Cmake fixes and formatting

CMakeLists.txt

@@ -49,6 +49,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(DIRECTORY kinova_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY romeo_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
   INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

python/example_robot_data/__main__.py

@@ -3,8 +3,9 @@ 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()
@@ -76,7 +77,7 @@ elif args.robot == 'ur5':
     ur5 = robots_loader.loadUR()
     ur5.initViewer(loadModel=True)
     ur5.display(ur5.q0)
-    
+
 elif args.robot == 'romeo':
     romeo = robots_loader.loadRomeo()
     romeo.initViewer(loadModel=True)
@@ -91,4 +92,3 @@ if args.robot == 'double_pendulum':
     planar2dof = robots_loader.load2dof()
     planar2dof.initViewer(loadModel=True)
     planar2dof.display(planar2dof.q0)
-

python/example_robot_data/robots_loader.py

@@ -8,8 +8,10 @@ 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)
@@ -17,12 +19,17 @@ 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
@@ -52,9 +59,14 @@ 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
@@ -81,7 +93,8 @@ 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())
@@ -101,13 +114,17 @@ 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)
@@ -153,9 +170,11 @@ 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
@@ -171,9 +190,11 @@ 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
@@ -228,7 +249,8 @@ 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
@@ -238,7 +260,8 @@ 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])
@@ -248,7 +271,8 @@ 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
 
 
@@ -258,9 +282,11 @@ def loadDoublePendulum():
     modelPath = getModelPath(URDF_SUBPATH)
     robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
     return robot
-    
+
+
 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())