Review and Unify TEO link names

[jgvictores]

Review and Unify TEO link names, in parallel to https://github.com/roboticslab-uc3m/teo-main/issues/16 (dynamic info), etc.

• [ ] https://github.com/roboticslab-uc3m/teo-developer-manual
• [x] Openrave models: https://github.com/roboticslab-uc3m/teo-openrave-models
• [ ] Gazebo models: https://github.com/roboticslab-uc3m/teo-gazebo
  • legacy repo, now we use this: https://github.com/roboticslab-uc3m/teo-gazebo-models
• [ ] ROS URDF model: https://github.com/roboticslab-uc3m/teo-ros-simulation
• [ ] ArmarX models: https://github.com/roboticslab-uc3m/teo-simox-models
• [x] .ini of launch files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchManipulation and https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/launchLocomotion (?????)
  • check our new implementation
• [ ] .ini of kinematics files: https://github.com/roboticslab-uc3m/teo-configuration-files/tree/develop/share/kinematics (?????)
  • no link names involved here

[jgvictores]

Note: would like to change teo-simox-names.pdf -> teo-link-names.pdf or similar. Must update the following current items after that:

• https://github.com/roboticslab-uc3m/teo-developer-manual/blob/master/appendix/a-teo-diagrams.md
• https://github.com/roboticslab-uc3m/teo-simox-models/blob/develop/README.md

[AlvaroMartinezR]

@jgvictores I am not sure fi you want to change the names I used in simox to other or the other way around, change the simox ones.

[jgvictores]

Simox names are good! Unless there is some other naming for the links, I think it would be cool to adopt the ones you have on the PDF everywhere (thus could drop the simox from name, as becomes generic info).

[AlvaroMartinezR]

Ok, now I understand. I know that the ones used in openrave are something like r10.001.

[jgvictores]

Will probably be renaming and moving things around today, have presentation on TEO tomorrow evening! :-)

[PeterBowman]

Note: "saggital, frontal, axial..." might be misplaced, e.g. current saggital leg links are actually frontal links according to https://en.wikipedia.org/wiki/Anatomical_plane.

[PeterBowman]

Note: review and unify OpenRAVE link names, too.

[jgvictores]

Note: review and unify OpenRAVE joint names, too.

Updated issue description. May have added some overkill: for now our .ini's do not contain this sort of info.

[jgvictores]

ASWB, we'll name links as previous joints, in a DH fashion.

[rsantos88]

In order to help with this issue, and to be sure that I've understood it, do you want to replace, for example q10 here by FrontalRightShoulder or by the label FRS15 following this table? Is it right?

[jgvictores]

Hi! The table is the correct one, and we'd use the first column, e.g. FrontalRightShoulder as you said.

However, q10 would be a joint, to be done at https://github.com/roboticslab-uc3m/teo-main/issues/44. <- We can start with this issue first! :smile:

This issue refers to links, with names such as r10. This can be slightly more tedious. Things to be taken into account:

• Possibility of renaming files within teo/models, best via git mv.
• Updating in all .xml files, including unexpected places such as here, best via sed (I used find -type f -exec sed -i 's/old/new/g' {} \+ a lot, but sometimes push .git out of the way just in case).

[jgvictores]

Regarding the OpenRAVE model, since https://github.com/roboticslab-uc3m/teo-openrave-models/pull/35 has been merged, I guess this could be done (warning! pretty tedious ^^).

[rsantos88]

• [x] Openrave models: https://github.com/roboticslab-uc3m/teo-openrave-models

Done at https://github.com/roboticslab-uc3m/teo-openrave-models/pull/36 according to https://github.com/roboticslab-uc3m/teo-developer-manual/blob/master/fig/teo-link-names.pdf