Script to compute urdf diff and dump it to yaml

jsk-ros-pkg / jsk_model_tools

JSK model utilities

https://github.com/jsk-ros-pkg/jsk_model_tools

BSD 3-Clause "New" or "Revised" License

6 stars 29 forks source link

Closed garaemon closed 9 years ago

garaemon commented 9 years ago

It's a script for calibration.

1) compute diff and dump it to yaml

urdf_patch.py diff A.urdf B.urdf diff.yaml

yaml file looks like:

LARM_JOINT0:
  xyz: [0.00, 0.3, 0.1]
RARM_JOINT0:
  xyz: [0.00, -0.3, 0.1]

2) apply the patch yaml to urdf

urdf_patch.py patch A.urdf diff.yaml B_generated.urdf

and B.urdf and B_generated.urdf are same.