nwegy/OSC_ROS2
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AS: clean up

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This commit is contained in:
Alexander Schaefer
2025-05-25 17:27:47 +02:00
parent b4ca5846d8
commit 26e6abd14f
67 changed files with 4255 additions and 2 deletions
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4
workspace/src/osc_ros2/osc_ros2/osc_ros2.py
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@@ -923,7 +923,7 @@ def main():
use_urdf = input("Do you have a URDF file you want to use? (y/n): ").strip().lower()
if use_urdf == 'y':
while True:
robot_urdf = input("Enter the path to the URDF file: ")
robot_urdf = input("Enter the absolute path to the URDF file: ")
if os.path.isfile(robot_urdf):
if not robot_urdf.endswith('.urdf'):
print("The file is not a URDF file. Please enter a valid URDF file.")
@@ -956,7 +956,7 @@ def main():
try:
print('-+'*50)
print("The cost mask determines which coordinates are used for the IK.\nEach element of the cost mask corresponds to a Cartesian coordinate [x, y, z, roll, pitch, yaw].")
print("The cost mask [1, 1, 1, 0, 0, 0] means that the IK will only consider translation and no rotaion.")
print("The cost mask 111000 means that the IK will only consider translation and no rotaion.")
cost_mask = [int(i) for i in input(f"Enter the cost mask (6 integers (1 or 0), of which <= {robot.n} are 1): ")]
if sum(cost_mask) <= robot.n and len(cost_mask) == 6:
break