Add toddlerbot_2xc and toddlerbot_2xm #202
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louislelay
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louislelay
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Nice PR, thanks for sharing this! Could you remove all URDF files and follow the same structure used for other assets? That includes adding a readme in the asset folder describing how you created the XML. You should also consider adding entries for your robots in the global readme. And, are the fixed XML files really necessary?
- Remove all URDF files - Remove the fixed XML files - Add a readme in the asset folder - Add a license - Add an entry in the humanoids table of the global readme
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Hi Louis, thanks for looking into this! I have updated the PR based on your suggestions. I added an entry in the humanoids table in the global readme, but I didn't add a thumbnail in the gallery since it seems like they're following a specific style. Are there any instructions to create such thumbnails? |
| </default> | ||
| <worldbody> |
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Yes. I followed the instructions to format the files.
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Ok! Could you add a blank line between the big blocks? Look at the other assets to see how it’s done, it would improve readability.
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Should be fixed in the latest commit
toddlerbot_2xm/toddlerbot_2xm.xml
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| size="0.02045 0.02325 0.023" name="left_shoulder_roll_link_collision" | ||
| material="shoulder_roll_link_visual_material"/> | ||
| <body name="left_shoulder_gear_drive" pos="0.019 0.024 -0.019" quat="1 0 0 0"> | ||
| <joint axis="0.0 0.0 1.0" name="left_shoulder_yaw_drive" type="hinge" |
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When you have axis 0 0 1, it's not necessary to write it as it's already the default value. Please remove them and verify if you've other parameters with default values that you can remove.
Co-authored-by: Louis LE LAY <[email protected]>
- Remove robot.yml - Remove default values in the XML files - Update the photos
toddlerbot_2xm/toddlerbot_2xm.xml
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| mesh="waist_gear_drive_visual" material="waist_gear_drive_visual_material"/> | ||
| </body> | ||
| <body name="waist_gear_drive_2" pos="-0.03275 -0.0 -0.0196" quat="1 0 0 0"> | ||
| <joint axis="0.0 -0.0 1.0" name="waist_act_2" range="-4.698838925616426 4.656125865073181" class="XC330"/> |
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I believe you’re still missing some due to the way it’s written. It might be good to remove any unnecessary decimals and also remove the minus signs from zero values.
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Nice work! Maybe you could generalize the removal of unnecessary decimals and minus signs to other parameters as well, such as quat, pos, etc
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Thanks for the feedback! I updated all the other parameters. I also found the script generate_gallery.py to render the thumbnail.
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| MODEL_XMLS = [pathlib.Path(f"../{k}.xml") for k in MODEL_MAP.keys()] |
louislelay
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louislelay
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Nice, thanks for taking the time to go through my comments. I believe we cleared up a good amount of work for the maintainers :)
There are still a few things I’m a bit mixed up about, but the maintainers will have better judgment on those than I do.
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Description
This PR adds the model of toddlerbot_2xc and toddlerbot_2xm
Fixes:
Checklist
Please check off each item (
[x]) once complete, or mark it as[N/A]if it doesn't apply:CONTRIBUTORS.md(alphabetically by first name)CHANGELOG.md:pytest test/locally and ensured all tests passRefer to the contributing guide if you're unsure about any of the steps.