Compare revisions

4698aa3c · 7f12d15b · 9b656c4c · 8884b6b7 · a6279e8b · 8a2da0df
--- a/.git-blame-ignore-revs
+++ b/.git-blame-ignore-revs
+# format (Guilhem Saurel, 2022-04-11)
+a6aa4f4b6cf0a1857fba3075566745dbf4c22e18
+
+# pre-commit clean (Guilhem Saurel, 2022-04-01)
+3ff105e250d5f984d5200a52c2791263be96da5d
+
+# update tooling (Guilhem Saurel, 2022-03-31)
+d27092f3d16c077b70216e47635d1d29247a5dde
+
+# format (Rohan Budhiraja, 2022-03-31)
+98c7ea06d36d670e6d1f6377b2728e33540af4c7
+
+# update python format (Guilhem Saurel, 2022-02-17)
+4dba3f86c0a96379fa479e8b768d315daca70bc2
+
+# Address python code formatting (Julian Viereck, 2021-06-14)
+c3e1dffe22d450e5301d4f7801a14974286d7c61
+
+# format (Guilhem Saurel, 2021-05-26)
+2abddbc5c3833379bace126ab7cb0a07f1addaff
+
+# [cleanup] Fixed code format (Carlos Mastalli, 2021-05-04)
+c89f2524bf9b1a76ec29b99910caea641c1b2496
+
+# python: format (Guilhem Saurel, 2020-10-13)
+2f6b85c741b981d90185e25845a4614a7a97e98b
+
+# [Format] fix linters (Guilhem Saurel, 2019-08-28)
+9f92ecdf27449c8404bce0d5756fa65ab1a4912c
+
+# [format] Formatted the robot_loader script (Carlos Mastalli, 2019-08-28)
+34d3182c9ee99568706921f3e94c5fdd75254c17
+
+# [format] Fixed further errors in the code (Carlos Mastalli, 2019-04-16)
+9ce3cc472c367373812b3401a8efbc85094f8423
+
+# [format] Added format configuration (Carlos Mastalli, 2019-04-16)
+5c6492c035e9f98c686dc8859af1ae0fe56b2b60
+
+# [format] Fixed format issues (Carlos Mastalli, 2019-04-16)
+be1a995b9683a9989755c9a5be8676d82a4589bc
--- a/.github/dependabot.yml
+++ b/.github/dependabot.yml
+version: 2
+updates:
+- package-ecosystem: "github-actions"
+  directory: "/"
+  schedule:
+      interval: "weekly"
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
+name: "CI - Nix"
+
+on:
+  push:
+    branches:
+      - devel
+      - master
+  pull_request:
+    branches:
+      - devel
+      - master
+
+jobs:
+  tests:
+    name: "Nix build on ${{ matrix.os }}"
+    runs-on: "${{ matrix.os }}-latest"
+    strategy:
+      matrix:
+        os: [ubuntu, macos]
+    steps:
+      - uses: actions/checkout@v4
+      - uses: cachix/install-nix-action@v31
+      - uses: cachix/cachix-action@v16
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
--- a/.github/workflows/update-flake-lock.yml
+++ b/.github/workflows/update-flake-lock.yml
+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 18 23 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
+        with:
+          token: ${{ secrets.GH_TOKEN_FOR_UPDATES }}
--- a/.gitignore
+++ b/.gitignore
@@ -2,3 +2,4 @@
 *.pyd
 *.pyo
 build*
+*~
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
-include: http://rainboard.laas.fr/project/example-robot-data/.gitlab-ci.yml
+include: https://rainboard.laas.fr/project/example-robot-data/.gitlab-ci.yml
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
+ci:
+  autoupdate_branch: devel
+repos:
+- repo: https://github.com/astral-sh/ruff-pre-commit
+  rev: v0.11.0
+  hooks:
+  - id: ruff
+    args:
+    - --fix
+    - --exit-non-zero-on-fix
+    - --ignore
+    - UP036
+  - id: ruff-format
+- repo: https://github.com/cheshirekow/cmake-format-precommit
+  rev: v0.6.13
+  hooks:
+  - id: cmake-format
+- repo: https://github.com/pappasam/toml-sort
+  rev: v0.24.2
+  hooks:
+  - id: toml-sort-fix
+- repo: https://github.com/pre-commit/mirrors-clang-format
+  rev: v20.1.0
+  hooks:
+  - id: clang-format
+    args:
+    - -i
+    - --style=Google
+- repo: https://github.com/pre-commit/pre-commit-hooks
+  rev: v5.0.0
+  hooks:
+  - id: check-added-large-files
+  - id: check-ast
+  - id: check-merge-conflict
+  - id: check-symlinks
+  - id: check-toml
+  - id: check-yaml
+  - id: debug-statements
+  - id: detect-private-key
+  - id: end-of-file-fixer
+  - id: mixed-line-ending
+  - id: trailing-whitespace
+exclude: tests/test_python-syntax_error.py
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+## [Unreleased]
+
+## [4.3.0] - 1980-01-01
+
+- Add panda collision ([#242](https://github.com/Gepetto/example-robot-data/pull/242)) + ([#263](https://github.com/Gepetto/example-robot-data/pull/263))
+- Add baxter srdf ([#259](https://github.com/Gepetto/example-robot-data/pull/259))
+- Update Go2 collision for convex hull of mesh and remove "Head_upper", "Head_lower", "XX_calflower", "XX_calflower1" links and joints ([#260](https://github.com/Gepetto/example-robot-data/pull/260))
+- Fix ROS2 installation ([#261](https://github.com/Gepetto/example-robot-data/pull/261))
+- Add tiago pro ([#265](https://github.com/Gepetto/example-robot-data/pull/265))
+- Add nix flake
+
+## [4.2.0] - 2024-12-08
+
+### Added
+- Add PR2 robots ([#210](https://github.com/Gepetto/example-robot-data/pull/210))
+- Add GO2 robots ([#239](https://github.com/Gepetto/example-robot-data/pull/239))
+- Add Falcon Bravo7 Bluevolta robots ([#244](https://github.com/Gepetto/example-robot-data/pull/244))
+- Add alex robots ([#247](https://github.com/Gepetto/example-robot-data/pull/247))
+- Add compatibility with jrl-cmakemodules workspace ([#225](https://github.com/Gepetto/example-robot-data/pull/225))
+
+
+## [4.1.0] - 2024-01-29
+
+- added CHANGELOG.md in https://github.com/Gepetto/example-robot-data/pull/193
+- added a simple `quadruped` robot
+- Fix wrong position of the center of mass for Solo-8 and Solo-12 lower legs
+- Added the Unitree's Z1 robot
+- Store urdf file in robot
+- Updated borinot & hextilt
+
+## [4.0.9] - 2023-11-29
+
+### What's Changed
+* Supported pinocchio with cppadcg installation by @cmastalli in https://github.com/Gepetto/example-robot-data/pull/180
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/181
+* Verbose by @nim65s in https://github.com/Gepetto/example-robot-data/pull/183
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/184
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/187
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/188
+* CMake: require >= 3.10 by @nim65s in https://github.com/Gepetto/example-robot-data/pull/185
+* Update jrlcmakemodules to support Python 3.12 by @jorisv in https://github.com/Gepetto/example-robot-data/pull/190
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/189
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/191
+* Sync submodule cmake by @jcarpent in https://github.com/Gepetto/example-robot-data/pull/192
+
+### New Contributors
+* @jorisv made their first contribution in https://github.com/Gepetto/example-robot-data/pull/190
+
+## [4.0.8] - 2023-07-18
+
+- updated copyright and contributors
+- updated pre-commit
+- updated cmake for eigenpy 3.1.0
+- updated submodule
+
+## [4.0.7] - 2023-05-18
+
+- use CMake for `EXAMPLE_ROBOT_DATA_MODEL_DIR`
+
+## [4.0.6] - 2023-05-13
+
+- [go1][b1] Added fake inertia in base for pybullet
+- updated for eigenpy v3
+- cmake format
+- cmake: fetch submodule if not available
+- reduce some meshes
+- move import of paths
+- pre-commit update
+- sync submodule
+
+## [4.0.5] - 2023-02-16
+
+### What's Changed
+* Wrong rotation in allegro visual urdf description by @lmontaut in https://github.com/Gepetto/example-robot-data/pull/157
+* go1: fix inertia of fake camera links for pybullet by @nim65s in https://github.com/Gepetto/example-robot-data/pull/158
+
+## [4.0.4] - 2023-02-10
+
+### What's Changed
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/141
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/142
+* Remove Lamp nodes that are referencing non-existing library_lights by @petrikvladimir in https://github.com/Gepetto/example-robot-data/pull/143
+* Fix Kinova mesh materials and remove Anymal mounting block by @wxmerkt in https://github.com/Gepetto/example-robot-data/pull/145
+* Add ANYmal C by @wxmerkt in https://github.com/Gepetto/example-robot-data/pull/144
+* Fix Panda inertials, add SRDF by @wxmerkt in https://github.com/Gepetto/example-robot-data/pull/147
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/148
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/150
+* [panda_description] Update meshes from franka_ros to get textures by @wxmerkt in https://github.com/Gepetto/example-robot-data/pull/149
+* Fix tests for pybullet by @nim65s in https://github.com/Gepetto/example-robot-data/pull/151
+* Add Unitree B1 & Go1 by @Sergim96 in https://github.com/Gepetto/example-robot-data/pull/152
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/153
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/154
+* Allegro hand: adding missing inertia information by @lmontaut in https://github.com/Gepetto/example-robot-data/pull/156
+
+### New Contributors
+* @petrikvladimir made their first contribution in https://github.com/Gepetto/example-robot-data/pull/143
+* @Sergim96 made their first contribution in https://github.com/Gepetto/example-robot-data/pull/152
+
+## [4.0.3] - 2022-11-09
+
+### What's Changed
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/138
+* [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/139
+* Adding allegro hands (left and right) by @lmontaut in https://github.com/Gepetto/example-robot-data/pull/140
+
+### New Contributors
+* @lmontaut made their first contribution in https://github.com/Gepetto/example-robot-data/pull/140
+
+## [4.0.2] - 2022-09-01
+
+- Tests: check cassie with pinocchio 2.9.1 / 2.9.2
+- Update CMake for eigenpy 2.7.11
+- Modernize CMake if available
+- update tooling
+
+## [4.0.1] - 2022-04-11
+
+- fix compatiblity for dependencies
+
+## [4.0.0] - 2022-04-01
+
+- Add laikago
+- Add simplified double pendulum
+- update simple humanoid
+- update SDF loader & Cassie for pinocchio 2.9.2 (private)
+- :warning: remove deprecated loaders :warning:
+- setup tooling:
+    - black
+    - flake8
+    - pre-commit + CI
+- reformat for black / pre-commit
+
+## [3.13.1] - 2022-03-01
+
+- added Articulated soft robot
+- added Continuous double pendulum
+- cassie/srdf: update q0 config for pelvis orientation
+- talos: add rotor parameters
+- finger_edu: fix inertia
+- a1: fix inertia
+- allow customization of model path
+- updated python format
+
+## [3.12.0] - 2021-11-12
+
+- cassie: update q0
+- talos: use rotor parameters
+- python loader: allow customization of model path
+
+## [3.11.0] - 2021-09-17
+
+- add a1_description (Unitree A1 robot)
+- add cassie
+- add SDF support
+- fix velocity limits in Talos legs
+- document upstreams & license
+
+## [3.10.0] - 2021-06-17
+
+- Add finger_edu & bolt robots
+- Add all collision pairs and remove disabled pairs from SRDF
+- Define missing materials to fix warnings
+- Rename "Solo" to "Solo8"
+
+## [3.9.1] - 2021-05-28
+
+- baxter got its missing hands back
+
+## [3.9.0] - 2021-05-26
+
+- add Baxter robot
+- add Tiago Dual robot
+- remove duplication of q0
+- define q0 as neutral if the robot doesn't have a SRDF
+- unit test for all UR robots
+- fix inertia of all UR robots
+- fix Anymal-Kinova SRDF collision matrix
+
+## [3.8.0] - 2021-03-10
+
+- add shortcut for load_full
+- report warnings to end users
+- fix anymal SRDF
+- define unknown materials to workaround URDF parsers warnings
+- add inertias infos to avoid unit mass on pybullet
+- add a pybullet mass test
+- add simple_humanoid_description
+
+## [3.7.0] - 2020-11-24
+
+- fix double negative in module API
+- anymal: remove lights
+- use RobotLoader and deprecate `load<robot>()` functions
+- allow loading multiple robots, by specifying `rootNodeName`
+
+## [3.6.1] - 2020-09-25
+
+Changes since v3.6.0:
+- fix typo in Hector
+- fix collision pairs in hyq
+- fix collision model in talos
+
+## [3.6.0] - 2020-09-09
+
+- add full Talos
+
+## [3.5.0] - 2020-08-14
+
+This new release fixes major flows in the scripts and provides full support of Windows.
+
+## [3.4.2] - 2020-06-23
+
+- allow user to define `PYTHON_SITELIB`
+
+## [3.4.0] - 2020-06-20
+
+- added panda, an arm robot
+- fixed visual loading : using ROS_PACKAGE_PATH is no longer necessary :tada:
+
+## [3.3.0] - 2020-04-29
+
+- update solo12
+- [README] document ROS_PACKAGE_PATH use
+- [CMake] pinocchio required only for tests, fix #22
+- :warning:  Fix package paths in URDFs :warning:
+
+## [3.2.0] - 2020-04-02
+
+Changes since v3.1.2:
+- delete duplicate file
+- Add the IRIS quadcopter model
+- [CMake] Export
+
+## [3.1.2] - 2020-02-07
+
+Changes since v3.1.1:
+- Migrate universal robot srdf files from hpp-universal-robots.
+- Include ur srdf into loadUR
+- Added effort limits for reduced models
+- Fix compatibility with numpy matrix
+
+## [3.1.1] - 2019-11-27
+
+Changes since v3.1.0:
+- add path.py.in, similar to path.hpp.in
+- romeo_description: remove unused files
+- anymal_b_simple_description: Add missing inertia, fix for simulator
+- hyq_description: Add inertia information for simulator
+- [Python] switch to numpy arrays
+
+## [3.1.0] - 2019-11-25
+
+Changes since v3.0.0:
+- add path.hpp
+- install package.xml
+- update & clean CMake
+
+## [3.0.0] - 2019-11-25
+
+Changes since v2.5.1:
+- :warning: moved robot descriptions in robots/ subdirectory
+- :warning: moved headers in include/example-robot-data
+- added description of double-pendulum & hector
+- Fix ANYmal-Kinova URDF
+- Fix the package.xml
+
+## [2.5.1] - 2019-11-08
+
+Changes since v2.5.0:
+- move universal robot urdf with gripper from [hpp-universal-robot](https://github.com/humanoid-path-planner/hpp-universal-robot)
+
+This was required for https://github.com/nmansard/supaero2020
+
+## [2.5.0] - 2019-11-05
+
+Changes since v2.4.0:
+- add romeo description
+
+## [2.4.0] - 2019-10-29
+
+Changes since v2.3.0:
+- Added the Kinova arm + ANYmal with kinova
+- renamed the reference postures
+- Add package.xml to allow build in catkin workspace
+- Update CMake
+
+## [2.3.0] - 2019-10-04
+
+Changes since v2.2.0:
+- add ANYmal
+
+## [2.2.0] - 2019-09-24
+
+Changes since v2.1.0:
+- fix loading of robots without rotor parameters
+- add ur_description
+
+## [2.1.0] - 2019-09-19
+
+- added solo
+
+## [2.0.0] - 2019-08-29
+
+Added tiago & icub
+Added optionnal python helpers, which depend on pinocchio
+
+## [1.0.0] - 2019-08-29
+
+Initial release
+
+[Unreleased]: https://github.com/gepetto/example-robot-data/compare/v4.3.0...HEAD
+[4.3.0]: https://github.com/gepetto/example-robot-data/compare/v4.2.0...v4.3.0
+[4.2.0]: https://github.com/gepetto/example-robot-data/compare/v4.1.0...v4.2.0
+[4.1.0]: https://github.com/gepetto/example-robot-data/compare/v4.0.9...v4.1.0
+[4.0.9]: https://github.com/gepetto/example-robot-data/compare/v4.0.8...v4.0.9
+[4.0.8]: https://github.com/gepetto/example-robot-data/compare/v4.0.7...v4.0.8
+[4.0.7]: https://github.com/gepetto/example-robot-data/compare/v4.0.6...v4.0.7
+[4.0.6]: https://github.com/gepetto/example-robot-data/compare/v4.0.5...v4.0.6
+[4.0.5]: https://github.com/gepetto/example-robot-data/compare/v4.0.4...v4.0.5
+[4.0.4]: https://github.com/gepetto/example-robot-data/compare/v4.0.3...v4.0.4
+[4.0.3]: https://github.com/gepetto/example-robot-data/compare/v4.0.2...v4.0.3
+[4.0.2]: https://github.com/gepetto/example-robot-data/compare/v4.0.1...v4.0.2
+[4.0.1]: https://github.com/gepetto/example-robot-data/compare/v4.0.0...v4.0.1
+[4.0.0]: https://github.com/gepetto/example-robot-data/compare/v3.13.1...v4.0.0
+[3.13.1]: https://github.com/gepetto/example-robot-data/compare/v3.12.0...v3.13.1
+[3.12.0]: https://github.com/gepetto/example-robot-data/compare/v3.11.0...v3.12.0
+[3.11.0]: https://github.com/gepetto/example-robot-data/compare/v3.10.0...v3.11.0
+[3.10.0]: https://github.com/gepetto/example-robot-data/compare/v3.9.1...v3.10.0
+[3.9.1]: https://github.com/gepetto/example-robot-data/compare/v3.9.0...v3.9.1
+[3.9.0]: https://github.com/gepetto/example-robot-data/compare/v3.8.0...v3.9.0
+[3.8.0]: https://github.com/gepetto/example-robot-data/compare/v3.7.0...v3.8.0
+[3.7.0]: https://github.com/gepetto/example-robot-data/compare/v3.6.1...v3.7.0
+[3.6.1]: https://github.com/gepetto/example-robot-data/compare/v3.6.0...v3.6.1
+[3.6.0]: https://github.com/gepetto/example-robot-data/compare/v3.5.0...v3.6.0
+[3.5.0]: https://github.com/gepetto/example-robot-data/compare/v3.4.2...v3.5.0
+[3.4.2]: https://github.com/gepetto/example-robot-data/compare/v3.4.0...v3.4.2
+[3.4.0]: https://github.com/gepetto/example-robot-data/compare/v3.3.0...v3.4.0
+[3.3.0]: https://github.com/gepetto/example-robot-data/compare/v3.2.0...v3.3.0
+[3.2.0]: https://github.com/gepetto/example-robot-data/compare/v3.1.2...v3.2.0
+[3.1.2]: https://github.com/gepetto/example-robot-data/compare/v3.1.1...v3.1.2
+[3.1.1]: https://github.com/gepetto/example-robot-data/compare/v3.1.0...v3.1.1
+[3.1.0]: https://github.com/gepetto/example-robot-data/compare/v3.0.0...v3.1.0
+[3.0.0]: https://github.com/gepetto/example-robot-data/compare/v2.5.1...v3.0.0
+[2.5.1]: https://github.com/gepetto/example-robot-data/compare/v2.5.0...v2.5.1
+[2.5.0]: https://github.com/gepetto/example-robot-data/compare/v2.4.0...v2.5.0
+[2.4.0]: https://github.com/gepetto/example-robot-data/compare/v2.3.0...v2.4.0
+[2.3.0]: https://github.com/gepetto/example-robot-data/compare/v2.2.0...v2.3.0
+[2.2.0]: https://github.com/gepetto/example-robot-data/compare/v2.1.0...v2.2.0
+[2.1.0]: https://github.com/gepetto/example-robot-data/compare/v2.0.0...v2.1.0
+[2.0.0]: https://github.com/gepetto/example-robot-data/compare/v1.0.0...v2.0.0
+[1.0.0]: https://github.com/gepetto/example-robot-data/releases/tag/v1.0.0
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0)
+cmake_minimum_required(VERSION 3.10)

-# Set up project properties
-SET(PROJECT_NAMESPACE gepetto)
-SET(PROJECT_NAME example-robot-data)
-SET(PROJECT_DESCRIPTION "Set of robot URDFs for benchmarking and developed examples.")
-SET(PROJECT_URL https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME})
+# Project properties
+set(PROJECT_ORG gepetto)
+set(PROJECT_NAME example-robot-data)
+set(PROJECT_DESCRIPTION
+    "Set of robot URDFs for benchmarking and developed examples")
+set(PROJECT_URL https://github.com/${PROJECT_ORG}/${PROJECT_NAME})
+# To enable jrl-cmakemodules compatibility with workspace we must define the two
+# following lines
+set(PROJECT_AUTO_RUN_FINALIZE FALSE)
+set(PROJECT_SOURCE_DIR ${CMAKE_CURRENT_LIST_DIR})

-INCLUDE(cmake/base.cmake)
-INCLUDE(cmake/test.cmake)
-INCLUDE(cmake/python.cmake)
+# Project options
+option(BUILD_PYTHON_INTERFACE "Build the python unit tests and helpers" ON)
+option(INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python interface" OFF)
+
+# Project configuration
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  set(PROJECT_USE_CMAKE_EXPORT TRUE)
+endif(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+set(CUSTOM_HEADER_DIR ${PROJECT_NAME})
+set(PROJECT_COMPATIBILITY_VERSION AnyNewerVersion)
+
+# Check if the submodule cmake have been initialized
+set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+    message(
+      FATAL_ERROR
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
+    )
+  else()
+    message(STATUS "JRL cmakemodules not found. Let's fetch it.")
+    include(FetchContent)
+    FetchContent_Declare(
+      "jrl-cmakemodules"
+      GIT_REPOSITORY "https://github.com/jrl-umi3218/jrl-cmakemodules.git")
+    FetchContent_MakeAvailable("jrl-cmakemodules")
+    FetchContent_GetProperties("jrl-cmakemodules" SOURCE_DIR JRL_CMAKE_MODULES)
+  endif()
+endif()
+
+# JRL-cmakemodule setup
+include("${JRL_CMAKE_MODULES}/base.cmake")
+include("${JRL_CMAKE_MODULES}/python.cmake")

 # Print initial message
-MESSAGE("${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
-MESSAGE("Copyright (C) 2018-2019 CNRS-LAAS")
-MESSAGE("All rights reserved.")
-MESSAGE("Released under the BSD 3-Clause License.")
-
-# Set a default build type to 'Release' if none was specified
-IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
-  MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
-  SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
-  # Set the possible values of build type for cmake-gui
-  SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
-ENDIF()
-
-SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
-
-CMAKE_POLICY(SET CMP0048 NEW)
-PROJECT(${PROJECT_NAME} VERSION ${PROJECT_VERSION_FULL} LANGUAGES CXX)
-
-OPTION (BUILD_PYTHON_INTERFACE "Build the python unit tests and helpers" ON)
-OPTION (INSTALL_PYTHON_INTERFACE_ONLY "Install *ONLY* the python interface" OFF)
-
-IF(BUILD_PYTHON_INTERFACE)
-  ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.1.0")
-  FINDPYTHON()
-  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
-  ADD_SUBDIRECTORY(python)
-  ADD_SUBDIRECTORY(unittest)
-ENDIF(BUILD_PYTHON_INTERFACE)
-
-IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(DIRECTORY anymal_b_simple_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY hyq_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY solo_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY icub_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
-  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})
-ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+message(STATUS "${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
+message(STATUS "Copyright (C) 2018-2023 LAAS-CNRS, University of Edinburgh")
+message(STATUS "                        Heriot-Watt University, INRIA")
+message(STATUS "All rights reserved.")
+message(STATUS "Released under the BSD 3-Clause License.")
+
+# Project definition
+compute_project_args(PROJECT_ARGS LANGUAGES CXX)
+project(${PROJECT_NAME} ${PROJECT_ARGS})
+
+if(BUILD_PYTHON_INTERFACE)
+  add_project_dependency(eigenpy 3.0.0 REQUIRED)
+  add_project_dependency(pinocchio 2.7.0 REQUIRED)
+  string(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
+  findpython(REQUIRED)
+  add_subdirectory(python)
+  if(BUILD_TESTING)
+    add_subdirectory(unittest)
+  endif(BUILD_TESTING)
+endif()
+
+if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
+  add_library(${PROJECT_NAME} INTERFACE)
+  add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+  target_include_directories(
+    ${PROJECT_NAME}
+    INTERFACE $<INSTALL_INTERFACE:include>
+              $<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>
+              $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
+  target_compile_definitions(
+    ${PROJECT_NAME}
+    INTERFACE
+      $<INSTALL_INTERFACE:EXAMPLE_ROBOT_DATA_MODEL_DIR="$<INSTALL_PREFIX>/share/${PROJECT_NAME}/robots">
+      $<BUILD_INTERFACE:EXAMPLE_ROBOT_DATA_MODEL_DIR="${CMAKE_CURRENT_SOURCE_DIR}/robots">
+  )
+  install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT ${TARGETS_EXPORT_NAME}
+    DESTINATION lib)
+
+  install(FILES include/${CUSTOM_HEADER_DIR}/path.hpp
+          DESTINATION include/${CUSTOM_HEADER_DIR})
+  install(DIRECTORY robots DESTINATION share/${PROJECT_NAME})
+  install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+endif()
+
+setup_project_finalize()
--- a/LICENSE
+++ b/LICENSE
+BSD 3-Clause License
+
+Copyright (C) 2018-2020 LAAS-CNRS, University of Edinburgh, INRIA
+Copyright note valid unless otherwise stated in individual files.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--- a/README.md
+++ b/README.md
-Example robot URDFs
-===============================================
+# Example robot URDFs

-## <img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction
+[![pipeline status](https://gitlab.laas.fr/gepetto/example-robot-data/badges/master/pipeline.svg)](https://gitlab.laas.fr/gepetto/example-robot-data/-/commits/master)
+[![conde version](https://img.shields.io/conda/vn/conda-forge/example-robot-data.svg)](https://anaconda.org/conda-forge/example-robot-data)
+[![conde download](https://anaconda.org/conda-forge/example-robot-data/badges/downloads.svg)](https://anaconda.org/conda-forge/example-robot-data)
+[![PyPI version](https://badge.fury.io/py/example-robot-data.svg)](https://badge.fury.io/py/example-robot-data)
+[![pre-commit.ci status](https://results.pre-commit.ci/badge/github/gepetto/example-robot-data/master.svg)](https://results.pre-commit.ci/latest/github/gepetto/example-robot-data/master)
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)

-This repository includes a set of robot descriptions that are aimed to be used in benchmarking. These source files do not intend to substitute original their repositories.

+This repository includes a set of robot descriptions that are aimed to be used in benchmarking, unit-tests, teachings,
+tutorials or show-cases. These source files do not intend to substitute their original repositories.

-**Authors:**  [Carlos Mastalli](https://cmastalli.github.io/), Guilhem Saurel <br />
-**With additional support from the Gepetto team at LAAS-CNRS.**
+## :penguin: Installation

-[![pipeline status](https://gepgitlab.laas.fr/gepetto/example-robot-data/badges/master/build.svg)](https://gepgitlab.laas.fr/Gepetto/example-robot-data/commits/master)
+### :package: From Debian / Ubuntu packages, with [robotpkg](http://robotpkg.openrobots.org)

+1. If you have never added robotpkg's software repository, [do it now](http://robotpkg.openrobots.org/debian.html):
+   ```bash
+   sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
+   deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
+   EOF

-## <img align="center" height="20" src="https://i.imgur.com/x1morBF.png"/> Installation
-You can install this package throught robotpkg. robotpkg is a package manager tailored for robotics softwares. It
-greatly simplifies the release of new versions along with the management of their dependencies. You just need to add
-the robotpkg apt repository to your sources.list and then use `sudo apt install robotpkg-example-robot-data` or `sudo
-apt install robotpkg-py27-example-robot-data` (or `py3X` for python 3.X, depending on your system) if you need the
-Python loaders.
+   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+   sudo apt update
+   ```

-### Add robotpkg apt repository
-If you have never added robotpkg as a softwares repository, please follow first the instructions from 1 to 3. Otherwise, go directly to instruction 4. Those instructions are similar to the installation procedures presented in [http://robotpkg.openrobots.org/debian.html](http://robotpkg.openrobots.org/debian.html).
+2. installation of example-robot-data and its python utils:
+   ```bash
+   sudo apt install robotpkg-py3\*-example-robot-data
+   ```

-1. Add robotpkg as source repository to apt:
+### :snake: From <img src="https://s3.amazonaws.com/conda-dev/conda_logo.svg" height="18">

-		sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
-		deb [arch=amd64] http://robotpkg.openrobots.org/wip/packages/debian/pub $(lsb_release -sc) robotpkg
-		deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
-		EOF
+As simple as that:
+```bash
+   conda install example-robot-data -c conda-forge
+```

-2. Register the authentication certificate of robotpkg:
+### :turtle: With ROS

-		curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
+Just clone it (with `--recursive`) into a catkin workspace.

-3. You need to run at least once apt update to fetch the package descriptions:
+### :file_folder: From source

-		sudo apt-get update
+Clone it (with `--recursive`), create a `build` directory inside, and:
+```bash
+cmake .. && make && make install
+```

-4. The installation of example-robot-data:
+## :robot: Show a robot with [gepetto-gui](https://github.com/gepetto/gepetto-viewer-corba)

-		sudo apt install robotpkg-example-robot-data
+`python -m example_robot_data -h` to list available robots.

+## :copyright: Credits

-## Show the robot
+### :writing_hand: Written by

-(you will need pinocchio and its Python bindings)
+- [Carlos Mastalli](https://cmastalli.github.io/), Heriot-Watt University :uk:
+- [Guilhem Saurel](https://github.com/nim65s), LAAS-CNRS :fr:

-`python -m example_robot_data [anymal,anymal_kinova,hyq,solo,solo12,talos,talos_arm,talos_legs,tiago,tiago_no_hand,icub,ur5]`
+### :construction_worker: With contributions from

-This will work from the `python` subdirectory inside this repository, or if this package has been installed on your
-system.
+- [Justin Carpentier](https://jcarpent.github.io/), INRIA :fr:
+- [Pierre Fernbach](https://pfernbach.github.io/), LAAS-CNRS :fr:
+- [Florent Lamiraux](https://gepettoweb.laas.fr/index.php/Members/FlorentLamiraux), LAAS-CNRS :fr:
+- [Wolfgang Merkt](http://www.wolfgangmerkt.com/research/), University of Oxford :uk:
+- [Josep Martí Saumell](https://www.iri.upc.edu/staff/jmarti), IRI: CSIC-UPC :es:
+- [Louis Montaut](https://lmontaut.github.io/), INRIA :fr:, CTU :czech_republic:
+- [Sergi Martinez](https://www.romilab.org/team/sergi-martinez), Heriot-Watt University :uk:
--- a/anymal_b_simple_description/srdf/anymal-kinova.srdf
+++ b/anymal_b_simple_description/srdf/anymal-kinova.srdf
-<?xml version="1.0" ?>
-<robot name="anymal_kinova">
-
-    <group name="lf_leg">
-        <joint name="LF_HAA" />
-        <joint name="LF_HFE" />
-        <joint name="LF_KFE" />
-        <chain base_link="base" tip_link="LF_FOOT" />
-    </group>
-    <group name="lh_leg">
-        <joint name="LH_HAA" />
-        <joint name="LH_HFE" />
-        <joint name="LH_KFE" />
-        <chain base_link="base" tip_link="LH_FOOT" />
-    </group>
-    <group name="rf_leg">
-        <joint name="RF_HAA" />
-        <joint name="RF_HFE" />
-        <joint name="RF_KFE" />
-        <chain base_link="base" tip_link="RF_FOOT" />
-    </group>
-    <group name="rh_leg">
-        <joint name="RH_HAA" />
-        <joint name="RH_HFE" />
-        <joint name="RH_KFE" />
-        <chain base_link="base" tip_link="RH_FOOT" />
-    </group>
-    <group name="arm">
-        <joint name="j2s6s200_joint_1" />
-        <joint name="j2s6s200_joint_2" />
-        <joint name="j2s6s200_joint_3" />
-        <joint name="j2s6s200_joint_4" />
-        <joint name="j2s6s200_joint_5" />
-        <joint name="j2s6s200_joint_5" />
-        <chain base_link="base" tip_link="j2s6s200_end_effector" />
-    </group>
-    <group name="all_legs">
-        <group name="lf" />
-        <group name="rf" />
-        <group name="lh" />
-        <group name="rh" />
-    </group>
-    <group name="all">
-        <group name="lf" />
-        <group name="rf" />
-        <group name="lh" />
-        <group name="rh" />
-        <group name="arm" />
-    </group>
-    <group name="r_legs">
-        <group name="rf" />
-        <group name="rh" />
-    </group>
-    <group name="l_legs">
-        <group name="lf" />
-        <group name="lh" />
-    </group>
-    <group name="f_legs">
-        <group name="lf" />
-        <group name="rf" />
-    </group>
-    <group name="h_legs">
-        <group name="lh" />
-        <group name="rh" />
-    </group>
-    <group name="ld_legs">
-        <group name="lf" />
-        <group name="rh" />
-    </group>
-    <group name="rd_legs">
-        <group name="rf" />
-        <group name="lh" />
-    </group>
-
-    <end_effector name="lf_foot" parent_link="LF_FOOT" group="lf_leg" />
-    <end_effector name="rf_foot" parent_link="RF_FOOT" group="rf_leg" />
-    <end_effector name="lh_foot" parent_link="LH_FOOT" group="lh_leg" />
-    <end_effector name="rh_foot" parent_link="RH_FOOT" group="rh_leg" />
-    <end_effector name="arm" parent_link="j2s6s200_end_effector" group="arm" />
-
-    <group_state name="standing_with_arm_up" group="all">
-        <joint name="root_joint" value="0. 0. 0.4792 0. 0. 0. 1." />
-        <joint name="LF_HAA" value="-0.1" />
-        <joint name="LF_HFE" value="0.7" />
-        <joint name="LF_KFE" value="-1." />
-        <joint name="RF_HAA" value="0.1" />
-        <joint name="RF_HFE" value="0.7" />
-        <joint name="RF_KFE" value="-1." />
-        <joint name="LH_HAA" value="-0.1" />
-        <joint name="LH_HFE" value="-0.7" />
-        <joint name="LH_KFE" value="1." />
-        <joint name="RH_HAA" value="0.1" />
-        <joint name="RH_HFE" value="-0.7" />
-        <joint name="RH_KFE" value="1." />
-        <joint name="j2s6s200_joint_1" value="1.5707" />
-        <joint name="j2s6s200_joint_2" value="2.618" />
-        <joint name="j2s6s200_joint_3" value="-1.5707" />
-        <joint name="j2s6s200_joint_4" value="3.1415" />
-        <joint name="j2s6s200_joint_5" value="2.618" />
-        <joint name="j2s6s200_joint_6" value="0." />
-    </group_state>
-
-    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
-    <disable_collisions link1="LF_HIP" link2="LF_SHANK" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="LF_FOOT" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RF_HIP" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RF_THIGH" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RF_SHANK" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RF_FOOT" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="LH_HIP" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="LH_THIGH" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="LH_SHANK" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="LH_FOOT" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RH_HIP" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RH_THIGH" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RH_SHANK" reason="Never" />
-    <disable_collisions link1="LF_HIP" link2="RH_FOOT" reason="Never" />
-    
-    <disable_collisions link1="base" link2="LF_HIP" reason="Adjacent" />
-    <disable_collisions link1="base" link2="LH_HIP" reason="Adjacent" />
-    <disable_collisions link1="base" link2="RF_HIP" reason="Adjacent" />
-    <disable_collisions link1="base" link2="RH_HIP" reason="Adjacent" />
-    <disable_collisions link1="LF_HIP" link2="LF_THIGH" reason="Adjacent" />
-    <disable_collisions link1="LH_HIP" link2="LH_THIGH" reason="Adjacent" />
-    <disable_collisions link1="RF_HIP" link2="RF_THIGH" reason="Adjacent" />
-    <disable_collisions link1="RH_HIP" link2="RH_THIGH" reason="Adjacent" />
-    <disable_collisions link1="LF_THIGH" link2="LF_SHANK" reason="Adjacent" />
-    <disable_collisions link1="LH_THIGH" link2="LH_SHANK" reason="Adjacent" />
-    <disable_collisions link1="RF_THIGH" link2="RF_SHANK" reason="Adjacent" />
-    <disable_collisions link1="RH_THIGH" link2="RH_SHANK" reason="Adjacent" />
-    <disable_collisions link1="LF_SHANK" link2="LF_FOOT" reason="Adjacent" />
-    <disable_collisions link1="LH_SHANK" link2="LH_FOOT" reason="Adjacent" />
-    <disable_collisions link1="RF_SHANK" link2="RF_FOOT" reason="Adjacent" />
-    <disable_collisions link1="RH_SHANK" link2="RH_FOOT" reason="Adjacent" />
-
-    <disable_collisions link1="LF_ADAPTER" link2="LF_FOOT" reason="Adjacent" />
-    <disable_collisions link1="LH_ADAPTER" link2="LH_FOOT" reason="Adjacent" />
-    <disable_collisions link1="RF_ADAPTER" link2="RF_FOOT" reason="Adjacent" />
-    <disable_collisions link1="RH_ADAPTER" link2="RH_FOOT" reason="Adjacent" />
-
-    <disable_collisions link1="LF_ADAPTER" link2="LF_SHANK" reason="Adjacent" />
-    <disable_collisions link1="LH_ADAPTER" link2="LH_SHANK" reason="Adjacent" />
-    <disable_collisions link1="RF_ADAPTER" link2="RF_SHANK" reason="Adjacent" />
-    <disable_collisions link1="RH_ADAPTER" link2="RH_SHANK" reason="Adjacent" />
-
-    <disable_collisions link1="base" link2="imu_link" reason="Adjacent" />
-    
-    <!-- Need to check these 4 ? there may be auto-collisions ...  -->
-    <disable_collisions link1="base" link2="LF_THIGH" reason="Adjacent" />
-    <disable_collisions link1="base" link2="LH_THIGH" reason="Adjacent" />
-    <disable_collisions link1="base" link2="RF_THIGH" reason="Adjacent" />
-    <disable_collisions link1="base" link2="RH_THIGH" reason="Adjacent" />
-
-
-
-</robot>
--- a/cmake @ b5ae8e49
+++ b/cmake @ b5ae8e49
-Subproject commit e6e09c0b944530c92c17c4fb64cd2a2f63ed46c0
+Subproject commit b5ae8e49306840a50ae9c752c5b4040f892c89d8
--- a/colcon.pkg
+++ b/colcon.pkg
+{
+    "hooks": [
+        "share/example-robot-data/hook/ament_prefix_path.dsv",
+        "share/example-robot-data/hook/python_path.dsv"
+    ]
+}
--- a/flake.lock
+++ b/flake.lock
+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib"
+      },
+      "locked": {
+        "lastModified": 1741352980,
+        "narHash": "sha256-+u2UunDA4Cl5Fci3m7S643HzKmIDAe+fiXrLqYsR2fs=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "f4330d22f1c5d2ba72d3d22df5597d123fdb60a9",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1742069588,
+        "narHash": "sha256-C7jVfohcGzdZRF6DO+ybyG/sqpo1h6bZi9T56sxLy+k=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "c80f6a7e10b39afcc1894e02ef785b1ad0b0d7e5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs-lib": {
+      "locked": {
+        "lastModified": 1740877520,
+        "narHash": "sha256-oiwv/ZK/2FhGxrCkQkB83i7GnWXPPLzoqFHpDD3uYpk=",
+        "owner": "nix-community",
+        "repo": "nixpkgs.lib",
+        "rev": "147dee35aab2193b174e4c0868bd80ead5ce755c",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-community",
+        "repo": "nixpkgs.lib",
+        "type": "github"
+      }
+    },
+    "root": {
+      "inputs": {
+        "flake-parts": "flake-parts",
+        "nixpkgs": "nixpkgs"
+      }
+    }
+  },
+  "root": "root",
+  "version": 7
+}
--- a/flake.nix
+++ b/flake.nix
+{
+  description = "Set of robot URDFs for benchmarking and developed examples";
+
+  inputs = {
+    flake-parts.url = "github:hercules-ci/flake-parts";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+  };
+
+  outputs =
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+      systems = inputs.nixpkgs.lib.systems.flakeExposed;
+      perSystem =
+        {
+          pkgs,
+          self',
+          ...
+        }:
+        {
+          apps.default = {
+            type = "app";
+            program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+          };
+          devShells.default = pkgs.mkShell {
+            inputsFrom = [ self'.packages.default ];
+            packages = [ (pkgs.python3.withPackages (p: [p.tomlkit])) ]; # for "make release"
+          };
+          packages = {
+            default = self'.packages.example-robot-data;
+            example-robot-data = pkgs.python3Packages.example-robot-data.overrideAttrs (_: {
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./colcon.pkg
+                  ./include
+                  ./package.xml
+                  ./pyproject.toml
+                  ./python
+                  ./robots
+                  ./unittest
+                ];
+              };
+            });
+          };
+        };
+    };
+}
--- a/include/.gitkeep
+++ b/include/.gitkeep
-# This file prevents CMake warnings, e.g., with catkin-based workflows.
\ No newline at end of file
--- a/include/example-robot-data/path.hpp
+++ b/include/example-robot-data/path.hpp
+#ifndef EXAMPLE_ROBOT_DATA_PATH_HPP
+#define EXAMPLE_ROBOT_DATA_PATH_HPP
+
+#include <example-robot-data/warning.hh>
+
+#pragma message EXAMPLE_ROBOT_DATA_WARN( \
+    "Header `example-robot-data/path.hpp` is deprecated and useless!")
+
+#endif
--- a/package.xml
+++ b/package.xml
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
  <name>example-robot-data</name>
-  <version>2.5.0</version>
+  <version>4.3.0</version>
  <description>Set of robot URDFs for benchmarking and developed examples.</description>
  <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm.
  Please check the repository URL for project maintainer. -->
-  <maintainer email="wolfgang.merkt@ed.ac.uk">Wolfgang Merkt</maintainer>
+  <author email="carlos.mastalli@ed.ac.uk">Carlos Mastalli</author>
+  <maintainer email="guilhem.saurel@laas.fr">Guilhem Saurel</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
  <license>BSD</license>

-  <url type="repository">https://gepgitlab.laas.fr/gepetto/example-robot-data.git</url>
+  <url type="repository">https://github.com/gepetto/example-robot-data</url>

+  <!-- The following tags are recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
  <build_depend>git</build_depend>
-  <depend>python</depend>
-  <depend>python-numpy</depend>
-  <depend>boost</depend>
-  <depend>pinocchio</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</depend>
+  <depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</depend>
+  <!-- The default setting has BUILD_TESTING=ON, as thus we need to explicitly depend on Pinocchio -->
+  <build_depend>pinocchio</build_depend>
+  <exec_depend>pinocchio</exec_depend>

  <buildtool_depend>cmake</buildtool_depend>
  <export>

--- a/pyproject.toml
+++ b/pyproject.toml
+[tool.ruff]
+extend-exclude = ["cmake"]
+
+[tool.ruff.lint]
+extend-select = ["I", "NPY", "RUF", "UP", "W"]
+
+[tool.ruff.lint.isort]
+known-first-party = ["example_robot_data"]
+
+[tool.tomlsort]
+all = true
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