Commit 4f67fa6f authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

[Tests] use getModelPath to allow build/test in different directories

parent 9aeb4e3e
from os.path import exists, join
import numpy as np import numpy as np
import pinocchio import pinocchio
from pinocchio.robot_wrapper import RobotWrapper from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath):
for path in ['..', '../..', '/opt/openrobots/share/example-robot-data']:
if exists(join(path, subpath.strip('/'))):
print "using %s as modelPath" % path
return path
raise IOError('%s not found' % (subpath))
def readParamsFromSrdf(robot, SRDF_PATH, verbose): def readParamsFromSrdf(robot, SRDF_PATH, verbose):
rmodel = robot.model rmodel = robot.model
...@@ -26,11 +36,12 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose): ...@@ -26,11 +36,12 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose):
return return
def loadTalosArm(modelPath='../..'): def loadTalosArm():
URDF_FILENAME = "talos_left_arm.urdf" URDF_FILENAME = "talos_left_arm.urdf"
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
SRDF_FILENAME = "talos.srdf" SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath]) robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
...@@ -39,11 +50,12 @@ def loadTalosArm(modelPath='../..'): ...@@ -39,11 +50,12 @@ def loadTalosArm(modelPath='../..'):
return robot return robot
def loadTalos(modelPath='../..'): def loadTalos():
URDF_FILENAME = "talos_reduced.urdf" URDF_FILENAME = "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf" SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath], robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer()) pinocchio.JointModelFreeFlyer())
...@@ -53,9 +65,10 @@ def loadTalos(modelPath='../..'): ...@@ -53,9 +65,10 @@ def loadTalos(modelPath='../..'):
return robot return robot
def loadHyQ(modelPath='../..'): def loadHyQ():
URDF_FILENAME = "hyq_no_sensors.urdf" URDF_FILENAME = "hyq_no_sensors.urdf"
URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath], robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer()) pinocchio.JointModelFreeFlyer())
# TODO define default position inside srdf # TODO define default position inside srdf
......
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