load ur 3/5 with or without its gripper

python/example_robot_data/robots_loader.py

@@ -236,8 +236,9 @@ def loadICub(reduced=True):
     return robot
 
 
-def loadUR(robot=5, limited=False):
-    URDF_FILENAME = "ur%i%s_robot.urdf" % (robot, "_joint_limited" if limited else '')
+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)
     return RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])

unittest/test_load.py

@@ -101,6 +101,18 @@ class UR5Test(RobotTestCase):
     RobotTestCase.NV = 6
 
 
+class UR5LimitedTest(RobotTestCase):
+    RobotTestCase.ROBOT = example_robot_data.loadUR(limited=True)
+    RobotTestCase.NQ = 6
+    RobotTestCase.NV = 6
+
+
+class UR5GripperTest(RobotTestCase):
+    RobotTestCase.ROBOT = example_robot_data.loadUR(gripper=True)
+    RobotTestCase.NQ = 6
+    RobotTestCase.NV = 6
+
+
 class KinovaTest(RobotTestCase):
     RobotTestCase.ROBOT = example_robot_data.loadKinova()
     RobotTestCase.NQ = 9