def loadEnvironmentModel(self, EnvType, envName, guiOnly=False): l = locals().copy() if not guiOnly: urdfFilename, srdfFilename = _urdfSrdfFilenames(EnvType) self.robot.loadEnvironmentModel(urdfFilename, srdfFilename, envName + "/") l['guiOnly'] = True self.guiRequest.append((Viewer.loadEnvironmentModel, l))
def loadObjectModel(self, RobotType, robotName, guiOnly=False): l = locals().copy() if not guiOnly: urdfFilename, srdfFilename = _urdfSrdfFilenames(RobotType) self.robot.insertRobotModel(robotName, RobotType.rootJointType, urdfFilename, srdfFilename) l['guiOnly'] = True self.guiRequest.append((Viewer.loadObjectModel, l))
def loadRobotModel(self, RobotType, robotName, guiOnly=False, frame=None): l = locals().copy() if not guiOnly: urdfFilename, srdfFilename = _urdfSrdfFilenames(RobotType) if frame is None: self.robot.insertRobotModel(robotName, RobotType.rootJointType, urdfFilename, srdfFilename) else: self.robot.insertRobotModelOnFrame(robotName, frame, RobotType.rootJointType, urdfFilename, srdfFilename) l['guiOnly'] = True self.guiRequest.append((Viewer.loadRobotModel, l))