From 6e02372e47958ed1117bbc37e05446dd5802b5d7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Mon, 23 Sep 2019 11:32:39 +0200
Subject: [PATCH] some models don't have robot parameters, fix #13
---
example_robot_data/robots_loader.py | 12 +++++++-----
1 file changed, 7 insertions(+), 5 deletions(-)
diff --git a/example_robot_data/robots_loader.py b/example_robot_data/robots_loader.py
index 138fa56..ec5e4e7 100644
--- a/example_robot_data/robots_loader.py
+++ b/example_robot_data/robots_loader.py
@@ -2,6 +2,7 @@ import sys
from os.path import dirname, exists, join
import numpy as np
+
import pinocchio
from pinocchio.robot_wrapper import RobotWrapper
@@ -22,10 +23,11 @@ def getModelPath(subpath, printmsg=False):
raise IOError('%s not found' % (subpath))
-def readParamsFromSrdf(robot, SRDF_PATH, verbose):
+def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True):
rmodel = robot.model
- pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
+ if has_rotor_parameters:
+ 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["half_sitting"].copy()
@@ -138,7 +140,7 @@ def loadHyQ():
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False)
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -156,7 +158,7 @@ def loadSolo(solo=True):
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False)
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
@@ -200,7 +202,7 @@ def loadICub(reduced=True):
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False, False)
# Add the free-flyer joint limits
addFreeFlyerJointLimits(robot)
return robot
--
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