Refactoring sr_description: adapted test and added more parameters va…

…lidation (#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>
shadow-robot · Nov 11, 2021 · 822a5cf · 822a5cf
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diff --git a/sr_description/CMakeLists.txt b/sr_description/CMakeLists.txt
@@ -32,5 +32,5 @@ install(DIRECTORY loaders/
 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})
diff --git a/sr_description/README.md b/sr_description/README.md
@@ -2,11 +2,4 @@ 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 [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).
diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
@@ -1,25 +1,20 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.transmission.xacro" />
-  <!-- tip_sensor describes the sensor bt_2p, bt_sp, pst -->
-  <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
-  <!-- link_prefix prepends fingername to the link names -->
-  <!-- joint_prefix prepends fingername to the joint names -->
-  <!-- parent is the parent link for the joint -->
+
   <xacro:macro name="distal" params="prefix:=^ link_prefix:=^ joint_prefix:=^ tip_sensor:=^|pst parent">
     <link name="${prefix}${link_prefix}distal">
       <inertial>
         <mass value="0.012" />
         <origin xyz="0 0 0.012" />
-        <inertia ixx="0.00000094" ixy="0.0" ixz="0.0"
-		 iyy="0.0000011" iyz="0.0" izz="0.00000053" />
+        <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -61,8 +56,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <origin xyz="0 0 0.025" rpy="0 0 0" />
         <axis xyz="1 0 0" />
         <!-- standard distal joint -->
-        <limit lower="0" upper="${pi/2}" effort="2"
-        velocity="2.0" />
+        <limit lower="0" upper="${pi/2}" effort="2" velocity="2.0" />
         <dynamics damping="0.1" />
       </joint>
       <gazebo reference="${prefix}${joint_prefix}J1">
@@ -72,8 +66,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <link name="${prefix}${link_prefix}tip">
         <inertial>
           <mass value="0.001" />
-          <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0"
-          iyz="0.0" izz="0.0" />
+          <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
         </inertial>
       </link>
       <joint name="${prefix}${joint_prefix}tip" type="fixed">

diff --git a/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro b/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro
@@ -2,20 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="knuckle_gazebo" params="prefix:=^ link_prefix:=^">
     <gazebo reference="${prefix}${link_prefix}knuckle">
-      <sensor type="contact" name="${prefix}${link_prefix}knuckle_contact">
-        <always_on>1</always_on>
-        <update_rate>1000.0</update_rate>
-        <contact>
-          <collision>${prefix}${link_prefix}knuckle_collision</collision>
-          <topic>${prefix}${link_prefix}knuckle_collision</topic>
-        </contact>
-        <plugin name="${prefix}${link_prefix}knuckle_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
-          <alwaysOn>true</alwaysOn>
-          <frameName>${prefix}${link_prefix}knuckle</frameName>
-          <updateRate>100.0</updateRate>
-          <bumperTopicName>contacts/${prefix}${link_prefix}/knuckle</bumperTopicName>
-        </plugin>
-      </sensor>
+      <!-- knuckle is not highly exposed, so bumper is not useful -->
       <material>Gazebo/Grey</material>
     </gazebo>
   </xacro:macro>

diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
@@ -1,24 +1,20 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/lfmetacarpal/lfmetacarpal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/lfmetacarpal/lfmetacarpal.transmission.xacro" />
-  <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
-  <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
-  <!-- parent is the parent link for the joint -->
-  <xacro:macro name="lfmetacarpal"
-  params="prefix:=^ reflect:=^ parent">
+
+  <xacro:macro name="lfmetacarpal" params="prefix:=^ reflect:=^ parent">
     <link name="${prefix}lfmetacarpal">
       <inertial>
         <origin xyz="0 0 0.04" rpy="0 0 0" />
         <mass value="0.030" />
-        <inertia ixx="0.0000145" ixy="0.0" ixz="0.0"
-        iyy="0.00001638" iyz="0.0" izz="0.000004272" />
+        <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -40,8 +36,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <child link="${prefix}lfmetacarpal" />
       <origin xyz="${reflect*-0.033} 0 0.02071" rpy="0 0 0" />
       <axis xyz="0.573576436 0 ${reflect*0.819152044}" />
-      <limit lower="0" upper="${45/180*pi}" effort="2"
-      velocity="2.0" />
+      <limit lower="0" upper="${45/180*pi}" effort="2" velocity="2.0" />
       <dynamics damping="0.1" />
     </joint>
     <gazebo reference="${prefix}LFJ5">

diff --git a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/proximal/proximal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/proximal/proximal.transmission.xacro" />

diff --git a/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro
@@ -14,8 +14,7 @@
       <inertial>
         <origin xyz="0 0 0.09" rpy="0 0 0" />
         <mass value="3.0" />
-        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138"
-        iyz="0.0" izz="0.00744" />
+        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />

diff --git a/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro
@@ -14,8 +14,7 @@
       <inertial>
         <origin xyz="0 0 0.09" rpy="0 0 0" />
         <mass value="3.0" />
-        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138"
-        iyz="0.0" izz="0.00744" />
+        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />

diff --git a/sr_description/hand/xacro/hand.urdf.xacro b/sr_description/hand/xacro/hand.urdf.xacro
@@ -3,8 +3,10 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:macro name="sr_hand"
-               params="hand_type hand_version side fingers tip_sensors prox_sensors mid_sensors palm_sensor">
+  <xacro:macro name="sr_hand" params="hand_type hand_version side fingers tip_sensors prox_sensors mid_sensors palm_sensor">
+
+    <!-- Process hand type, version and side parameters -->
+    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_version_side_parameters.xacro" />
 
     <xacro:if value="${side == 'right'}">
       <xacro:property name="reflect" value="1" />
@@ -16,15 +18,15 @@
     </xacro:if>
 
     <!-- Selecting hand according with hand_type -->
-    <xacro:if value="${hand_type == 'hand_e'}">
+    <xacro:if value="${hand_type == 'E'}">
        <xacro:include filename="$(find sr_description)/hand/xacro/hand_e.urdf.xacro" />
        <xacro:sr_hand_e />
     </xacro:if>
-    <xacro:if value="${hand_type == 'hand_g'}">
+    <xacro:if value="${hand_type == 'G'}">
        <xacro:include filename="$(find sr_description)/hand/xacro/hand_g.urdf.xacro" />
        <xacro:sr_hand_g />
     </xacro:if>
-    <xacro:if value="${hand_type == 'hand_c'}">
+    <xacro:if value="${hand_type == 'C'}">
        <xacro:include filename="$(find sr_description)/hand/xacro/hand_c.urdf.xacro" />
        <xacro:sr_hand_c />
     </xacro:if>

diff --git a/sr_description/hand/xacro/hand_c.urdf.xacro b/sr_description/hand/xacro/hand_c.urdf.xacro
@@ -5,7 +5,6 @@
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />
 
-  <!-- hand_type can be: hand_e, hand_g, hand_c -->
   <!-- fingers: list-like string specifying available fingers, default: 'th ff mf rf' -->
   <!-- tip_sensors: plain or dict-like string specifying the fingertip (tactile) sensors: 'th=bt_2p ff=bt_sp mf=pst rf=pst, lf=pst' -->
   <!-- mid_sensors: plain or dict-like string specifying the middle-phalange (tactile) sensors -->
@@ -14,10 +13,7 @@
   <xacro:macro name="sr_hand_c" params="hand_version:=^ reflect:=^ prefix:=^ fingers:=^|all tip_sensors:=^|pst
                prox_sensors:=^|none mid_sensors:=^|none palm_sensor:=^|none">
 
-    <!-- Unify hand type parameter -->
-    <xacro:property name="hand_type" value="hand_c" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Process fingers parameter, also handling deprecated lf -->
+    <!-- Process fingers parameter -->
     <xacro:property name="_all_finger_tokens_" value="${python.set('th ff mf rf lf'.split())}" />
     <xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
     <!-- Process sensor parameters -->

diff --git a/sr_description/hand/xacro/hand_e.urdf.xacro b/sr_description/hand/xacro/hand_e.urdf.xacro
@@ -9,7 +9,6 @@
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />
 
-  <!-- hand_type can be: hand_e, hand_g, hand_c -->
   <!-- fingers: list-like string specifying available fingers, default: 'th ff mf rf' -->
   <!-- tip_sensors: plain or dict-like string specifying the fingertip (tactile) sensors: 'th=bt_2p ff=bt_sp mf=pst rf=pst, lf=pst' -->
   <!-- mid_sensors: plain or dict-like string specifying the middle-phalange (tactile) sensors -->
@@ -18,10 +17,7 @@
   <xacro:macro name="sr_hand_e" params="hand_version:=^ reflect:=^ prefix:=^ fingers:=^|all tip_sensors:=^|pst
                prox_sensors:=^|none mid_sensors:=^|none palm_sensor:=^|none">
 
-    <!-- Unify hand type parameter -->
-    <xacro:property name="hand_type" value="hand_e" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Process fingers parameter, also handling deprecated lf -->
+    <!-- Process fingers parameter -->
     <xacro:property name="_all_finger_tokens_" value="${python.set('th ff mf rf lf'.split())}" />
     <xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
     <!-- Process sensor parameters -->

diff --git a/sr_description/hand/xacro/hand_g.urdf.xacro b/sr_description/hand/xacro/hand_g.urdf.xacro
@@ -9,7 +9,6 @@
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />
 
-  <!-- hand_type can be: hand_e, hand_g, hand_c -->
   <!-- fingers: list-like string specifying available fingers, default: 'th ff mf rf' -->
   <!-- tip_sensors: plain or dict-like string specifying the fingertip (tactile) sensors: 'th=bt_2p ff=bt_sp mf=pst rf=pst, lf=pst' -->
   <!-- mid_sensors: plain or dict-like string specifying the middle-phalange (tactile) sensors -->
@@ -18,10 +17,7 @@
   <xacro:macro name="sr_hand_g" params="hand_version:=^ reflect:=^ prefix:=^ fingers:=^|all tip_sensors:=^|pst
                prox_sensors:=^|none mid_sensors:=^|none palm_sensor:=^|none">
 
-    <!-- Unify hand type parameter -->
-    <xacro:property name="hand_type" value="hand_g" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Process fingers parameter, also handling deprecated -->
+    <!-- Process fingers parameter -->
     <xacro:property name="_all_finger_tokens_" value="${python.set('th ff mf rf'.split())}" />
     <xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
     <!-- Process sensor parameters -->

diff --git a/sr_description/hand/xacro/legacy/ff_biotac_hand.urdf.xacro b/sr_description/hand/xacro/legacy/ff_biotac_hand.urdf.xacro
diff --git a/sr_description/hand/xacro/legacy/hand_E_no_mf_rf.urdf.xacro b/sr_description/hand/xacro/legacy/hand_E_no_mf_rf.urdf.xacro