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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Loading URDFs and SRDFs from example-robot-data - [merged] #455

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 20, 2019, 09:21

Merges robot-data -> devel

In this PR I used the example-robot-data repository for loading Talos and HyQ robots.

Missing stuff before merging

  1. Binary release (in robotpkg) of example-robot-data.
  2. Modify the Dockerfile in order to load this repository.

Note that at the time being we are using these models for unit-test, so we need to do (2). However we should use simple models for unit-testing in order to align with team policy.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 20, 2019, 17:56

Nicely done. What is the time-to-release in robotpkg?

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 20, 2019, 17:59

According to the plan; first, @nim65s is going to create an image tonight; second, we will merge the unit-tests; and finally we release them in robotpkg. We might said that it can be done by this Friday.

For more information see https://gepgitlab.laas.fr/gepetto/example-robot-data. Note that I put only Talos and HyQ. It can be added as much models as we want. Please write an issue there asking all the models that Gepetto will need.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 20, 2019, 19:48

I dont understand why you decided to change the organization of the folder, compared to the classical talos data that we were using.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 21, 2019, 14:45

I'm not sure what you mean with organization. We expect to install example-robot-data in the usual place (/opt/openrobots/share). Then you'll have all robot-datas inside this folder: /opt/openrobots/share/example-robot-data/.

After discussing with @nim65s, we decided to create a folder per each robot. Using data keyword in each robot folder is redundant and boring (I guess).

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 22, 2019, 08:38

The talos-data package installs the following structure: gazebo/ meshes/ package.xml robots/ talos_left_arm.urdf talos_reduced.urdf srdf/ urdf/

Your package does not keep the same structure. Why? Is it desirable?

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 22, 2019, 08:50

Now I understand your point.

About package.xml

This is a filed used by ROS to identify this packages. Instead we want to have a non-ROS repository, is that right @nim65s? Definitely I can make it a ROS package if Gepetto team wants it.

About URDF and SRDF

Typically this organization is inherited from ROS way of doing things. URDF folder often contains several urdf.xacro files, the same is for SRDF folder. Then you assemble them inside robots folder (e.g. talos.urdf.xacro). Since we don't use xacro files (this creates dependencies with ROS) and we only have one SRDF, I though that it wasn't necessary this boring organization. However I can change it.

Both things can be changed easily at this point. @nim65s and @nmansard let me know your thoughts regarding this.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 22, 2019, 08:55

I don't think you should keep useless files, but for the files you keep, they should be kept as similar as possible to the original package.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 22, 2019, 08:56

We also discussed of possibly solutions to make sure that the model is not mistaken for the valid robot model. @nim65s do you remember possible solutions for this? I think we said adding a frame named "FAKE_MODEL_DONT_USE_ME_ON_THE_ROBOT" or similar.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 22, 2019, 09:52

@nmansard we can make these changes now, or after this PR. What do you prefer?

From my point of view, it's better the latter so we can give us time to discuss it. I would like to include in this conversation @ostasse.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 22, 2019, 12:51

added 29 commits

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wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 22, 2019, 12:52

unmarked as a Work In Progress

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 22, 2019, 12:54

I think we don't need this PR immediately. So I prefer to post-pone to avoid versioning problems later.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 22, 2019, 13:02

@nmansard I rebased this branch and tested that all example works. You can merge it!

I created an issue in example-robot-data that describes your concerns @nmansard. Please see https://gepgitlab.laas.fr/gepetto/example-robot-data/issues/1.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 23, 2019, 21:26

added 1 commit

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wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 27, 2019, 09:08

We also discussed of possibly solutions to make sure that the model is not mistaken for the valid robot model. @nim65s do you remember possible solutions for this? I think we said adding a frame named "FAKE_MODEL_DONT_USE_ME_ON_THE_ROBOT" or similar.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 27, 2019, 09:08

What is the status of this MR?

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 27, 2019, 09:40

You can merge it!

After this PR you will need

@proyan FYI.

wxmerkt commented 4 years ago

In GitLab by @nmansard on Feb 27, 2019, 10:36

I think we said that we are waiting for having a similar organization of the common files between the talos repo and the talos model in the example repo.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Feb 27, 2019, 10:58

Yes, that's right. However we need to agree in details. Please accept my excuse regarding this matter, I believe we can tackle it later.

In any case, I would kindly ask you to report desired changes in the organization inside example-robot-data (https://gepgitlab.laas.fr/gepetto/example-robot-data), I will take care of it.

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Mar 2, 2019, 12:59

mentioned in merge request !122

wxmerkt commented 4 years ago

In GitLab by @cmastalli on Mar 4, 2019, 13:48

added 2 commits

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wxmerkt commented 4 years ago

In GitLab by @cmastalli on Mar 7, 2019, 08:38

added 85 commits

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wxmerkt commented 4 years ago

In GitLab by @cmastalli on Mar 7, 2019, 08:40

@nmansard you can merge it since we release example-robot-data v1 (see https://gepgitlab.laas.fr/gepetto/example-robot-data/issues/4).

wxmerkt commented 4 years ago

In GitLab by @nmansard on Mar 7, 2019, 12:33

merged

wxmerkt commented 4 years ago

In GitLab by @nmansard on Mar 7, 2019, 12:33

mentioned in commit 3aa7ebc1229303559c823baaf938c6cb9c6c9b25