def loadRobotModel(name=None,
view=None,
parent='scene',
urdfFile=None,
color=None,
visible=True,
colorMode='URDF Colors',
useConfigFile=True):
if not urdfFile:
urdfFile = drcargs.getDirectorConfig()['urdfConfig']['default']
if isinstance(parent, str):
parent = om.getOrCreateContainer(parent)
model = loadRobotModelFromFile(urdfFile)
if not model:
raise Exception('Error loading robot model from file: %s' % urdfFile)
obj = RobotModelItem(model)
om.addToObjectModel(obj, parent)
if name:
obj.setProperty('Name', name)
obj.setProperty('Visible', visible)
obj.setProperty('Color', color or getRobotGrayColor())
if colorMode == 'Textures':
obj.setProperty('Color Mode', 1)
elif colorMode == 'Solid Color':
obj.setProperty('Color Mode', 0)
elif colorMode == 'URDF Colors':
obj.setProperty('Color Mode', 2)
if view is not None:
obj.addToView(view)
if useConfigFile:
jointNames = None
else:
jointNames = model.getJointNames()
jointController = jointcontrol.JointController([obj],
jointNames=jointNames)
if useConfigFile:
fixedPointFile = drcargs.getDirectorConfig().get('fixedPointFile')
if fixedPointFile:
jointController.setPose(
'q_nom', jointController.loadPoseFromFile(fixedPointFile))
else:
jointController.setPose('q_nom', jointController.getPose('q_zero'))
return obj, jointController
def loadRobotModel(
name=None,
view=None,
parent="scene",
urdfFile=None,
color=None,
visible=True,
colorMode="URDF Colors",
useConfigFile=True,
robotName="",
):
if isinstance(parent, str):
parent = om.getOrCreateContainer(parent)
if urdfFile:
model = loadRobotModelFromFile(urdfFile)
haveModel = True
else:
model = None
useConfigFile = True # we can't extract joint names from the model
haveModel = False
colorModes = {"Solid Color": 0, "Textures": 1, "URDF Colors": 2}
obj = RobotModelItem(
model=model,
visible=visible,
color=color or getRobotGrayColor(),
colorMode=colorModes[colorMode],
robotName=robotName,
)
om.addToObjectModel(obj, parent)
if name:
obj.setProperty("Name", name)
if view is not None:
obj.addToView(view)
if useConfigFile:
jointNames = None
else:
jointNames = model.getJointNames()
jointController = jointcontrol.JointController([obj],
jointNames=jointNames,
robotName=robotName,
pushToModel=haveModel)
return obj, jointController
return args
app = mainwindowapp.construct()
view = app.view
args = getArgs()
if args.urdf:
robotModel, jointController = roboturdf.loadRobotModel(urdfFile=args.urdf,
view=view,
useConfigFile=False)
jointNames = robotModel.model.getJointNames()
jointController = jointcontrol.JointController([robotModel],
jointNames=jointNames)
elif args.glob_dir:
urdfFiles = []
for root, dirnames, filenames in os.walk(args.glob_dir):
for filename in fnmatch.filter(filenames, '*.urdf'):
urdfFiles.append(os.path.join(root, filename))
failedFiles = []
for urdfFile in urdfFiles:
print 'loading:', urdfFile
try:
robotModel, jointController = roboturdf.loadRobotModel(
urdfFile=urdfFile,
view=view,