From 0a482b409c739a7b8d2e0dd3c1f0cbbe0b9b3c43 Mon Sep 17 00:00:00 2001
From: Brian Delhaisse <briandelhaisse@gmail.com>
Date: Tue, 2 Jul 2019 20:11:24 +0200
Subject: [PATCH] fix errors in setup and bullet_ros

---
 pyrobolearn/robots/laikago.py        |  2 +-
 pyrobolearn/simulators/bullet.py     |  4 +--
 pyrobolearn/simulators/bullet_ros.py |  3 +-
 pyrobolearn/simulators/ros_rbdl.py   | 54 ----------------------------
 requirements.txt                     | 11 +++---
 setup.py                             |  2 +-
 6 files changed, 13 insertions(+), 63 deletions(-)
 delete mode 100644 pyrobolearn/simulators/ros_rbdl.py

diff --git a/pyrobolearn/robots/laikago.py b/pyrobolearn/robots/laikago.py
index 3697126..32aebe7 100644
--- a/pyrobolearn/robots/laikago.py
+++ b/pyrobolearn/robots/laikago.py
@@ -55,7 +55,7 @@ class Laikago(QuadrupedRobot):
 
     def get_home_joint_positions(self):
         """Return the joint positions for the home position"""
-        return np.zeros(self.num_dofs)
+        return np.zeros(self.num_actuated_joints)
 
 
 # Test
diff --git a/pyrobolearn/simulators/bullet.py b/pyrobolearn/simulators/bullet.py
index a5029ec..3b958fd 100644
--- a/pyrobolearn/simulators/bullet.py
+++ b/pyrobolearn/simulators/bullet.py
@@ -3298,9 +3298,9 @@ class Bullet(Simulator):
 
     def calculate_jacobian(self, body_id, link_id, local_position, q, dq, des_ddq):
         r"""
-        Return the full geometric Jacobian matrix :math:`J(q) = [J_{lin}(q), J_{ang}(q)]^T`, such that:
+        Return the full geometric Jacobian matrix :math:`J(q) = [J_{lin}(q)^T, J_{ang}(q)^T]^T`, such that:
 
-        .. math:: v = [\dot{p}, \omega]^T = J(q) \dot{q}
+        .. math:: v = [\dot{p}^T, \omega^T]^T = J(q) \dot{q}
 
         where :math:`\dot{p}` is the Cartesian linear velocity of the link, and :math:`\omega` is its angular velocity.
 
diff --git a/pyrobolearn/simulators/bullet_ros.py b/pyrobolearn/simulators/bullet_ros.py
index 947da87..0c14dd1 100644
--- a/pyrobolearn/simulators/bullet_ros.py
+++ b/pyrobolearn/simulators/bullet_ros.py
@@ -192,7 +192,7 @@ class BulletROS(Bullet):  # , ROS):
 
         # check if valid robot directory
         # if os.path.isdir(path):
-        robot_path = '/'.join(path.split('/')[-5:-2])
+        robot_path = '/'.join(path.split('/')[-4:-1])
         if robot_path == 'pyrobolearn/robots/urdfs':
 
             # get corresponding subscriber/publisher
@@ -213,6 +213,7 @@ class BulletROS(Bullet):  # , ROS):
                 module = importlib.import_module('pyrobolearn.robots.ros.' + name)
                 classes = dict(inspect.getmembers(module, inspect.isclass))
                 cls = classes['Robot' + name.capitalize()]
+                print("class: ".format(cls))
                 dictionary[id_] = cls(name=robot_directory_name, id_=id_)
 
             # load subscriber in simulator
diff --git a/pyrobolearn/simulators/ros_rbdl.py b/pyrobolearn/simulators/ros_rbdl.py
deleted file mode 100644
index f0d7af0..0000000
--- a/pyrobolearn/simulators/ros_rbdl.py
+++ /dev/null
@@ -1,54 +0,0 @@
-#!/usr/bin/env python
-"""ROS-RBDL simulator
-
-This 'simulator' is not per se a simulator, it communicates with the real robots in the real world using ROS [1], and
-computes any necessary kinematic and dynamics information using the RBDL library [2].
-
-Specifically, this 'simulator' starts the `roscore` (if not already running), then loads robot urdf models and creates
-the necessary topics/services, and uses the rigid body dynamics library to compute kinematic and dynamic information
-about the model.
-
-Dependencies in PRL:
-* `pyrobolearn.simulators.simulator.Simulator`
-
-References:
-    [1] ROS: http://www.ros.org/
-    [2] RBDL: https://rbdl.bitbucket.io/
-"""
-
-# TODO
-
-import rospy
-import rbdl
-
-from pyrobolearn.simulators.simulator import Simulator
-
-__author__ = "Brian Delhaisse"
-__copyright__ = "Copyright 2018, PyRoboLearn"
-__credits__ = ["Brian Delhaisse"]
-__license__ = "GNU GPLv3"
-__version__ = "1.0.0"
-__maintainer__ = "Brian Delhaisse"
-__email__ = "briandelhaisse@gmail.com"
-__status__ = "Development"
-
-
-class ROS_RBDL(Simulator):
-    r"""ROS-RBDL Interface.
-
-    References:
-        [1] ROS: http://www.ros.org/
-        [2] RBDL: https://rbdl.bitbucket.io/
-        [3] RBDL in Python: https://rbdl.bitbucket.io/dd/dee/_python_example.html
-    """
-
-    def __init__(self):
-        super(ROS_RBDL, self).__init__()
-
-    def step(self):
-        """Perform a step in the simulator."""
-        pass
-
-    def load_urdf(self, filename, position, orientation):
-        # load the model in rbdl
-        model = rbdl.loadModel(filename)
diff --git a/requirements.txt b/requirements.txt
index 2079650..4233b41 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,9 +1,12 @@
 # To only install dependencies, type:
 # $ pip install -r requirements.txt
 
+psutil>=5.6.3
 # cython
+# skbuild
 # numpy>=1.13.3
 numba>=0.42.0
+# pyquaternion
 numpy-quaternion
 autograd>=1.2
 matplotlib>=2.0.2
@@ -20,9 +23,10 @@ torch>=1.0.0
 torchvision>=0.2.1
 
 # simulators
+psutils
 pybullet>=2.4.1
 gym>=0.10.9
-# git+git://github.com/benelot/pybullet-gym
+# -e git+https://github.com/benelot/pybullet-gym#egg=pybullet-gym
 
 # interfaces
 inputs>=0.5
@@ -33,8 +37,7 @@ gTTS>=2.0.3
 # models and algos
 sklearn>=0.0
 # gpytorch>=0.1.0rc4
-# git+git://github.com/cornellius-gp/gpytorch/archive/alpha.zip
-# http://github.com/cornellius-gp/gpytorch/archive/alpha.zip
+# -e git+https://github.com/cornellius-gp/gpytorch/archive/alpha.zip#egg=gpytorch
 GPy>=1.9.6
 GPyOpt>=1.2.5
 # hmmlearn>=0.2.1
@@ -63,4 +66,4 @@ slycot>=0.3.3
 # worlds/utils
 # gdal>=1.11.3
 
-# need to install rbdl, ipopt, tf
\ No newline at end of file
+# need to install rbdl, ipopt, tf
diff --git a/setup.py b/setup.py
index 1eaba57..76d592d 100755
--- a/setup.py
+++ b/setup.py
@@ -11,7 +11,7 @@ except ImportError: # for pip <= 9.0.3
     from pip.req import parse_requirements
 
 # get description from readme file
-with open('README.md', 'r') as f:
+with open('README.rst', 'r') as f:
     long_description = f.read()
 
 # get the required packages