Commit 9b656c4c authored by Pep Marti Saumell's avatar Pep Marti Saumell
Browse files

Double pendulum:

renamed files
parent 7f12d15b
......@@ -46,7 +46,7 @@ IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY 2dof_description DESTINATION share/${PROJECT_NAME})
INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
SETUP_PROJECT_FINALIZE()
# flake8: noqa
from .robots_loader import (getModelPath, loadANYmal, loadHyQ, loadICub, loadSolo, loadTalos, loadTalosArm,
loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, load2dof, readParamsFromSrdf)
loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, loadHector, loadDoublePendulum, readParamsFromSrdf)
......@@ -3,7 +3,7 @@ from argparse import ArgumentParser
from . import robots_loader
ROBOTS = [
'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'hector', '2dof'
'anymal', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'tiago', 'tiago_no_hand', 'icub', 'ur5', 'hector', 'double_pendulum'
]
parser = ArgumentParser()
......@@ -72,7 +72,7 @@ if args.robot == 'hector':
hector.display(hector.q0)
if args.robot == '2dof':
if args.robot == 'double_pendulum':
planar2dof = robots_loader.load2dof()
planar2dof.initViewer(loadModel=True)
planar2dof.display(planar2dof.q0)
......@@ -238,9 +238,9 @@ def loadHector():
return robot
def load2dof():
URDF_FILENAME = "2dof_planar.urdf"
URDF_SUBPATH = "/2dof_description/urdf/" + URDF_FILENAME
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])
return robot
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