Commit 2720cf90 authored by Pierre Fernbach's avatar Pierre Fernbach

[Python] update to change in loadRobotRomModel and loadRobotCompleteModel,...

[Python] update to change in loadRobotRomModel and loadRobotCompleteModel, init now load the robot if required
parent f599324b
......@@ -26,42 +26,55 @@ from hpp.corbaserver.robot import Robot
# trunk of the robot, and a set of robots describe the range of motion of each limb of the robot.
class Builder(Robot):
# # Constructor
def __init__(self, load=True, clientRbprm=None):
def __init__(self, robotName = None, rootJointType = None, load = True, client = None, hppcorbaClient = None, clientRbprm=None):
Robot.__init__(self, robotName, rootJointType, False, client, hppcorbaClient)
self.tf_root = "base_link"
if clientRbprm is None:
self.clientRbprm = RbprmClient()
else:
self.clientRbprm = clientRbprm
self.load = load
if load:
self.loadModel(robotName, rootJointType)
## Return urdf and srdf filenames of the roms
#
def urdfROMFilenames (self):
urdfNameRoms = []
nameRoms = []
if hasattr (self, 'packageName') and hasattr (self, 'urdfNameRom') and \
hasattr (self, 'urdfSuffix') :
if not isinstance(self.urdfNameRom, list):
self.urdfNameRom = [self.urdfNameRom]
nameRoms = self.urdfNameRom
for urdfName in nameRoms:
urdfNameRoms += ["package://" + self.packageName + '/urdf/' + urdfName + self.urdfSuffix + '.urdf']
elif hasattr (self, 'urdfFilenameRom'):
urdfNameRoms = self.urdfFilenameRom
for urdfNameRom in urdfNameRoms:
nameRoms += [urdfNameRom.split("/")[-1].rstrip(".urdf")]
else :
raise RuntimeError (\
"""instance should have one of the following sets of members
- (packageName, urdfNameRom, urdfSuffix),
- (urdfFilenameRom)""")
return nameRoms, urdfNameRoms
# # Virtual function to load the robot model.
#
# \param urdfName urdf description of the robot trunk,
# \param urdfNameroms either a string, or an array of strings, indicating the urdf of the different roms to add.
# This method looks for the following class attribute in order to find the files to load:
# First it looks for urdfFilename and srdfFilename and use it if available
# Otherwise it looks for packageName, urdfName, urdfSuffix, srdfSuffix
# \param robotNamethe name of the robot
# \param rootJointType type of root joint among ("freeflyer", "planar",
# "anchor"),
# \param meshPackageName name of the meshpackage from where the robot mesh will be loaded
# \param packageName name of the package from where the robot will be loaded
# \param urdfSuffix optional suffix for the urdf of the robot package
# \param srdfSuffix optional suffix for the srdf of the robot package
def loadModel(self, urdfName, urdfNameroms, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix, client=None):
Robot.__init__(self, urdfName, rootJointType, False, client=client)
if (isinstance(urdfNameroms, list)):
for urdfNamerom in urdfNameroms:
self.clientRbprm.rbprm.loadRobotRomModel(urdfNamerom, rootJointType, packageName, urdfNamerom,
urdfSuffix, srdfSuffix)
else:
self.clientRbprm.rbprm.loadRobotRomModel(urdfNameroms, rootJointType, packageName, urdfNameroms,
urdfSuffix, srdfSuffix)
# "anchor"), WARNING. Currently RB-PRM only considerds freeflyer roots
def loadModel(self, robotName, rootJointType):
nameRoms, urdfROMFilenames = self.urdfROMFilenames()
for i, urdfNameRom in enumerate(urdfROMFilenames):
self.clientRbprm.rbprm.loadRobotRomModel(nameRoms[i], rootJointType, urdfNameRom)
self.clientRbprm.rbprm.initNewProblemSolver()
self.clientRbprm.rbprm.loadRobotCompleteModel(urdfName, rootJointType, packageName, urdfName, urdfSuffix,
srdfSuffix)
self.client.robot.meshPackageName = meshPackageName
self.meshPackageName = meshPackageName
self.packageName = packageName
self.urdfName = urdfName
self.urdfSuffix = urdfSuffix
self.srdfSuffix = srdfSuffix
urdfFilename, srdfFilename = self.urdfSrdfFilenames () # inherited method from corbaserver.robot
self.clientRbprm.rbprm.loadRobotCompleteModel(robotName, rootJointType, urdfFilename, srdfFilename)
# # Init RbprmShooter
#
......
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