Commit 3a9239ea authored by Justin Carpentier's avatar Justin Carpentier Committed by Guilhem Saurel
Browse files

panda: add load function

parent 083e77ec
......@@ -250,6 +250,14 @@ def loadICub(reduced=True):
return robot
def loadPanda():
URDF_FILENAME = "panda.urdf"
URDF_SUBPATH = "/panda_description/urdf/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
return robot
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')
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