From 3a9239eaa4d82a29d20ec619d67bdc7d185c7800 Mon Sep 17 00:00:00 2001
From: Justin Carpentier <justin.carpentier@inria.fr>
Date: Fri, 19 Jun 2020 15:48:54 +0200
Subject: [PATCH] panda: add load function
---
python/example_robot_data/robots_loader.py | 8 ++++++++
1 file changed, 8 insertions(+)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 9e97cb0..b2247f6 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -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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