Fixed deprecation: multirobot.py (#329)

Signed-off-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
RobotLocomotion · Jan 23, 2024 · 69743c5 · 69743c5
1 parent b9b20c7
commit 69743c5
Showing 1 changed file with 5 additions and 3 deletions.
diff --git a/drake_ros_examples/examples/multirobot/multirobot.py b/drake_ros_examples/examples/multirobot/multirobot.py
@@ -95,9 +95,11 @@ def main():
         for y in range(NUM_COLS):
             # Load the model from the file and give it a name based on its X
             # and Y coordinates in the array
-            models[x].append(parser.AddModelFromFile(
-                model_file_path,
-                model_name + str(x) + '_' + str(y)))
+            (iiwa,) = parser.AddModels(model_file_path)
+            models[x].append(iiwa)
+            plant.RenameModelInstance(model_instance=iiwa,
+                                      name=model_name + str(x) + '_' + str(y))
+
 
             # Weld the robot to world so it doesn't fall through floor
             base_frame = plant.GetFrameByName("base", models[x][y])