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Gepetto
example-robot-data
Commits
3a9239ea
Commit
3a9239ea
authored
Jun 19, 2020
by
Justin Carpentier
Committed by
Guilhem Saurel
Jun 19, 2020
Browse files
panda: add load function
parent
083e77ec
Changes
1
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Inline
Side-by-side
python/example_robot_data/robots_loader.py
View file @
3a9239ea
...
...
@@ -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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