Commit 4d531528 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[icub] Option to load reduced version

parent e627abb8
......@@ -104,8 +104,11 @@ def loadTiagoNoHand():
# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
def loadICub():
URDF_FILENAME = "icub.urdf"
def loadICub(reduced=True):
if reduced:
URDF_FILENAME = "icub_reduced.urdf"
URDF_FILENAME = "icub.urdf"
SRDF_FILENAME = "icub.srdf"
SRDF_SUBPATH = "/icub_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME
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