talos-data issueshttps://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues2020-02-19T11:08:48Zhttps://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/4Hardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.py2020-02-19T11:08:48ZNoelie RamuzatHardcoded talos_data path for 16.04 in script start_talos_gazebo_16_04.pyIn 16.04 the path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data').
A temporary fix has been created in the script start_talos_gazebo_16_04.py, which hardcode the path (see pyrene-dev/talos_data!12)...In 16.04 the path to talos_data cannot be retreive using the rospkg.RosPack() and get_path('talos_data').
A temporary fix has been created in the script start_talos_gazebo_16_04.py, which hardcode the path (see pyrene-dev/talos_data!12).
This should be removed, we have to find a way to retreive the path in 16.04.Guilhem SaurelGuilhem Saurelhttps://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/3roscpp is declared as a runtime dependency2019-12-29T18:02:24ZGuilhem Saurelroscpp is declared as a runtime dependencyHi,
If I install this package from robotpkg's binaries:
```bash
╰─>$ grep Require /opt/openrobots/lib/pkgconfig/talos_data.pc
Requires: urdfdom >= 0.2.9, gazebo >= 7.0.0, roscpp
```
I think that roscpp is not really a required runtime ...Hi,
If I install this package from robotpkg's binaries:
```bash
╰─>$ grep Require /opt/openrobots/lib/pkgconfig/talos_data.pc
Requires: urdfdom >= 0.2.9, gazebo >= 7.0.0, roscpp
```
I think that roscpp is not really a required runtime dependency here, and I suggest to remove it.https://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/2Duplicate URDF files?2020-02-19T13:27:31ZGabriele BuondonnoDuplicate URDF files?Folder [urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/urdf) and folder [robots](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/robots) contain some files which are identical to each other. In particular, ...Folder [urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/urdf) and folder [robots](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/robots) contain some files which are identical to each other. In particular, [urdf/talos_reduced.urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/blob/master/urdf/talos_reduced.urdf) and [robots/talos_reduced.urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/robots/talos_reduced.urdf) are exactly the same file.
This is confusing and I think is a mistake.
By the way, what is the rationale of the two folders? Why isn't everything inside [urdf](https://gepgitlab.laas.fr/pyrene-dev/talos_data/tree/master/urdf)?https://gepgitlab.laas.fr/stack-of-tasks/talos-data/-/issues/1Collision meshes of the ankle not accurate2019-06-05T09:30:54ZPierre FernbachCollision meshes of the ankle not accurateHello, I have an issue with the approximation made for the collision geometry of the ankle_X joint.
![collision](/uploads/23c8cbb1b3b79fab34f1b94396a7324e/collision.png)
This configuration is collision free according to the current ur...Hello, I have an issue with the approximation made for the collision geometry of the ankle_X joint.
![collision](/uploads/23c8cbb1b3b79fab34f1b94396a7324e/collision.png)
This configuration is collision free according to the current urdfs (tested with all 4 urdfs available).
![collision_box](/uploads/b6f157d400356f5a0315b39b265a40d1/collision_box.png)
This is the collision geometry tested for the ankle_X joint. There is a mesh file "ankle_X_collision" in the package, which is not used in the urdf file. Using this mesh file instead of the box give the following geometry :
![collision_mesh](/uploads/8714584bd6de58df53e4c7505c5c3003/collision_mesh.png)
Which is correctly detected as in collision.
Why did the use of this mesh was commented and replaced with a box ? Should I commit this changes in the main urdf or another one ?
EDIT : here is a "valid" configuration according to the current urdf, which is obviously in self-collision :
q=[-0.07371432604417776,
-0.25022428805674013,
0.9318755416181825,
-0.0004259847262110303,
-0.00038109759515798404,
0.05982600533934256,
0.9982086567380454,
0.5519171789948055,
-0.12430793696215368,
-0.5552120067242478,
1.2987498545951066,
-0.743368598286438,
0.12544749852275638,
-0.12843963521888768,
0.5111938617621895,
-0.964350738781588,
0.5762332241895781,
0.3890754003134548,
-0.5121084703203191,
0.0002105395264093808,
0.00849924757484463,
0.2638302767309955,
0.17566292242525705,
0.00063543299319741,
-0.4939674222198186,
0.0002640574531312831,
0.0006876429792204463,
0.10532874305175034,
-0.004945183546427389,
-0.2625331918948741,
-0.16949365039027733,
-0.00626388221697223,
-0.4886847139642828,
7.056667933752162e-05,
-0.0018624601202724823,
0.10640676864984272,
-0.005018372868773,
-0.0002188055250994256,
1.3769155642407247e-05]