Format updates on CONCERT modules

[JonathanKuelz]

Hey all, dear @EdoardoRomiti ,

I see you updated the modules and included end effectors to the data. It's nice to have them in there and I am looking forward to integrating them in our simulation! However, I had to make a couple of changes in order to being able to load them, and I wanted to ask you whether those could be included in the official JSON data here:

• For the connector "type" of end effectors, there's a reserved keyword in our schema which is "eef". Currently, they are of type "tcp". Changing tcp --> eef would enable us to parse them as end effectors automatically
• In the new modules, not only the visual but also the collision geometries had a color attribute. I just removed them for now - do you plan to include color attributes to collision geometries in the future or could we remove them entirely?
• The "color: grey" for the new modules is now a one level above where it is for the other modules. (module -> bodies -> visual -> color VS module -> bodies -> visual -> parameters -> color) Would it be possible to keep the latter (contained in parameters) structure for all modules?

[EdoardoRomiti]

Hi @JonathanKuelz I fixed the issues you reported:

1. the issues related to the 'color' attribute were all bugs from my side, now we have the 'color' attribute only under 'parameters' in the 'visual' properties. I did change the structure a bit:

"color": {
    "material_name": "concert_blue",
    "rgba": [0.149, 0.259, 0.51, 1]
            }

'color' now needs a 'material_name' attribute (the urdf requires it so it needs to be there, but it can be a random string) and a 'rgba' attribute to specify the color.
If the 'material_name' is already defined in the urdf, one can omit the 'rgba' property, but the 'material_name' is always needed.

2. I changed the connector type for the end-effectors to 'eef' as required. Anyway, where can I find the list of possible types as a reference? I cannot find these in the pdf you shared with us at the beginning -> https://github.com/ADVRHumanoids/concert_modules_description/blob/master/modules_database_docs/TUM_proposal.pdf

[JonathanKuelz]

Hi @EdoardoRomiti thanks for the updates,

1. is it ensured that "rgba" will always be present in the "color" field? This would make the parsing significantly easier for me.
2. These two ("eef", "base") are the only reserved keywords for the connector types. They were not included in the PDF you have, but we pushed the updates to the online documentation, available here: https://cobra.cps.cit.tum.de/crok-documentation/robot