From 4d53152877261fb3e79db5534b761b2db432db92 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Tue, 16 Apr 2019 16:36:58 +0200
Subject: [PATCH] [icub] Option to load reduced version
---
unittest/unittest_utils.py | 7 +++++--
1 file changed, 5 insertions(+), 2 deletions(-)
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index e68e5e5..50563fd 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -104,8 +104,11 @@ def loadTiagoNoHand():
# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
-def loadICub():
- URDF_FILENAME = "icub.urdf"
+def loadICub(reduced=True):
+ if reduced:
+ URDF_FILENAME = "icub_reduced.urdf"
+ else:
+ URDF_FILENAME = "icub.urdf"
SRDF_FILENAME = "icub.srdf"
SRDF_SUBPATH = "/icub_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME
--
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