Drop useless bumpers #2
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@rhaschke Thanks for pointing it out. I have discussed this with the team and we think there is no need to have them so we can remove them instead of commenting them out. |
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I removed the bumper definitions completely now. |
beatrizleon
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Oct 11, 2021
beatrizleon
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Oct 11, 2021
maxzieba
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maxzieba
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Oct 26, 2021
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mikramarc
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Nov 11, 2021
…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>
beatrizleon
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Jan 3, 2022
* 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>
georgiablanco
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Feb 24, 2022
* 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>
beatrizleon
pushed a commit
to shadow-robot/sr_common
that referenced
this pull request
Feb 24, 2022
* 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>
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I factored this out from shadow-robot#120 to ensure that created files don't change.
Alternatively, disable/enable it optionally? @beatrizleon, any thoughts?