def init_robot(self, urdf_model_file):
self.robot = Robot(self.abs_path + "/" + urdf_model_file)
self.robot.enforceConstraints(self.enforce_constraints)
self.robot.setGravityConstant(self.gravity_constant)
self.robot.setAccelerationLimit(self.acceleration_limit)
""" Setup operations """
self.robot_dof = self.robot.getDOF()
if len(self.start_state) != 2 * self.robot_dof:
logging.error(
"HRF: Start state dimension doesn't fit to the robot state space dimension"
)
return False
return True
def init_robot(self):
self.robot = Robot(self.robot_file)
self.robot_dof = self.robot.getDOF()
return True
