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Enhance processing and URDF export of //frame elements #34

Merged
merged 16 commits into from
May 17, 2024
Merged

Enhance processing and URDF export of //frame elements #34

merged 16 commits into from
May 17, 2024

Commits on May 16, 2024

  1. Make UrdfExporter a dataclass

    @diegoferigo
    diegoferigo committed May 16, 2024
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  2. Check that all fixed joint names to preserve are part of the model

    @diegoferigo
    diegoferigo committed May 16, 2024
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  3. Use mass-less fake links for exporting SDF frames 

    New sdformat versions automatically convert them back to SDF frames
    @diegoferigo
    diegoferigo committed May 16, 2024
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  4. Fix how trivial frame pose are populated when explicit_frames=True

    @diegoferigo
    diegoferigo committed May 16, 2024
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  5. Do not switch frame convention when creating TreeTransforms

    @diegoferigo
    diegoferigo committed May 16, 2024
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  6. Invert homogeneous matrices without np.linalg.inv

    @diegoferigo
    diegoferigo committed May 16, 2024
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  7. When switching frame convention, allow attaching frames to real links 

    In addition, when the convention is either Sdf or Urdf, compute the pose of the frame wrt the attached_to link
    @diegoferigo
    diegoferigo committed May 16, 2024
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  8. Update frames processing of the URDF exporter

    @diegoferigo
    diegoferigo committed May 16, 2024
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  9. Split logic to compute tree transforms of links and frames

    @diegoferigo
    diegoferigo committed May 16, 2024
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  10. Add log messages to the URDF exporter

    @diegoferigo
    diegoferigo committed May 16, 2024
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  11. Add new test of UrdfExporter

    @diegoferigo
    diegoferigo committed May 16, 2024
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  12. Install the gz commandline from the OSRF PPA

    @diegoferigo
    diegoferigo committed May 16, 2024
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Commits on May 17, 2024

  1. Address review 

    Co-authored-by: Filippo Luca Ferretti <[email protected]>
    @diegoferigo @flferretti
    diegoferigo and flferretti authored May 17, 2024
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  2. Add check for sdformat supporting the minimum required SDF specification

    @diegoferigo
    diegoferigo committed May 17, 2024
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  3. Minor update of main __init__.py

    @diegoferigo
    diegoferigo committed May 17, 2024
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  4. Fix processing model descriptions on Windows

    @diegoferigo
    diegoferigo committed May 17, 2024
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