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Gepetto
example-robot-data
Commits
6a180774
Commit
6a180774
authored
Jun 19, 2020
by
Justin Carpentier
Committed by
Guilhem Saurel
Jun 19, 2020
Browse files
core: fix search path for visuals
parent
b2ca922b
Changes
1
Hide whitespace changes
Inline
Side-by-side
python/example_robot_data/robots_loader.py
View file @
6a180774
...
...
@@ -27,6 +27,10 @@ def getModelPath(subpath, printmsg=False):
raise
IOError
(
'%s not found'
%
subpath
)
def
getVisualPath
(
modelPath
):
return
join
(
modelPath
,
'../..'
)
def
readParamsFromSrdf
(
model
,
SRDF_PATH
,
verbose
=
False
,
has_rotor_parameters
=
True
,
referencePose
=
'half_sitting'
):
if
has_rotor_parameters
:
pinocchio
.
loadRotorParameters
(
model
,
SRDF_PATH
,
verbose
)
...
...
@@ -60,7 +64,8 @@ def loadANYmal(withArm=None):
SRDF_SUBPATH
=
"/anymal_b_simple_description/srdf/"
+
SRDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
referencePose
=
REF_POSTURE
)
# Add the free-flyer joint limits
...
...
@@ -75,7 +80,7 @@ def loadTalosArm():
SRDF_SUBPATH
=
"/talos_data/srdf/"
+
SRDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)
])
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
)
...
...
@@ -89,7 +94,8 @@ def loadTalos():
URDF_SUBPATH
=
"/talos_data/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
)
assert
((
robot
.
model
.
armature
[:
6
]
==
0.
).
all
())
...
...
@@ -167,7 +173,8 @@ def loadHyQ():
URDF_SUBPATH
=
"/hyq_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
"standing"
)
# Add the free-flyer joint limits
...
...
@@ -185,7 +192,8 @@ def loadSolo(solo=True):
URDF_SUBPATH
=
"/solo_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
"standing"
)
# Add the free-flyer joint limits
...
...
@@ -200,7 +208,7 @@ def loadKinova():
URDF_SUBPATH
=
"/kinova_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)
])
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
,
"arm_up"
)
return
robot
...
...
@@ -213,7 +221,7 @@ def loadTiago():
URDF_SUBPATH
=
"/tiago_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)
])
# Load SRDF file
# robot.q0 = readParamsFromSrdf(robot.model, modelPath+SRDF_SUBPATH, False)
return
robot
...
...
@@ -226,7 +234,7 @@ def loadTiagoNoHand():
URDF_SUBPATH
=
"/tiago_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)
])
# Load SRDF file
# robot.q0 = readParamsFromSrdf(robot.model, modelPath+SRDF_SUBPATH, False)
return
robot
...
...
@@ -242,7 +250,8 @@ def loadICub(reduced=True):
URDF_SUBPATH
=
"/icub_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
# Load URDF file
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
# Load SRDF file
robot
.
q0
=
readParamsFromSrdf
(
robot
.
model
,
modelPath
+
SRDF_SUBPATH
,
False
,
False
)
# Add the free-flyer joint limits
...
...
@@ -254,16 +263,17 @@ def loadPanda():
URDF_FILENAME
=
"panda.urdf"
URDF_SUBPATH
=
"/panda_description/urdf/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
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'
)
URDF_SUBPATH
=
"/ur_description/urdf/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)
])
if
robot
==
5
or
robot
==
3
and
gripper
:
SRDF_FILENAME
=
"ur%i%s.srdf"
%
(
robot
,
'_gripper'
if
gripper
else
''
)
SRDF_SUBPATH
=
"/ur_description/srdf/"
+
SRDF_FILENAME
...
...
@@ -275,7 +285,8 @@ def loadHector():
URDF_FILENAME
=
"quadrotor_base.urdf"
URDF_SUBPATH
=
"/hector_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
return
robot
...
...
@@ -283,7 +294,7 @@ def loadDoublePendulum():
URDF_FILENAME
=
"double_pendulum.urdf"
URDF_SUBPATH
=
"/double_pendulum_description/urdf/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
])
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)
])
return
robot
...
...
@@ -291,12 +302,14 @@ def loadRomeo():
URDF_FILENAME
=
"romeo.urdf"
URDF_SUBPATH
=
"/romeo_description/urdf/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
return
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
return
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
def
loadIris
():
URDF_FILENAME
=
"iris_simple.urdf"
URDF_SUBPATH
=
"/iris_description/robots/"
+
URDF_FILENAME
modelPath
=
getModelPath
(
URDF_SUBPATH
)
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
modelPath
],
pinocchio
.
JointModelFreeFlyer
())
robot
=
RobotWrapper
.
BuildFromURDF
(
modelPath
+
URDF_SUBPATH
,
[
getVisualPath
(
modelPath
)],
pinocchio
.
JointModelFreeFlyer
())
return
robot
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