Fix/models #10
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| name: Lint | ||
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| on: [push, pull_request] | ||
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| jobs: | ||
| yaml_lint: | ||
| name: YAML Lint | ||
| runs-on: ubuntu-latest | ||
| steps: | ||
| - uses: actions/checkout@v3 | ||
| - name: Setup Python 3 | ||
| uses: actions/setup-python@v4 | ||
| with: | ||
| python-version: '3.x' | ||
| - name: Install YamlLint | ||
| run: pip install --upgrade yamllint | ||
| - name: YamlLint | ||
| run: bash -c 'find ./ -iname '*.yaml' -or -iname '*.yml' | xargs yamllint' |
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| rules: | ||
| braces: | ||
| min-spaces-inside: 0 | ||
| max-spaces-inside: 0 | ||
| min-spaces-inside-empty: 0 | ||
| max-spaces-inside-empty: 0 | ||
| brackets: | ||
| min-spaces-inside: 0 | ||
| max-spaces-inside: 0 | ||
| min-spaces-inside-empty: 0 | ||
| max-spaces-inside-empty: 0 | ||
| colons: | ||
| max-spaces-before: 0 | ||
| max-spaces-after: 1 | ||
| commas: | ||
| max-spaces-before: 0 | ||
| min-spaces-after: 1 | ||
| max-spaces-after: 1 | ||
| comments: | ||
| require-starting-space: false | ||
| min-spaces-from-content: 1 | ||
| level: warning | ||
| comments-indentation: | ||
| level: warning | ||
| document-end: disable | ||
| document-start: | ||
| present: false | ||
| empty-lines: | ||
| max: 2 | ||
| max-start: 0 | ||
| max-end: 1 | ||
| # empty-values: | ||
| # forbid-in-block-mappings: true | ||
| # forbid-in-flow-mappings: true | ||
| hyphens: | ||
| max-spaces-after: 1 | ||
| indentation: | ||
| check-multi-line-strings: true | ||
| indent-sequences: consistent | ||
| spaces: 2 | ||
| key-duplicates: enable | ||
| # key-ordering: disable | ||
| line-length: | ||
| allow-non-breakable-words: true | ||
| allow-non-breakable-inline-mappings: true | ||
| max: 120 | ||
| new-line-at-end-of-file: enable | ||
| new-lines: | ||
| type: unix | ||
| # octal-values: disable | ||
| # quoted-strings: disable | ||
| trailing-spaces: enable | ||
| # truthy: | ||
| # level: warning |
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| #! /usr/bin/env bash | ||
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| function ed_tutorial_setup { | ||
| local model_path=${PWD}/my-model-dir | ||
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| local model_paths=($(find $model_path -type f -name '*model*.sdf' | xargs dirname 2>/dev/null | xargs dirname 2>/dev/null)) | ||
| local unique_model_paths=$(printf "%s\n" "${model_paths[@]}" | sort -ru | tr '\n' ' ') | ||
| local model_paths_string="" | ||
| for dir in $unique_model_paths | ||
| do | ||
| if [[ "$dir" == "$model_path" ]] | ||
| then | ||
| # You want to have the main model path at the beginning | ||
| continue | ||
| fi | ||
| model_paths_string="$dir${model_paths_string:+:${model_paths_string}}" | ||
| done | ||
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| model_paths_string="$model_path${model_paths_string:+:${model_paths_string}}" | ||
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| export ED_MODEL_PATH=$model_path${ED_MODEL_PATH:+:${ED_MODEL_PATH}} | ||
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| export GAZEBO_MODEL_PATH=$model_paths_string${GAZEBO_MODEL_PATH:+:${GAZEBO_MODEL_PATH}} | ||
| export GAZEBO_RESOURCE_PATH=$model_paths_string${GAZEBO_RESOURCE_PATH:+:${GAZEBO_RESOURCE_PATH}} | ||
| } | ||
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| ed_tutorial_setup |
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0" ?> | ||
|
There was a problem hiding this comment. The tutorial instructs the user to make a yaml file. Now there is both a yaml file for a table and an sdf file. I dont know which one ED will take here but this is definitly bad practice. |
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| <model> | ||
| <name>table</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <author> | ||
| <name>AMIGO</name> | ||
| <email>todo@todo.nl</email> | ||
| </author> | ||
| <description>table</description> | ||
| </model> | ||
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| Original file line number | Diff line number | Diff line change |
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| <?xml version="1.0" ?> | ||
| <sdf version="1.6"> | ||
| <model name="table"> | ||
| <static>true</static> | ||
| <link name="1_link"> | ||
| <collision name="1_col"> | ||
| <geometry> | ||
| <box> | ||
| <size>1.2 0.8 0.02</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="1_vis"> | ||
| <geometry> | ||
| <box> | ||
| <size>1.2 0.8 0.02</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <pose>0 0 0.75 0 0 0</pose> | ||
| </link> | ||
| <link name="2_link"> | ||
| <collision name="2_col"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="2_vis"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <pose>-0.55 -0.35 0.37 0 0 0</pose> | ||
| </link> | ||
| <link name="3_link"> | ||
| <collision name="3_col"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="3_vis"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <pose>0.55 -0.35 0.37 0 0 0</pose> | ||
| </link> | ||
| <link name="4_link"> | ||
| <collision name="4_col"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="4_vis"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <pose>-0.55 0.35 0.37 0 0 0</pose> | ||
| </link> | ||
| <link name="5_link"> | ||
| <collision name="5_col"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </collision> | ||
| <visual name="5_vis"> | ||
| <geometry> | ||
| <box> | ||
| <size>0.05 0.05 0.74</size> | ||
| </box> | ||
| </geometry> | ||
| </visual> | ||
| <pose>0.55 0.35 0.37 0 0 0</pose> | ||
| </link> | ||
| </model> | ||
| </sdf> |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,17 +1,17 @@ | ||
| shape: | ||
| group: | ||
| - box: | ||
| pose: {x: 0, y: 0, z: 0.75} | ||
| size: {x: 1.20, y: 0.80, z: 0.02} | ||
| - box: | ||
| pose: {x: -0.55, y: -0.35, z: 0.37} | ||
| size: {x: 0.05, y: 0.05, z: 0.74} | ||
| - box: | ||
| pose: {x: 0.55, y: -0.35, z: 0.37} | ||
| size: {x: 0.05, y: 0.05, z: 0.74} | ||
| - box: | ||
| pose: {x: -0.55, y: 0.35, z: 0.37} | ||
| size: {x: 0.05, y: 0.05, z: 0.74} | ||
| - box: | ||
| pose: {x: 0.55, y: 0.35, z: 0.37} | ||
| size: {x: 0.05, y: 0.05, z: 0.74} |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,6 +1,6 @@ | ||
| world: | ||
| - type: robot-lab | ||
| pose: {x: 0, y: 0, z: 0} | ||
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| plugins: | ||
| - name: gui_server | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,11 @@ | ||
| <?xml version="1.0" ?> | ||
| <model> | ||
| <name>robot-lab</name> | ||
| <version>1.0</version> | ||
| <sdf version="1.6">model.sdf</sdf> | ||
| <author> | ||
| <name>AMIGO</name> | ||
| <email>todo@todo.nl</email> | ||
| </author> | ||
| <description>robot-lab</description> | ||
| </model> |
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This part still does not fully explain what needs to happen to set the model paths. It instead gives the user a magic bash script that does everything for them.
Write down in the tutorial what paths need to be set. With the sdf models this also includes Gazebo_model_path and gazebo_resource_path