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nmansard / wsmemmo_pinocchio

Memmo Winter-school material for the Pinocchio class
MIT License
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Cannot load talos arm #2

Open aelkhour opened 5 years ago

aelkhour commented 5 years ago

Fix proposal

--- a/robots.py
+++ b/robots.py
@@ -15,8 +15,9 @@ def getTalosPathFromRos():
 def loadTalosArm(modelPath='/opt/openrobots/share',freeFloating=False):
     URDF_FILENAME = "talos_left_arm.urdf"
     URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
-    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
-                                       pinocchio.JointModelFreeFlyer() if freeFloating else None)
+    robot = RobotWrapper()
+    robot.initFromURDF(modelPath+URDF_SUBPATH, [modelPath],
+                       pinocchio.JointModelFreeFlyer() if freeFloating else None)
     if freeFloating:
         u = robot.model.upperPositionLimit; u[:7] =  1;  robot.model.upperPositionLimit = u
         l = robot.model.lowerPositionLimit; l[:7] = -1;  robot.model.lowerPositionLimit = l
@@ -28,8 +29,9 @@ def loadTalos(modelPath='/opt/openrobots/share'):
     SRDF_FILENAME = "talos.srdf"
     SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
     URDF_SUBPATH = "/talos_data/urdf/" + URDF_FILENAME
-    robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
-                                       pinocchio.JointModelFreeFlyer())
+    robot = RobotWrapper()
+    robot.initFromURDF(modelPath+URDF_SUBPATH, [modelPath],
+                       pinocchio.JointModelFreeFlyer())
     # Load SRDF file
     rmodel = robot.model
     pinocchio.getNeutralConfiguration(rmodel, modelPath+SRDF_SUBPATH, False)
wxmerkt commented 5 years ago

Are you on v1.3 (the Pinocchio robotpkg binary)? From source (devel on pinocchio) the notebooks in this repository work just fine.

aelkhour commented 5 years ago

Forgot to mention it, I am running on pinocchio v2.0.0-alpha.