Remove hab stretch module and add models to codebase (#279)

* remove hab stretch

* add stretch subrepo

* remove hab stretch

* add robot data directly to HomeRobot

* Update README.md

* Update config.yml

---------

Co-authored-by: Sriram Yenamandra <[email protected]>

.circleci/config.yml

@@ -69,9 +69,6 @@ jobs:
                 ca-certificates \
                 unzip || true
       - conda_env_setup
-      - run:
-          name: Sync submodules
-          command: git submodule sync && git submodule update --init assets/hab_stretch
       - run:
           name: Install libraries and run tests
           command: |

.gitmodules

@@ -1,6 +1,3 @@
-[submodule "hab_stretch"]
-	path = assets/hab_stretch
-	url = https://github.com/cpaxton/hab_stretch.git
 [submodule "src/home_robot/home_robot/perception/detection/detic/Detic"]
 	path = src/home_robot/home_robot/perception/detection/detic/Detic
 	url = https://github.com/facebookresearch/Detic.git

README.md

@@ -87,7 +87,7 @@ rviz -d $HOME_ROBOT_ROOT/src/home_robot_hw/launch/mapping_demo.rviz
 
 #### 3. Download third-party packages
 ```
-git submodule update --init --recursive assets/hab_stretch src/home_robot/home_robot/perception/detection/detic/Detic src/third_party/detectron2 src/third_party/contact_graspnet
+git submodule update --init --recursive src/home_robot/home_robot/perception/detection/detic/Detic src/third_party/detectron2 src/third_party/contact_graspnet
 ```
 
 #### 4. Hardware Testing

assets/hab_stretch/.gitattributes

@@ -0,0 +1,8 @@
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.obj filter=lfs diff=lfs merge=lfs -text
+*.OBJ filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.DAE filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.PNG filter=lfs diff=lfs merge=lfs -text

assets/hab_stretch/.gitignore

@@ -0,0 +1,3 @@
+*.swp
+*.swo
+*.swn

assets/hab_stretch/CMakeLists.txt

@@ -0,0 +1,220 @@
+
+
+# find_package(catkin REQUIRED COMPONENTS
+#   rospy
+#   std_msgs
+#   nav_msgs
+#   geometry_msgs
+# )
+
+# find_package(roslaunch)
+
+# foreach(dir config launch meshes urdf)
+# 	install(DIRECTORY ${dir}/
+# 		DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
+# endforeach(dir)
+
+
+##################################################################
+## initial file generated by the following command on Dec 20, 2018
+## catkin_create_pkg home_robot_description message_generation message_runtime rospy
+
+cmake_minimum_required(VERSION 2.8.3)
+project(home_robot_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  message_runtime
+  rospy
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+#catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES home_robot_description
+#  CATKIN_DEPENDS message_generation message_runtime rospy
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/home_robot_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/home_robot_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_home_robot_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

assets/hab_stretch/LICENSE.md

@@ -0,0 +1,36 @@
+The following license applies to the entire contents of this directory (the "Contents"). The Contents consist of software and data used with the Stretch RE1 mobile manipulator, which is a robot produced and sold by Hello Robot Inc.
+
+---
+
+The Clear BSD License
+
+Copyright (c) 2021 Hello Robot Inc.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted (subject to the limitations in the disclaimer
+below) provided that the following conditions are met:
+
+     * Redistributions of source code must retain the above copyright notice,
+     this list of conditions and the following disclaimer.
+
+     * Redistributions in binary form must reproduce the above copyright
+     notice, this list of conditions and the following disclaimer in the
+     documentation and/or other materials provided with the distribution.
+
+     * Neither the name of the copyright holder nor the names of its
+     contributors may be used to endorse or promote products derived from this
+     software without specific prior written permission.
+
+NO EXPRESS OR IMPLIED LICENSES TO ANY PARTY'S PATENT RIGHTS ARE GRANTED BY
+THIS LICENSE. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
+CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
+BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
+IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

assets/hab_stretch/README.md

@@ -0,0 +1,76 @@
+
+## Stretch Model for Habitat
+
+Want a lot of robots?
+
+![](./imgs/pile_of_stretches.png)
+
+Above: graphic showing the Stretch placed many times in habitat2.
+
+![](./imgs/simplified.png)
+
+This repo was modified to make it easier to use for large scale data collection in Habitat2.
+
+## Old Overview
+
+*stretch_description* provides materials for a [URDF](http://wiki.ros.org/urdf) kinematic model of the Stretch RE1 mobile manipulator from Hello Robot Inc.
+
+This repo is based on [this fork of stretch ros](https://github.com/cpaxton/stretch_ros/tree/feature/dex-wrist).
+
+## Details
+
+The *meshes directory* contains [STL mesh files](https://en.wikipedia.org/wiki/STL_(file_format)) representing the exterior geometry of various parts of the robot. 
+
+The *urdf directory* contains [xacro files](http://wiki.ros.org/xacro) representing various parts of the robot that are used to generate the robot's URDF. 
+
+stretch_ros expects a URDF with the name stretch.urdf to reside within the urdf directory. The file stretch.urdf serves as the URDF for the robot and must be generated. Typically, it is a calibrated urdf file for the particular Stretch RE1 robot being used. To generate this file, please read the documentation within stretch_ros/stretch_calibration. 
+
+The xacro_to_urdf.sh will usually only be indirectly run as part of various scripts and launch files within stretch_ros/stretch_calibration. 
+
+Sometimes a stretch_uncalibrated.urdf file will reside with the urdf directory. This file is typically generated directly from the xacro files without any alterations. 
+
+## Exporting a URDF
+
+Sometimes a URDF is useful outside of ROS, such as for simulations and analysis. Running the *export_urdf.sh* script in the urdf directory will export a full URDF model of the robot based on stretch.urdf. 
+
+The exported URDF will be found within an exported_urdf directory. It is also copied to a directory for your specific robot found under ~/stretch_user. The exported URDF includes meshes and controller calibration YAML files. The exported URDF can be visualized using stretch_urdf_show.py, which is part of the stretch_body Python code. 
+
+## Changing the Tool
+
+If you wish to remove the default gripper and add a different tool, you will typically edit /stretch_description/urdf/stretch_description.xacro. Specifically, you will replace the following line in order to include the xacro for the new tool and then follow directions within stretch_ros/stretch_calibration to generate a new calibrated urdf file (stretch.urdf) that includes the new tool.
+
+`<xacro:include filename="stretch_gripper.xacro" />`
+
+As an example we provide the xacro `stretch_dry_erase_marker.xacro` and its dependent mesh files with stretch_ros. 
+
+Some of the tools found in the [Stretch Body Tool Share](https://github.com/hello-robot/stretch_tool_share/) include URDF data. To integrate these tools into the URDF for your Stretch
+
+```bash
+>>$ cd ~/repos
+>>$ git clone https://github.com/hello-robot/stretch_tool_share
+>>$ cd stretch_tool_share/<tool name>
+>>$ cp stretch_description/urdf/* ~/catkin_ws/src/stretch_ros/stretch_description/urdf/
+>>$ cp stretch_description/meshes/* ~/catkin_ws/src/stretch_ros/stretch_description/meshes/
+```
+
+Next add the xacro for the particular tool to `/stretch_description/urdf/stretch_description.xacro`. Then you can generate and preview the uncalibrated URDF:
+
+```bash
+>>$ cd ~/catkin_ws/src/stretch_ros/stretch_description/urdf
+>>$ cp stretch.urdf stretch.urdf.bak
+>>$ rosrun stretch_calibration update_urdf_after_xacro_change.sh
+```
+
+Now visualize the new tool
+
+```bash
+>>$ roslaunch stretch_calibration simple_test_head_calibration.launch
+```
+
+
+
+## License and Patents
+
+Patents are pending that cover aspects of the Stretch RE1 mobile manipulator.
+
+For license information, please see the LICENSE files.