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Gepetto
example-robot-data
Commits
3028f018
Commit
3028f018
authored
Dec 03, 2019
by
Guilhem Saurel
Browse files
include ur srdf into loadUR
parent
edb456b0
Pipeline
#7404
failed with stage
in 5 minutes and 33 seconds
Changes
1
Pipelines
1
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Inline
Side-by-side
python/example_robot_data/robots_loader.py
View file @
3028f018
...
...
@@ -2,7 +2,6 @@ import sys
from
os.path
import
dirname
,
exists
,
join
import
numpy
as
np
import
pinocchio
from
pinocchio.robot_wrapper
import
RobotWrapper
...
...
@@ -35,7 +34,8 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True, ref
pinocchio
.
loadRotorParameters
(
rmodel
,
SRDF_PATH
,
verbose
)
rmodel
.
armature
=
np
.
multiply
(
rmodel
.
rotorInertia
.
flat
,
np
.
square
(
rmodel
.
rotorGearRatio
.
flat
))
pinocchio
.
loadReferenceConfigurations
(
rmodel
,
SRDF_PATH
,
verbose
)
robot
.
q0
.
flat
[:]
=
rmodel
.
referenceConfigurations
[
referencePose
].
copy
()
if
referencePose
is
not
None
:
robot
.
q0
.
flat
[:]
=
rmodel
.
referenceConfigurations
[
referencePose
].
copy
()
return
...
...
@@ -252,7 +252,12 @@ def loadUR(robot=5, limited=False, gripper=False):
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
])
model
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
if
robot
==
5
or
robot
==
3
and
gripper
:
SRDF_FILENAME
=
"ur%i%s.srdf"
%
(
robot
,
'_gripper'
if
gripper
else
''
)
SRDF_SUBPATH
=
"/ur_description/srdf/"
+
SRDF_FILENAME
readParamsFromSrdf
(
model
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
None
)
return
model
def
loadHector
():
...
...
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