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))