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Guilhem Saurel
hpp-rbprm-corba
Commits
a6cf76a1
Commit
a6cf76a1
authored
May 20, 2020
by
Pierre Fernbach
Browse files
[Python] update to change in loadFullBodyModel, init now load the robot if required
parent
bcf587c8
Changes
1
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src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
a6cf76a1
...
...
@@ -28,7 +28,8 @@ from numpy import array, matrix
# trunk of the robot, one for the range of motion
class
FullBody
(
Robot
):
# # Constructor
def
__init__
(
self
,
load
=
True
,
clientRbprm
=
None
):
def
__init__
(
self
,
robotName
=
None
,
rootJointType
=
None
,
load
=
True
,
client
=
None
,
hppcorbaClient
=
None
,
clientRbprm
=
None
):
Robot
.
__init__
(
self
,
robotName
,
rootJointType
,
False
,
client
,
hppcorbaClient
)
self
.
tf_root
=
"base_link"
if
clientRbprm
==
None
:
self
.
clientRbprm
=
RbprmClient
()
...
...
@@ -36,27 +37,22 @@ class FullBody(Robot):
self
.
clientRbprm
=
clientRbprm
self
.
load
=
load
self
.
limbNames
=
[]
if
load
:
self
.
loadFullBodyModel
(
robotName
,
rootJointType
)
# # Virtual function to load the fullBody robot model.
#
# \param urdfName urdf description of the fullBody robot
# This method looks for the following class attribute in order to find the files to load:
# First it looks for urdfFilename and srdfFilename and use it if available
# Otherwise it looks for packageName, urdfName, urdfSuffix, srdfSuffix
# \param robotNamethe name of the robot
# \param rootJointType type of root joint among ("freeflyer", "planar",
# "anchor"), WARNING. Currently RB-PRM only considerds freeflyer roots
# \param meshPackageName name of the meshpackage from where the robot mesh will be loaded
# \param packageName name of the package from where the robot will be loaded
# \param urdfSuffix optional suffix for the urdf of the robot package
# \param srdfSuffix optional suffix for the srdf of the robot package
def
loadFullBodyModel
(
self
,
urdfName
,
rootJointType
,
meshPackageName
,
packageName
,
urdfSuffix
,
srdfSuffix
,
client
=
None
):
Robot
.
__init__
(
self
,
urdfName
,
rootJointType
,
False
,
client
)
self
.
clientRbprm
.
rbprm
.
loadFullBodyRobot
(
urdfName
,
rootJointType
,
packageName
,
urdfName
,
urdfSuffix
,
srdfSuffix
,
def
loadFullBodyModel
(
self
,
robotName
,
rootJointType
):
urdfFilename
,
srdfFilename
=
self
.
urdfSrdfFilenames
()
# inherited method from corbaserver.robot
print
(
"selected problem: "
,
self
.
client
.
problem
.
getSelected
(
"problem"
)[
0
])
self
.
clientRbprm
.
rbprm
.
loadFullBodyRobot
(
robotName
,
rootJointType
,
urdfFilename
,
srdfFilename
,
self
.
client
.
problem
.
getSelected
(
"problem"
)[
0
])
self
.
client
.
robot
.
meshPackageName
=
meshPackageName
self
.
meshPackageName
=
meshPackageName
self
.
packageName
=
packageName
self
.
urdfName
=
urdfName
self
.
urdfSuffix
=
urdfSuffix
self
.
srdfSuffix
=
srdfSuffix
self
.
octrees
=
{}
# Virtual function to load the fullBody robot model.
...
...
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