nmansard / wsmemmo_pinocchio Goto Github PK
View Code? Open in Web Editor NEWMemmo Winter-school material for the Pinocchio class
License: MIT License
Memmo Winter-school material for the Pinocchio class
License: MIT License
Fix proposal
--- a/robots.py
+++ b/robots.py
@@ -15,8 +15,9 @@ def getTalosPathFromRos():
def loadTalosArm(modelPath='/opt/openrobots/share',freeFloating=False):
URDF_FILENAME = "talos_left_arm.urdf"
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer() if freeFloating else None)
+ robot = RobotWrapper()
+ robot.initFromURDF(modelPath+URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer() if freeFloating else None)
if freeFloating:
u = robot.model.upperPositionLimit; u[:7] = 1; robot.model.upperPositionLimit = u
l = robot.model.lowerPositionLimit; l[:7] = -1; robot.model.lowerPositionLimit = l
@@ -28,8 +29,9 @@ def loadTalos(modelPath='/opt/openrobots/share'):
SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/talos_data/urdf/" + URDF_FILENAME
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper()
+ robot.initFromURDF(modelPath+URDF_SUBPATH, [modelPath],
+ pinocchio.JointModelFreeFlyer())
# Load SRDF file
rmodel = robot.model
pinocchio.getNeutralConfiguration(rmodel, modelPath+SRDF_SUBPATH, False)
It is not on robotpkg
. Since talos_description
is now released via ROS to kinetic
and melodic
, could just the talos_left_arm.urdf
be added to this repository? The meshes could then be retrieved from the ROS-available description packages.
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