Unverified Commit ed9df164 authored by Guilhem Saurel's avatar Guilhem Saurel Committed by GitHub
Browse files

allow customization of model path (#109)

parent 33e0320a
Pipeline #16905 passed with stage
in 1 minute and 23 seconds
......@@ -58,6 +58,7 @@ class RobotLoader(object):
has_rotor_parameters = False
free_flyer = False
verbose = False
model_path = None
def __init__(self):
if self.urdf_filename:
......@@ -71,7 +72,8 @@ class RobotLoader(object):
builder = RobotWrapper.BuildFromSDF
except AttributeError:
raise ImportError("Building SDF models require pinocchio >= 3.0.0")
self.model_path = getModelPath(df_path, self.verbose)
if self.model_path is None:
self.model_path = getModelPath(df_path, self.verbose)
self.df_path = join(self.model_path, df_path)
self.robot = builder(self.df_path, [join(self.model_path, '../..')],
pin.JointModelFreeFlyer() if self.free_flyer else None)
......
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