Commit 9829dbb8 authored by Guilhem Saurel's avatar Guilhem Saurel

add talos full

to avoid a dependency to https://github.com/stack-of-tasks/talos-data/
in many packages
parent 1df62135
Pipeline #10903 passed with stage
in 1 minute and 36 seconds
......@@ -3,6 +3,7 @@ import warnings
from os.path import dirname, exists, join
import numpy as np
import pinocchio as pin
from pinocchio.robot_wrapper import RobotWrapper
......@@ -91,8 +92,13 @@ def loadANYmal(withArm=None):
free_flyer=True)
def loadTalos(legs=False, arm=False):
URDF_FILENAME = "talos_left_arm.urdf" if arm else "talos_reduced.urdf"
def loadTalos(legs=False, arm=False, full=False):
if arm:
URDF_FILENAME = "talos_left_arm.urdf"
elif full:
URDF_FILENAME = "talos_full_v2.urdf"
else:
URDF_FILENAME = "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf"
robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=not arm)
......@@ -260,6 +266,9 @@ ROBOTS = {
'talos_legs': (loadTalos, {
'legs': True
}),
'talos_full': (loadTalos, {
'full': True
}),
'tiago': (loadTiago, {}),
'tiago_no_hand': (loadTiago, {
'hand': False
......
This source diff could not be displayed because it is too large. You can view the blob instead.
......@@ -55,6 +55,9 @@ class RobotTestCase(unittest.TestCase):
def test_talos(self):
self.check('talos', 39, 38)
def test_talos_full(self):
self.check('talos_full', 51, 50)
def test_talos_arm(self):
self.check('talos_arm', 7, 7)
......
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