Addresses UR5 model display issue #79
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sea-bass
reviewed
Jan 14, 2025
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Thank you! Few things for initial review:
- Thanks for fixing those docs API sections. Would you be willing to split that into a separate PR?
- You can just delete that UR5 example and leave the UR10
- The UR on base example at https://github.com/sea-bass/pyroboplan/blob/main/examples/differential_ik_whole_body.py will also need to be updated for the UR10.
| @@ -25,6 +25,14 @@ pyroboplan.models.two\_dof module | |||
| :undoc-members: | |||
| :show-inheritance: | |||
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| pyroboplan.models.ur5 module | |||
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Thanks for pointing this out. I am fixing the docs in a separate PR and will address this issue there.
If all the changes are okay, I will submit another PR to fix the documentation after your feedback. |
sea-bass
approved these changes
Jan 16, 2025
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| The Panda model. | ||
| collision_model : `pinocchio.Model` | ||
| The Panda collision geometry model. | ||
| srdf_filename : str, optional | ||
| Path to the SRDF file describing the excluded collision pairs. | ||
| If not specified, uses a default file included with the Panda model. |
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Replace Panda with "UR10" -- this might have been my fault in the UR5 one, so probably worth looking there too
| urdf_filename = os.path.join(package_dir, "urdf", "ur5_on_base.urdf") | ||
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| return pinocchio.buildModelsFromUrdf(urdf_filename, package_dirs=models_folder) | ||
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| def add_ur5_on_base_self_collisions(model, collision_model, srdf_filename=None): | ||
| """ | ||
| Adds link self-collisions to the Panda collision model. | ||
| Adds link self-collisions to the UR5 collision model. |
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Indeed, Panda is in this docstring (few lines below too).
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This PR addresses the issue of the UR5 model display.
ur10model to theur_descriptiondirectory.ur5_descriptionand updatedur_descriptionto accommodate all UR models.