From 0843310967b724bfb3739a9e32d14da2adb610a3 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 6 Nov 2019 16:43:24 +0100
Subject: [PATCH] load ur 3/5 with or without its gripper
---
python/example_robot_data/robots_loader.py | 5 +++--
unittest/test_load.py | 12 ++++++++++++
2 files changed, 15 insertions(+), 2 deletions(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 5e51873..6374a86 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -236,8 +236,9 @@ def loadICub(reduced=True):
return robot
-def loadUR(robot=5, limited=False):
- URDF_FILENAME = "ur%i%s_robot.urdf" % (robot, "_joint_limited" if limited else '')
+def loadUR(robot=5, limited=False, gripper=False):
+ assert (not (gripper and (robot == 10 or limited)))
+ URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else '', 'gripper' if gripper else 'robot')
URDF_SUBPATH = "/ur_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 2052199..1c5dcee 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -101,6 +101,18 @@ class UR5Test(RobotTestCase):
RobotTestCase.NV = 6
+class UR5LimitedTest(RobotTestCase):
+ RobotTestCase.ROBOT = example_robot_data.loadUR(limited=True)
+ RobotTestCase.NQ = 6
+ RobotTestCase.NV = 6
+
+
+class UR5GripperTest(RobotTestCase):
+ RobotTestCase.ROBOT = example_robot_data.loadUR(gripper=True)
+ RobotTestCase.NQ = 6
+ RobotTestCase.NV = 6
+
+
class KinovaTest(RobotTestCase):
RobotTestCase.ROBOT = example_robot_data.loadKinova()
RobotTestCase.NQ = 9
--
GitLab