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Workaronud: Update AddModelsFromFile -> AddModels #14

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Workaronud: Update AddModelsFromFile -> AddModels #14

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18 changes: 9 additions & 9 deletions kinova_station/simulation_station.py
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Original file line number Diff line number Diff line change
Expand Up @@ -291,8 +291,8 @@ def AddArm(self, include_damping=False):
else:
arm_urdf = package_dir + "/../models/gen3_6dof/urdf/GEN3-6DOF.urdf"

self.arm = Parser(plant=self.plant).AddModelFromFile(arm_urdf, "arm")
self.controller_arm = Parser(plant=self.controller_plant).AddModelFromFile(arm_urdf, "arm")
self.arm = Parser(plant=self.plant).AddModels(arm_urdf)[0]
self.controller_arm = Parser(plant=self.controller_plant).AddModels(arm_urdf)[0]

# Fix the base of the arm to the world
self.plant.WeldFrames(self.plant.world_frame(),
Expand Down Expand Up @@ -321,7 +321,7 @@ def AddHandeGripper(self):

# Add a gripper with actuation to the full simulated plant
gripper_urdf = package_dir + "/../models/hande_gripper/urdf/robotiq_hande.urdf"
self.gripper = Parser(plant=self.plant).AddModelFromFile(gripper_urdf,"gripper")
self.gripper = Parser(plant=self.plant).AddModels(gripper_urdf)[0]

self.plant.WeldFrames(self.plant.GetFrameByName("end_effector_link",self.arm),
self.plant.GetFrameByName("hande_base_link", self.gripper))
Expand All @@ -330,7 +330,7 @@ def AddHandeGripper(self):
gripper_static_urdf = package_dir + "/../models/hande_gripper/urdf/robotiq_hande_static.urdf"
static_gripper = Parser(plant=self.controller_plant).AddModelFromFile(
gripper_static_urdf,
"gripper")
)[0]

self.controller_plant.WeldFrames(
self.controller_plant.GetFrameByName("end_effector_link",self.controller_arm),
Expand All @@ -344,7 +344,7 @@ def Add2f85Gripper(self):

# Add a gripper with actuation to the full simulated plant
gripper_urdf = package_dir + "/../models/2f_85_gripper/urdf/robotiq_2f_85.urdf"
self.gripper = Parser(plant=self.plant).AddModelFromFile(gripper_urdf,"gripper")
self.gripper = Parser(plant=self.plant).AddModels(gripper_urdf)[0]

X_grip = RigidTransform()
X_grip.set_rotation(RotationMatrix(RollPitchYaw([0,0,np.pi/2])))
Expand All @@ -354,9 +354,9 @@ def Add2f85Gripper(self):

# Add a gripper without actuation to the controller plant
gripper_static_urdf = package_dir + "/../models/2f_85_gripper/urdf/robotiq_2f_85_static.urdf"
static_gripper = Parser(plant=self.controller_plant).AddModelFromFile(
static_gripper = Parser(plant=self.controller_plant).AddModels(
gripper_static_urdf,
"gripper")
)[0]

self.controller_plant.WeldFrames(
self.controller_plant.GetFrameByName("end_effector_link",self.controller_arm),
Expand Down Expand Up @@ -411,7 +411,7 @@ def AddManipulandFromFile(self, model_file, X_WObject):
"""
Add an object to the simulation and place it in the given pose in the world
"""
manipuland = Parser(plant=self.plant).AddModelFromFile(model_file)
manipuland = Parser(plant=self.plant).AddModels(model_file)[0]
body_indices = self.plant.GetBodyIndices(manipuland)

assert len(body_indices) == 1, "Only single-body objects are supported for now"
Expand Down Expand Up @@ -515,7 +515,7 @@ def __init__(self, gripper_type):
# This will allow us to compute the distance between fingers.
self.plant = MultibodyPlant(1.0) # timestep doesn't matter
gripper_urdf = package_dir + "/../models/2f_85_gripper/urdf/robotiq_2f_85.urdf"
self.gripper = Parser(plant=self.plant).AddModelFromFile(gripper_urdf, "gripper")
self.gripper = Parser(plant=self.plant).AddModels(gripper_urdf)[0]
self.plant.WeldFrames(self.plant.world_frame(),
self.plant.GetFrameByName("robotiq_arg2f_base_link",self.gripper))
self.plant.Finalize()
Expand Down