Ft automated extraction joint

maxspahn / gym_envs_urdf

URDF environments for gym

https://maxspahn.github.io/gym_envs_urdf/

GNU General Public License v3.0

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Ft automated extraction joint #91

Closed SkyloveQiu closed 2 years ago

SkyloveQiu commented 2 years ago

The first version is finished, resolve #57. There are a few problems, to make the extraction of id, I introduce preload idea which means loading the robot before generating the environment. I have noticed that the preload will slow down the start-up process.

SkyloveQiu commented 2 years ago

The code needs to clean up, this pr just for testing purposes.

lgtm-com[bot] commented 2 years ago

This pull request introduces 1 alert when merging 5a1901b64bd51c13d63429f21d6f2bc18ca1b197 into d6dbccaccdead57a78c4eeb5f77321f3adcd5471 - view on LGTM.com

new alerts:

1 for Unused import

lgtm-com[bot] commented 2 years ago

This pull request introduces 4 alerts when merging 5a1901b64bd51c13d63429f21d6f2bc18ca1b197 into 13830685fb2278e0ac4aee5cb0736cc4489787d1 - view on LGTM.com

new alerts:

2 for Unnecessary pass
2 for Unused import

SkyloveQiu commented 2 years ago

preload has been removed. I changed the order of set_space, I moved it to the end of reset()

SkyloveQiu commented 2 years ago

I have updated the function get_indexed_joint_info in genetic_robot, now the function will use _joint_names to update _robot_joints and _castor_joints.

SkyloveQiu commented 2 years ago

the bug is observed, other robots have different start-up procedures compared to Tiago robots

maxspahn commented 2 years ago

You can also test your changes locally using pytest

SkyloveQiu commented 2 years ago

The bug is found, for point robot, it adds a lidar sensor after. In the previous design that reset will call set_space function. It will remove lidar sensor space and cause an error. The pytest passed with warnings on my machine but it may different on CI.

SkyloveQiu commented 2 years ago

I am not sure how to do the Prius robot, it seems not the same as other robots.

SkyloveQiu commented 2 years ago

All other robots have been updated, and the pytest passed on my machine.

lgtm-com[bot] commented 2 years ago

This pull request introduces 4 alerts when merging 80c95f3f337d2a1c603add33191d97848a04fad8 into d6dbccaccdead57a78c4eeb5f77321f3adcd5471 - view on LGTM.com

new alerts:

4 for Unused import

lgtm-com[bot] commented 2 years ago

This pull request introduces 1 alert when merging 38c2281283a114d8bdfc0398525dd36fa81ddb7d into d6dbccaccdead57a78c4eeb5f77321f3adcd5471 - view on LGTM.com

new alerts:

1 for Unused import

maxspahn commented 2 years ago

Can you reopen this pull request. I needed to revert it, as there were too many errors which I did not check carefully enough. Will comment on them in the new PR.

SkyloveQiu commented 2 years ago

The revert is not processed correctly, it shows nothing to compare on my site.

maxspahn commented 2 years ago

You cannot reopen a merged pull-request. I created a new pull request reverting this one. Now, you should open a new PR from this branch.