createContext (args.context)
isSimulation = args.context == "simulation"
# 2}}}
# {{{2 Robot and problem definition
#Robot.urdfFilename = "package://tiago_data/robots/tiago_steel_without_wheels.urdf"
#Robot.srdfFilename = "package://tiago_data/srdf/tiago.srdf"
# try:
import rospy
# Robot.urdfString = rospy.get_param('robot_description')
# print("reading URDF from ROS param")
# except:
print("reading generic URDF")
from hpp.rostools import process_xacro, retrieve_resource
Robot.urdfString = process_xacro("package://tiago_data/robots/tiago.urdf.xacro", "robot:=steel", "end_effector:=pal-hey5", "ft_sensor:=schunk-ft", "has_second_camera_model:=true")
Robot.srdfString = ""
if args.n_random_handles is None:
srdf_cylinder = "package://agimus_demos/srdf/cylinder.srdf"
else:
from generate_obstacle_model import generate_srdf
bvh_file = "/home/jmirabel/devel/hpp/src/agimus-demos/meshes/cylinder.stl"
srdf_cylinder = "/tmp/cylinder.srdf"
with open(srdf_cylinder, 'w') as output:
generate_srdf(bvh_file, args.n_random_handles, output)
class Cylinder:
urdfFilename = "package://agimus_demos/urdf/cylinder.urdf"
srdfFilename = srdf_cylinder
rootJointType = "freeflyer"
type=int,
default=None,
help="Generate a random model with N handles.")
args = p.parse_args()
if args.context != defaultContext:
createContext(args.context)
isSimulation = args.context == "simulation"
# 2}}}
# {{{2 Robot and problem definition
#Robot.urdfFilename = "package://tiago_data/robots/tiago_steel_without_wheels.urdf"
#Robot.srdfFilename = "package://tiago_data/srdf/tiago.srdf"
from hpp.rostools import process_xacro, retrieve_resource
Robot.urdfString = process_xacro(
"package://tiago_description/robots/tiago.urdf.xacro", "robot:=steel",
"end_effector:=pal-hey5", "ft_sensor:=schunk-ft")
Robot.srdfString = ""
if args.n_random_handles is None:
srdf_cylinder = "package://agimus_demos/srdf/cylinder.srdf"
else:
from generate_obstacle_model import generate_srdf
bvh_file = "/home/jmirabel/devel/hpp/src/agimus-demos/meshes/cylinder.stl"
srdf_cylinder = "/tmp/cylinder.srdf"
with open(srdf_cylinder, 'w') as output:
generate_srdf(bvh_file, args.n_random_handles, output)
class Cylinder:
urdfFilename = "package://agimus_demos/urdf/cylinder.urdf"