Jerry
45 lines
1.2 KiB
Python
45 lines
1.2 KiB
Python
from __future__ import annotations
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import importlib.util
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import sys
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from pathlib import Path
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V2_DIR = Path(__file__).resolve().parent
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TOM_SOURCE = V2_DIR / "tom.py"
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def _load_tom_module():
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module_name = f"_tom_v2_with_gripper_source_{abs(hash(TOM_SOURCE))}"
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spec = importlib.util.spec_from_file_location(module_name, TOM_SOURCE)
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if spec is None or spec.loader is None:
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raise RuntimeError(f"Unable to load {TOM_SOURCE}")
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module = importlib.util.module_from_spec(spec)
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sys.modules[module_name] = module
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spec.loader.exec_module(module)
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return module
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def gen_step() -> dict[str, object]:
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envelope = _load_tom_module().gen_step_with_options(include_gripper=True)
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return {
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"instances": envelope["instances"],
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"assembly_mates": envelope.get("assembly_mates", []),
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}
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def gen_urdf() -> dict[str, object]:
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return _load_tom_module().gen_urdf_with_options(
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include_gripper=True,
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robot_name="tom_v2_with_gripper",
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source_name="models/robots/tom/v2/tom_with_gripper.py",
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)
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def gen_srdf() -> dict[str, object]:
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return _load_tom_module().gen_srdf_with_options(
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include_gripper=True,
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robot_name="tom_v2_with_gripper",
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urdf="tom_with_gripper.urdf",
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)
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