arm/
-   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/arm)
+endif()
 
 install(DIRECTORY hand/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/hand)
@@ -30,11 +28,8 @@ install(DIRECTORY meshes/
 install(DIRECTORY loaders/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/loaders)
 
-install(DIRECTORY other/
-   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/other)
-
 install(DIRECTORY robots/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robots)
 
-install(FILES materials.urdf.xacro
+install(FILES other/xacro/materials.urdf.xacro
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

sr_description/README.md

@@ -1,12 +1,5 @@
-This package contains the description for Shadow Robot's Hand and Arm, as well as some additional models used in our robot (kinect, etc...).
+This package contains the description for Shadow Robot's Hands.
 
 You can find the different complete models in [robots](robots).
 
-You can also find more information about the computation of the [arm kinematics](doc/ArmInertia.md) and of the [hand kinematics](doc/HandInertia.md).
-
-
-*Tips: To automatically reformat the different xacro files you can use the following command:*
-
-```bash
-find . -name "*.urdf.xacro" -type f -exec tidy -xml -i -m -q "{}" \;
-```
+You can also find more information about the computation of the [hand kinematics](doc/HandInertia.md).