example-robot-data issueshttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues2019-12-11T19:11:40Zhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/17Bug on the robot_loader under switchToNumpyArray setup2019-12-11T19:11:40ZCarlos MastalliBug on the robot_loader under switchToNumpyArray setupIf you tried to load a robot under the default setup, i.e.
```python
import example_robot_data
model = example_robot_data.loadANYmal().model
```
then the following errors appears:
```
/usr/local/lib/python2.7/dist-packages/example_robot...If you tried to load a robot under the default setup, i.e.
```python
import example_robot_data
model = example_robot_data.loadANYmal().model
```
then the following errors appears:
```
/usr/local/lib/python2.7/dist-packages/example_robot_data/robots_loader.py in addFreeFlyerJointLimits(robot)
45 ub = rmodel.upperPositionLimit
46 ub[:7] = 1
---> 47 rmodel.upperPositionLimit = ub
48 lb = rmodel.lowerPositionLimit
49 lb[:7] = -1
ArgumentError: Python argument types in
None.None(Model, numpy.ndarray)
did not match C++ signature:
None(pinocchio::ModelTpl<double, 0, pinocchio::JointCollectionDefaultTpl> {lvalue}, Eigen::Matrix<double, -1, 1, 0, -1, 1>)
```
Note that if you switch to matrix everything is OK, i.e.
```python
import example_robot_data
import eigenpy
eigenpy.switchToNumpyMatrix()
model = example_robot_data.loadANYmal().model
```Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/16Floating-base joint limits2019-11-22T14:53:44ZWolfgang MerktFloating-base joint limitsThe robot loader sets the position limits to +/-1. This includes both translation as well as rotation dimensions.
I recall there was a need for finite position limits for the random state generation. Setting it to 1 though seems like a ...The robot loader sets the position limits to +/-1. This includes both translation as well as rotation dimensions.
I recall there was a need for finite position limits for the random state generation. Setting it to 1 though seems like a hack.https://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/15Moving robot descriptions inside a robots folder2019-11-25T19:40:19ZCarlos MastalliMoving robot descriptions inside a robots folder@gsaurel the number of robots is growing, and now there too many folders in the root of the project.
I propose to create a robots folder, and move all the XXX_description to that folder.
What do you think?@gsaurel the number of robots is growing, and now there too many folders in the root of the project.
I propose to create a robots folder, and move all the XXX_description to that folder.
What do you think?https://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/14Installs headers in odd location2019-11-07T02:32:06ZWolfgang MerktInstalls headers in odd locationThis package installs headers to `include/example/robot/data/`. This is not great - perhaps an issue with the project name with hyphens?This package installs headers to `include/example/robot/data/`. This is not great - perhaps an issue with the project name with hyphens?Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/13Loading solo with pinocchio 2.1.72020-03-31T11:31:01ZGuilhem SaurelLoading solo with pinocchio 2.1.7leads to the following error:
```
python: /opt/openrobots/include/pinocchio/parsers/srdf.hxx:201: bool pinocchio::srdf::loadRotorParameters(pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const string&, bool) [with Scalar = d...leads to the following error:
```
python: /opt/openrobots/include/pinocchio/parsers/srdf.hxx:201: bool pinocchio::srdf::loadRotorParameters(pinocchio::ModelTpl<Scalar, Options, JointCollectionTpl>&, const string&, bool) [with Scalar = double; int Options = 0; JointCollectionTpl = pinocchio::JointCollectionDefaultTpl; std::__cxx11::string = std::__cxx11::basic_string<char>]: Assertion `false && "no rotor params found in the srdf file"' failed.
```
This issue was initially reported by @sduminyGuilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/12Create c++ and Python methods for loading the robot2019-08-15T12:29:15ZCarlos MastalliCreate c++ and Python methods for loading the robotCurrently we have define these methods inside Crocoddyl, the idea is to move them into a right place.Currently we have define these methods inside Crocoddyl, the idea is to move them into a right place.Carlos MastalliCarlos Mastallihttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/11Add License2019-05-13T16:41:34ZGuilhem SaurelAdd LicenseAs reported by @nmansard this package lacks a License file.
And we are including files that comes with their own license, so this must be taken in account.As reported by @nmansard this package lacks a License file.
And we are including files that comes with their own license, so this must be taken in account.https://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/10Add Tiago robot model2019-04-05T08:51:40ZCarlos MastalliAdd Tiago robot modelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/9Add LWR robot model2019-03-09T18:28:16ZCarlos MastalliAdd LWR robot modelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/8Add Atlas robot model2019-03-09T18:28:03ZCarlos MastalliAdd Atlas robot modelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/7Add UR5 robot model2019-09-24T12:40:30ZCarlos MastalliAdd UR5 robot modelThis was reported here #2.This was reported here #2.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/6Add unit-test for joint limits2019-12-06T16:45:55ZCarlos MastalliAdd unit-test for joint limitsThis already has be reported here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/130. However, this is strictly important for example-robot-dataThis already has be reported here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/issues/130. However, this is strictly important for example-robot-datahttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/5Create a SRDF for the HyQ robot and remove hardcoded q02019-03-09T15:19:17ZCarlos MastalliCreate a SRDF for the HyQ robot and remove hardcoded q0https://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/4Releasing the robotpkg packet2019-03-07T09:58:09ZNicolas MansardReleasing the robotpkg packetWhat are the missing step before releasing the new version?
@gsaurel are you available to monitor this tas?What are the missing step before releasing the new version?
@gsaurel are you available to monitor this tas?https://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/3OSG files for HyQ2019-03-06T20:59:52ZNicolas MansardOSG files for HyQIn the HyQ model, you have added the OSG files. They are not used in the URDF model.
In the Talos model, you only have the STL files, like for the original model.
Is that done on purpose? Is it useful to have the OSG files includes?In the HyQ model, you have added the OSG files. They are not used in the URDF model.
In the Talos model, you only have the STL files, like for the original model.
Is that done on purpose? Is it useful to have the OSG files includes?https://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/2List of desired robot models2019-03-09T18:35:57ZCarlos MastalliList of desired robot modelsCurrently I have added the Talos and HyQ models. These are the models extensively used in crocoddyl. However I found useful to define a list of interesting robots that Gepetto team wants to collect.
@all feel free to left comments hereCurrently I have added the Talos and HyQ models. These are the models extensively used in crocoddyl. However I found useful to define a list of interesting robots that Gepetto team wants to collect.
@all feel free to left comments hereGuilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/gepetto/example-robot-data/-/issues/1Agreement with the data organization2019-03-06T15:27:07ZCarlos MastalliAgreement with the data organizationRobot folders hasn't exactly organization as original ROS packages. This point was raised here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/merge_requests/107. And I copy from there the following motivations of actual description:
- A ...Robot folders hasn't exactly organization as original ROS packages. This point was raised here: https://gepgitlab.laas.fr/loco-3d/crocoddyl/merge_requests/107. And I copy from there the following motivations of actual description:
- A package.xml is used by ROS, we probably don't want to add ROS dependency.
- We don't depend on xacro files, so we don't need to create URDF folder for putting just one file.
Additionally we might want add extra information for ensuring that users don't use these models for robot deployment.
@ostasse, @gsaurel, @jmirabel and @nmansard let's find an agreement here.