hofee/gen_data_curobo
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update to 0.6.2

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This commit is contained in:
Balakumar Sundaralingam
2023-12-15 02:01:33 -08:00
parent d85ae41fba
commit 58958bbcce
105 changed files with 2514 additions and 934 deletions
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8
examples/isaac_sim/helper.py
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@@ -82,7 +82,13 @@ def add_robot_to_scene(
import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
import_config.distance_scale = 1
import_config.density = 0.0
full_path = join_path(get_assets_path(), robot_config["kinematics"]["urdf_path"])
asset_path = get_assets_path()
if (
"external_asset_path" in robot_config["kinematics"]
and robot_config["kinematics"]["external_asset_path"] is not None
):
asset_path = robot_config["kinematics"]["external_asset_path"]
full_path = join_path(asset_path, robot_config["kinematics"]["urdf_path"])
robot_path = get_path_of_dir(full_path)
filename = get_filename(full_path)
imported_robot = urdf_interface.parse_urdf(robot_path, filename, import_config)