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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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Add support for Scene creation without SRDF, from robot param server #681

Closed wxmerkt closed 4 years ago

wxmerkt commented 4 years ago

This PR adds the required changes to allow creation of a Scene e.g. directly from a robot_description parameter without an EXOTica-compliant SRDF (which contains virtual joints and joint group).

After this PR, the following works (assuming robot_description has been set):

import pyexotica as exo

exo.Setup.init_ros()
scene = exo.Setup.create_scene(exo.Initializers.SceneInitializer())
kt = scene.get_kinematic_tree()

print("Model Tree:")
for ke in kt.get_model_tree():
    print(ke.id, "link=", ke.get_segment_name(), "parent=", ke.get_parent_name(), "joint=", ke.get_joint_name(),)