Commit 556fee15 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

add path.py.in, similar to path.hpp.in

parent b58fa407
......@@ -7,3 +7,6 @@ SET(${PROJECT_NAME}_PYTHON_FILES
FOREACH(python ${${PROJECT_NAME}_PYTHON_FILES})
PYTHON_INSTALL_ON_SITE(${PY_NAME} ${python})
ENDFOREACH(python ${${PROJECT_NAME}_PYTHON_FILES})
CONFIGURE_FILE(${PY_NAME}/path.py.in ${PY_NAME}/path.py)
INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PY_NAME}/path.py DESTINATION "${PYTHON_SITELIB}/${PY_NAME}")
EXAMPLE_ROBOT_DATA_MODEL_DIR = "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/robots"
......@@ -7,15 +7,22 @@ from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath, printmsg=False):
base = '../../../share/example-robot-data/robots'
main_dir = dirname(dirname(dirname(__file__)))
for path in [join(dirname(main_dir), 'robots'), join(main_dir, 'robots')
] + [join(p, base.strip('/')) for p in sys.path]:
paths = [
join(dirname(dirname(dirname(dirname(__file__)))), 'robots'),
join(dirname(dirname(dirname(__file__))), 'robots')
]
try:
from .path import EXAMPLE_ROBOT_DATA_MODEL_DIR
paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR)
except ImportError:
pass
paths += [join(p, '../../../share/example-robot-data/robots') for p in sys.path]
for path in paths:
if exists(join(path, subpath.strip('/'))):
if printmsg:
print("using %s as modelPath" % path)
return path
raise IOError('%s not found' % (subpath))
raise IOError('%s not found' % subpath)
def readParamsFromSrdf(robot, SRDF_PATH, verbose, has_rotor_parameters=True, referencePose='half_sitting'):
......
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