Commit 64284a9f authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

[Scripts] correctly specify the full name of the urdf in load_rbprm

parent ec3fe062
......@@ -4,7 +4,8 @@ from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
from talos_rbprm.talos_abstract import Robot
Robot.urdfName += "_large" # load the model with conservative bounding boxes for trunk
Robot.urdfName = "talos_trunk_large" # load the model with conservative bounding boxes for trunk
self.robot_node_name = "talos_trunk_large"
self.rbprmBuilder = Robot()
def init_problem(self):
......
......@@ -4,7 +4,8 @@ from hpp.corbaserver.rbprm.scenarios.talos_path_planner import TalosPathPlanner
class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
from talos_rbprm.talos_abstract import Robot
Robot.urdfName += "_large" # load the model with conservative bounding boxes for trunk
Robot.urdfName = "talos_trunk_large" # load the model with conservative bounding boxes for trunk
self.robot_node_name = "talos_trunk_large"
self.rbprmBuilder = Robot()
def init_problem(self):
......
......@@ -5,7 +5,8 @@ class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
from talos_rbprm.talos_abstract import Robot
# select ROM model with really conservative ROM shapes
Robot.urdfName += "_large_reducedROM"
Robot.urdfName = "talos_trunk_large_reducedROM"
self.robot_node_name = "talos_trunk_large_reducedROM"
Robot.urdfNameRom = ['talos_lleg_rom_reduced', 'talos_rleg_rom_reduced']
self.used_limbs = Robot.urdfNameRom
self.rbprmBuilder = Robot()
......
......@@ -23,7 +23,8 @@ class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
# select model with conservative collision geometry for trunk
Robot.urdfName += "_large_reducedROM"
Robot.urdfName = "talos_trunk_large_reducedROM"
self.robot_node_name = "talos_trunk_large_reducedROM"
# select conservative ROM for feet
Robot.urdfNameRom += ['talos_lleg_rom_reduced', 'talos_rleg_rom_reduced']
self.rbprmBuilder = Robot()
......
......@@ -13,7 +13,8 @@ class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
from talos_rbprm.talos_abstract import Robot
# select model with conservative collision geometry for trunk
Robot.urdfName += "_large"
Robot.urdfName = "talos_trunk_large"
self.robot_node_name = "talos_trunk_large"
self.rbprmBuilder = Robot()
def init_problem(self):
......
......@@ -8,7 +8,8 @@ class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
from talos_rbprm.talos_abstract import Robot
Robot.urdfName += "_large" # load the model with conservative bounding boxes for trunk
Robot.urdfName = "talos_trunk_large" # load the model with conservative bounding boxes for trunk
self.robot_node_name = "talos_trunk_large"
self.rbprmBuilder = Robot()
def init_problem(self):
......
......@@ -35,7 +35,8 @@ class PathPlanner(TalosPathPlanner):
def load_rbprm(self):
from talos_rbprm.talos_abstract import Robot
# select ROM model with really conservative ROM shapes
Robot.urdfName += "_large_reducedROM"
Robot.urdfName = "talos_trunk_large_reducedROM"
self.robot_node_name = "talos_trunk_large_reducedROM"
Robot.urdfNameRom = ['talos_lleg_rom_reduced', 'talos_rleg_rom_reduced']
self.used_limbs = Robot.urdfNameRom
self.rbprmBuilder = Robot()
......
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