Commit 179f6dd6 authored by Rohan Budhiraja's avatar Rohan Budhiraja
Browse files

[loadCassie] only load for pinocchio>=2.9.2

parent 7808705e
Pipeline #15388 failed with stage
in 1 minute and 20 seconds
# flake8: noqa
from .robots_loader import (ROBOTS, getModelPath, load, load_full, loadANYmal, loadCassie, loadDoublePendulum, loadHector, loadHyQ,
from .robots_loader import (ROBOTS, getModelPath, load, load_full, loadANYmal, loadDoublePendulum, loadHector, loadHyQ,
loadICub, loadIris, loadKinova, loadPanda, loadRomeo, loadSolo, loadTalos, loadTalosArm,
loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
import pinocchio
from packaging import version
if version.parse(pinocchio.__version__) >= version.parse("2.9.2"):
from .robots_loader import loadCassie
......@@ -5,6 +5,7 @@ from os.path import dirname, exists, join
import numpy as np
import pinocchio as pin
from pinocchio.robot_wrapper import RobotWrapper
from packaging import version
pin.switchToNumpyArray()
......@@ -538,7 +539,6 @@ ROBOTS = {
'anymal': ANYmalLoader,
'anymal_kinova': ANYmalKinovaLoader,
'baxter': BaxterLoader,
'cassie': CassieLoader,
'double_pendulum': DoublePendulumLoader,
'hector': HectorLoader,
'hyq': HyQLoader,
......@@ -575,6 +575,10 @@ ROBOTS = {
}
if version.parse(pin.__version__) >= version.parse("2.9.2"):
ROBOTS['cassie']= CassieLoader
def loader(name, display=False, rootNodeName=''):
"""Load a robot by its name, and optionnaly display it in a viewer."""
if name not in ROBOTS:
......
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