diff --git a/CHANGELOG.md b/CHANGELOG.md index 7a330574..c1b6529b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -10,6 +10,10 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). - :warning: Breaking (only for ROS packaging) :warning: renamed the ROS package as `example_robot_descriptions`. +### Removed + +- reverted addition of Falcon Bravo7 Bluevolta robots for license issues + ## [5.0.0] - 2026-06-05 ### Added diff --git a/LICENSE b/LICENSE index ce274803..9420e87a 100644 --- a/LICENSE +++ b/LICENSE @@ -1,22 +1,18 @@ -BSD 3-Clause License +BSD 2-Clause License -Copyright (C) 2018-2020 LAAS-CNRS, University of Edinburgh, INRIA +Copyright (C) 2018-2026 LAAS-CNRS, University of Edinburgh, INRIA Copyright note valid unless otherwise stated in individual files. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: -* Redistributions of source code must retain the above copyright notice, this - list of conditions and the following disclaimer. +1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. -* Redistributions in binary form must reproduce the above copyright notice, - this list of conditions and the following disclaimer in the documentation - and/or other materials provided with the distribution. - -* Neither the name of the copyright holder nor the names of its - contributors may be used to endorse or promote products derived from - this software without specific prior written permission. +2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE diff --git a/package.xml b/package.xml index 3ccc7973..ae3a13be 100644 --- a/package.xml +++ b/package.xml @@ -9,9 +9,72 @@ Guilhem Saurel Wolfgang Merkt + + BSD-2-Clause + + Apache-2.0 + + BSD-2-Clause - LGPL-3.0 + + + BSD-3-Clause + + + BSD + + + CC-BY-NC-ND-4.0 + + + CC-BY-SA-4.0 + + + ISC + + + MPL-2.0 https://github.com/gepetto/example-robot-data diff --git a/python/example_robot_data/human.py b/python/example_robot_data/human.py index fc1e9c56..55141da4 100644 --- a/python/example_robot_data/human.py +++ b/python/example_robot_data/human.py @@ -863,9 +863,7 @@ def get_dict_joint_placements(height: float, gender: str = "m") -> dict: joint_placements.append(np.array([0, dict_lengths["L_abdomen"], 0])) elif j == "middle_cervical_Z": joint_placements.append(np.array([0, dict_lengths["L_thorax_cerv"], 0])) - elif j == "left_clavicle_joint_X": - joint_placements.append(np.array([0, dict_lengths["L_thorax_supr"], 0])) - elif j == "right_clavicle_joint_X": + elif j == "left_clavicle_joint_X" or j == "right_clavicle_joint_X": joint_placements.append(np.array([0, dict_lengths["L_thorax_supr"], 0])) elif j == "left_shoulder_Z": joint_placements.append( diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py index 3bd2a8ea..b8e0e006 100644 --- a/python/example_robot_data/robots_loader.py +++ b/python/example_robot_data/robots_loader.py @@ -50,60 +50,6 @@ class Go1Loader(RobotLoader): free_flyer = True -class FalconBravo7NoEndEffectorLoader(RobotLoader): - path = "falcon_description" - urdf_filename = "falcon_bravo7_no_ee.urdf" - urdf_subpath = "urdf" - srdf_filename = "falcon_bravo7_no_ee.srdf" - ref_posture = "standing" - free_flyer = True - - -class BluevoltaBravo7NoEndEffectorLoader(RobotLoader): - path = "bluevolta_description" - urdf_filename = "bluevolta_bravo7_no_ee.urdf" - urdf_subpath = "urdf" - srdf_filename = "bluevolta_bravo7_no_ee.srdf" - ref_posture = "standing" - free_flyer = True - - -class FalconBravo7GripperLoader(RobotLoader): - path = "falcon_description" - urdf_filename = "falcon_bravo7_gripper.urdf" - urdf_subpath = "urdf" - srdf_filename = "falcon_bravo7_gripper.srdf" - ref_posture = "standing" - free_flyer = True - - -class BluevoltaBravo7GripperLoader(RobotLoader): - path = "bluevolta_description" - urdf_filename = "bluevolta_bravo7_gripper.urdf" - urdf_subpath = "urdf" - srdf_filename = "bluevolta_bravo7_gripper.srdf" - ref_posture = "standing" - free_flyer = True - - -class Bravo7NoEndEffectorLoader(RobotLoader): - path = "bravo7_description" - urdf_filename = "bravo7_no_ee.urdf" - urdf_subpath = "urdf" - srdf_filename = "bravo7_no_ee.srdf" - ref_posture = "standing" - free_flyer = False - - -class Bravo7GripperLoader(RobotLoader): - path = "bravo7_description" - urdf_filename = "bravo7_gripper.urdf" - urdf_subpath = "urdf" - srdf_filename = "bravo7_gripper.srdf" - ref_posture = "standing" - free_flyer = False - - class Go2Loader(RobotLoader): path = "go2_description" urdf_filename = "go2.urdf" @@ -485,12 +431,6 @@ class xArm7Loader(RobotLoader): ROBOTS = { "centauro": CentauroLoader, "b1": B1Loader, - "bravo7_gripper": Bravo7GripperLoader, - "bravo7_no_ee": Bravo7NoEndEffectorLoader, - "falcon_bravo7_no_ee": FalconBravo7NoEndEffectorLoader, - "falcon_bravo7_gripper": FalconBravo7GripperLoader, - "bluevolta_bravo7_no_ee": BluevoltaBravo7NoEndEffectorLoader, - "bluevolta_bravo7_gripper": BluevoltaBravo7GripperLoader, "go1": Go1Loader, "go2": Go2Loader, "a1": A1Loader, diff --git a/python/example_robot_data/utils.py b/python/example_robot_data/utils.py index 2f4b6163..7105697e 100644 --- a/python/example_robot_data/utils.py +++ b/python/example_robot_data/utils.py @@ -23,7 +23,7 @@ def getModelPath(subpath, verbose=False): join(source, "robots"), ] try: - EXAMPLE_ROBOT_DATA_MODEL_DIR + _ = EXAMPLE_ROBOT_DATA_MODEL_DIR # function called from installed project paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR) diff --git a/robots/alex_description/README.md b/robots/alex_description/README.md index dfa3166c..5a26ef7f 100644 --- a/robots/alex_description/README.md +++ b/robots/alex_description/README.md @@ -1,3 +1,4 @@ # Boarwalk Robotics - Alex Robot -upstream: [](https://github.com/boardwalkrobotics/alex-robot-models) license: CC BY-NC-ND 4.0 +upstream: https://github.com/boardwalkrobotics/alex-robot-models +license: CC-BY-NC-ND-4.0 diff --git a/robots/alexander_description/README.md b/robots/alexander_description/README.md index 2a750c41..1ee8b6d4 100644 --- a/robots/alexander_description/README.md +++ b/robots/alexander_description/README.md @@ -1,3 +1,4 @@ # IHMC - Alexander Humanoid ('Alex' was preliminary upper body design) -[IHMC Alexander SDK](https://github.com/ihmcrobotics/ihmc-alexander-sdk/) -License: Apache 2.0 + +upstream: [IHMC Alexander SDK](https://github.com/ihmcrobotics/ihmc-alexander-sdk/) +license: Apache-2.0 diff --git a/robots/allegro_hand_description/README.md b/robots/allegro_hand_description/README.md new file mode 100644 index 00000000..158a8ea4 --- /dev/null +++ b/robots/allegro_hand_description/README.md @@ -0,0 +1,4 @@ +# Allegro hand + +upstream: https://github.com/Wonikrobotics-git/allegro_hand_linux_v4/tree/main/ros_source/src/allegro_hand_description +license: BSD diff --git a/robots/asr_twodof_description/README.md b/robots/asr_twodof_description/README.md index 068748c6..d7dbfe88 100644 --- a/robots/asr_twodof_description/README.md +++ b/robots/asr_twodof_description/README.md @@ -1,9 +1,8 @@ +# asr 2dof + +upstream: https://bitbucket.org/qbrobotics/qbmove-ros/src/production-melodic/qb_move_description/ +license: BSD This is a 2DOF robot based on qbmove actuators. qbmove is a muscle-like building block actuator, small and lightweight, and based on the Variable Stiffness Actuation (VSA) principle, designed for constructing innovative robot structures and soft manipulators. It is unique in its ability to endow robots with Natural Motion, i.e. that resembles the elegance and deftness of human motion. - - -upstream: https://bitbucket.org/qbrobotics/qbmove-ros/src/production-melodic/qb_move_description/ - -license: BSD diff --git a/robots/bluevolta_description/meshes/bluevolta.stl b/robots/bluevolta_description/meshes/bluevolta.stl deleted file mode 100644 index 0e7bf015..00000000 Binary files a/robots/bluevolta_description/meshes/bluevolta.stl and /dev/null differ diff --git a/robots/bluevolta_description/meshes/bluevolta_convex_hull.stl b/robots/bluevolta_description/meshes/bluevolta_convex_hull.stl deleted file mode 100644 index 90cf2d1f..00000000 Binary files a/robots/bluevolta_description/meshes/bluevolta_convex_hull.stl and /dev/null differ diff --git a/robots/bluevolta_description/meshes/bluevolta_propeller.stl b/robots/bluevolta_description/meshes/bluevolta_propeller.stl deleted file mode 100644 index 45125dbb..00000000 Binary files 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a/robots/bluevolta_description/urdf/bluevolta_bravo7_no_ee.urdf +++ /dev/null @@ -1,415 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/borinot_description/README.md b/robots/borinot_description/README.md index d723b564..a1c321ec 100644 --- a/robots/borinot_description/README.md +++ b/robots/borinot_description/README.md @@ -1,7 +1,7 @@ # Borinot upstream: https://github.com/PepMS/hidro_robots/tree/main/robots/borinot_flying_arm_2 -license: NA +license: BSD-2-Clause ### Modifications: diff --git a/robots/bravo7_description/README.md b/robots/bravo7_description/README.md deleted file mode 100644 index 68ed486a..00000000 --- a/robots/bravo7_description/README.md +++ /dev/null @@ -1,11 +0,0 @@ -# Bravo7 Description - -upstream: https://github.com/Reach-Robotics/reach_robotics_sdk/tree/master/ROS/bpl_bravo_description -license: - -### Modifications: - - - Added Inertial parameters for bravo - - Added SRDF - - Added colors - - Added convex hulls diff --git a/robots/bravo7_description/meshes/RS2-161.stl b/robots/bravo7_description/meshes/RS2-161.stl deleted file mode 100644 index dfff36b2..00000000 Binary files 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b/robots/bravo7_description/meshes/end_effectors/contact_sphere.stl deleted file mode 100644 index 0155e984..00000000 Binary files a/robots/bravo7_description/meshes/end_effectors/contact_sphere.stl and /dev/null differ diff --git a/robots/bravo7_description/meshes/end_effectors/contact_sphere_convex_hull.stl b/robots/bravo7_description/meshes/end_effectors/contact_sphere_convex_hull.stl deleted file mode 100644 index 4997d453..00000000 Binary files a/robots/bravo7_description/meshes/end_effectors/contact_sphere_convex_hull.stl and /dev/null differ diff --git a/robots/bravo7_description/srdf/bravo7_gripper.srdf b/robots/bravo7_description/srdf/bravo7_gripper.srdf deleted file mode 100644 index 2a9b7164..00000000 --- a/robots/bravo7_description/srdf/bravo7_gripper.srdf +++ /dev/null @@ -1,67 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/bravo7_description/srdf/bravo7_no_ee.srdf 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/bravo7_description/urdf/bravo7_no_ee.urdf b/robots/bravo7_description/urdf/bravo7_no_ee.urdf deleted file mode 100644 index 4d42997a..00000000 --- a/robots/bravo7_description/urdf/bravo7_no_ee.urdf +++ /dev/null @@ -1,256 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/cassie_description/README.md b/robots/cassie_description/README.md new file mode 100644 index 00000000..48b1074b --- /dev/null +++ b/robots/cassie_description/README.md @@ -0,0 +1,4 @@ +# Cassie + +upstream: https://github.com/DAIRLab/cassie-gazebo-sim +license: ISC diff --git a/robots/centauro_description/README.md b/robots/centauro_description/README.md index b7b76be1..7752f1d7 100644 --- a/robots/centauro_description/README.md +++ b/robots/centauro_description/README.md @@ -1,7 +1,7 @@ # Centauro upstream: https://github.com/AndrePatri/iit-centauro-ros-pkg (forked from https://github.com/ADVRHumanoids/iit-centauro-ros-pkg) -license: Apache-2.0 license +license: Apache-2.0 ### Modifications: diff --git a/robots/falcon_description/meshes/chassis_rov.stl b/robots/falcon_description/meshes/chassis_rov.stl deleted file mode 100644 index b6e76996..00000000 Binary files a/robots/falcon_description/meshes/chassis_rov.stl and /dev/null differ diff --git a/robots/falcon_description/meshes/chassis_rov_convex_hull.stl b/robots/falcon_description/meshes/chassis_rov_convex_hull.stl deleted file mode 100644 index d6b7f8fb..00000000 Binary files a/robots/falcon_description/meshes/chassis_rov_convex_hull.stl and /dev/null differ diff --git a/robots/falcon_description/meshes/falcon_rov.stl b/robots/falcon_description/meshes/falcon_rov.stl deleted file mode 100644 index 511d2150..00000000 Binary files a/robots/falcon_description/meshes/falcon_rov.stl and /dev/null differ diff --git a/robots/falcon_description/meshes/falcon_rov_convex_hull.stl b/robots/falcon_description/meshes/falcon_rov_convex_hull.stl deleted file mode 100644 index 2ea90841..00000000 Binary files a/robots/falcon_description/meshes/falcon_rov_convex_hull.stl and /dev/null differ diff --git a/robots/falcon_description/meshes/floater.stl b/robots/falcon_description/meshes/floater.stl deleted file mode 100644 index 934affa0..00000000 Binary files a/robots/falcon_description/meshes/floater.stl and /dev/null differ diff --git a/robots/falcon_description/meshes/propeller_rov.stl b/robots/falcon_description/meshes/propeller_rov.stl deleted file mode 100644 index 579e65aa..00000000 Binary files a/robots/falcon_description/meshes/propeller_rov.stl and /dev/null differ diff --git a/robots/falcon_description/srdf/falcon_bravo7_gripper.srdf b/robots/falcon_description/srdf/falcon_bravo7_gripper.srdf deleted file mode 100644 index f774dba3..00000000 --- a/robots/falcon_description/srdf/falcon_bravo7_gripper.srdf +++ /dev/null @@ -1,85 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/falcon_description/srdf/falcon_bravo7_no_ee.srdf b/robots/falcon_description/srdf/falcon_bravo7_no_ee.srdf deleted file mode 100644 index e3f2b1cd..00000000 --- a/robots/falcon_description/srdf/falcon_bravo7_no_ee.srdf +++ /dev/null @@ -1,70 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/falcon_description/urdf/falcon.urdf b/robots/falcon_description/urdf/falcon.urdf deleted file mode 100644 index 9b822672..00000000 --- a/robots/falcon_description/urdf/falcon.urdf +++ /dev/null @@ -1,210 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/falcon_description/urdf/falcon_bravo7_gripper.urdf b/robots/falcon_description/urdf/falcon_bravo7_gripper.urdf deleted file mode 100644 index 01aa6973..00000000 --- a/robots/falcon_description/urdf/falcon_bravo7_gripper.urdf +++ /dev/null @@ -1,495 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/falcon_description/urdf/falcon_bravo7_no_ee.urdf b/robots/falcon_description/urdf/falcon_bravo7_no_ee.urdf deleted file mode 100644 index 6ecb8405..00000000 --- a/robots/falcon_description/urdf/falcon_bravo7_no_ee.urdf +++ /dev/null @@ -1,449 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/robots/g1_description/README.md b/robots/g1_description/README.md index 409392c5..7d9d3920 100644 --- a/robots/g1_description/README.md +++ b/robots/g1_description/README.md @@ -1,7 +1,7 @@ # Unitree G1 Description upstream: https://github.com/unitreerobotics/unitree_ros/tree/master/robots/g1_description -license: BSD 3-Clause License +license: BSD-3-Clause Modifications: - limited the loader registry to just the core `G1Loader`/`G1WithHandsLoader`, added `ref_posture="standing"` and re-enabled `free_flyer` so Pinocchio/Crocoddyl builds have sensible defaults. diff --git a/robots/hextilt_description/README.md b/robots/hextilt_description/README.md index 7467e730..114d5ef7 100644 --- a/robots/hextilt_description/README.md +++ b/robots/hextilt_description/README.md @@ -1,7 +1,7 @@ # Borinot upstream: https://github.com/PepMS/hidro_robots/tree/main/robots/hextilt_flying_arm_5 -license: NA +license: BSD-2-Clause ### Modifications: diff --git a/robots/human_description/README.md b/robots/human_description/README.md index 290c01c1..47832ba7 100644 --- a/robots/human_description/README.md +++ b/robots/human_description/README.md @@ -1,4 +1,4 @@ # Human model source: original work by Gepetto Team members. -license: BSD-2-Clause. +license: BSD-2-Clause diff --git a/robots/hyq_description/README.md b/robots/hyq_description/README.md index 2a39e47d..649fe956 100644 --- a/robots/hyq_description/README.md +++ b/robots/hyq_description/README.md @@ -1,4 +1,4 @@ # HyQ Description upstream: https://github.com/iit-DLSLab/hyq-description -license: Apache License 2.0 +license: Apache-2.0 diff --git a/robots/laikago_description/README.md b/robots/laikago_description/README.md new file mode 100644 index 00000000..f26cc92c --- /dev/null +++ b/robots/laikago_description/README.md @@ -0,0 +1,4 @@ +# Laikago + +upstream: https://github.com/unitreerobotics/laikago_ros +license: MPL-2.0 diff --git a/robots/panda_description/README.md b/robots/panda_description/README.md index 820e30fc..a1d86b12 100644 --- a/robots/panda_description/README.md +++ b/robots/panda_description/README.md @@ -1,4 +1,4 @@ # Panda ign upstream: https://github.com/frankaemika/franka_ros/tree/noetic-devel/franka_description -license: Apache 2.0 +license: Apache-2.0 diff --git a/robots/pr2_description/README.md b/robots/pr2_description/README.md new file mode 100644 index 00000000..d53ea1dc --- /dev/null +++ b/robots/pr2_description/README.md @@ -0,0 +1,4 @@ +# PR2 + +upstream: https://github.com/pr2/pr2_common +license: BSD diff --git a/robots/so_arm_description/README.md b/robots/so_arm_description/README.md index 68ec0c60..81ec9842 100644 --- a/robots/so_arm_description/README.md +++ b/robots/so_arm_description/README.md @@ -1,4 +1,4 @@ # Standard Open Arm description upstream: https://github.com/TheRobotStudio/SO-ARM100.git -license: Apache License 2.0 +license: Apache-2.0 diff --git a/robots/talos_data/README.md b/robots/talos_data/README.md index 08dd7f9b..63d75912 100644 --- a/robots/talos_data/README.md +++ b/robots/talos_data/README.md @@ -1,4 +1,4 @@ # Talos Data -upstream: https://github.com/stack-of-tasks/talos-data -license: LGPL-3.0 +upstream: https://github.com/pal-robotics/talos_robot +license: Apache-2.0 diff --git a/robots/tiago_description/README.md b/robots/tiago_description/README.md index 2c8ee83f..d82c560d 100644 --- a/robots/tiago_description/README.md +++ b/robots/tiago_description/README.md @@ -1,4 +1,4 @@ # Tiago Description upstream: https://github.com/pal-robotics/tiago_robot/tree/kinetic-devel/tiago_description -license: Apache License 2.0 +license: Apache-2.0 diff --git a/robots/tiago_pro_description/README.md b/robots/tiago_pro_description/README.md index 52818aef..c6ecc272 100644 --- a/robots/tiago_pro_description/README.md +++ b/robots/tiago_pro_description/README.md @@ -1,4 +1,4 @@ # Tiago Pro Description upstream: https://pal-robotics.com/es/robot/tiago-pro/ -license: Apache License 2.0 +license: Apache-2.0 diff --git a/unittest/test_inertia_validation.py b/unittest/test_inertia_validation.py old mode 100644 new mode 100755 diff --git a/unittest/test_load.py b/unittest/test_load.py index 1047e246..bc299911 100755 --- a/unittest/test_load.py +++ b/unittest/test_load.py @@ -11,8 +11,10 @@ class RobotTestCase(unittest.TestCase): - def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]): + def check(self, name, expected_nq, expected_nv, one_kg_bodies=None): """Helper function for the real tests""" + if one_kg_bodies is None: + one_kg_bodies = [] robot, _, urdf, _ = load_full(name, display=False, verbose=True) self.assertEqual(robot.model.nq, expected_nq) self.assertEqual(robot.model.nv, expected_nv) @@ -66,24 +68,6 @@ def test_anymal_kinova(self): def test_baxter(self): self.check("baxter", 19, 19) - def test_bravo7_gripper(self): - self.check("bravo7_gripper", 11, 8) - - def test_bravo7_no_ee(self): - self.check("bravo7_no_ee", 9, 6) - - def test_falcon_bravo7_no_ee(self): - self.check("falcon_bravo7_no_ee", 16, 12) - - def test_bluevolta_bravo7_no_ee(self): - self.check("bluevolta_bravo7_no_ee", 16, 12) - - def test_falcon_bravo7_gripper(self): - self.check("falcon_bravo7_gripper", 18, 14) - - def test_bluevolta_bravo7_gripeer(self): - self.check("bluevolta_bravo7_gripper", 18, 14) - def test_cassie(self): try: self.check("cassie", 29, 28)