Commit 3f4f377d authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

FullBody and rbprmBuilder : call parent constructor before loading model

parent 9e80a2ac
......@@ -42,6 +42,7 @@ class Builder (Robot):
# \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):
Robot.__init__(self,urdfName,rootJointType, False)
if(isinstance(urdfNameroms, list)):
for urdfNamerom in urdfNameroms:
self.clientRbprm.rbprm.loadRobotRomModel(urdfNamerom, rootJointType, packageName, urdfNamerom, urdfSuffix, srdfSuffix)
......@@ -49,7 +50,6 @@ class Builder (Robot):
self.clientRbprm.rbprm.loadRobotRomModel(urdfNameroms, rootJointType, packageName, urdfNameroms, urdfSuffix, srdfSuffix)
self.clientRbprm.rbprm.initNewProblemSolver()
self.clientRbprm.rbprm.loadRobotCompleteModel(urdfName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix)
Robot.__init__(self,urdfName,rootJointType, False)
self.client.robot.meshPackageName = meshPackageName
self.meshPackageName = meshPackageName
self.packageName = packageName
......
......@@ -44,8 +44,8 @@ class FullBody (Robot):
# \param urdfSuffix optional suffix for the urdf of the robot package
# \param srdfSuffix optional suffix for the srdf of the robot package
def loadFullBodyModel (self, urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix):
self.clientRbprm.rbprm.loadFullBodyRobot(urdfName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix, self.client.problem.getSelected("problem")[0])
Robot.__init__(self,urdfName,rootJointType, False)
self.clientRbprm.rbprm.loadFullBodyRobot(urdfName, rootJointType, packageName, urdfName, urdfSuffix, srdfSuffix, self.client.problem.getSelected("problem")[0])
self.client.robot.meshPackageName = meshPackageName
self.meshPackageName = meshPackageName
self.packageName = packageName
......@@ -57,8 +57,8 @@ class FullBody (Robot):
# Virtual function to load the fullBody robot model.
#
def loadFullBodyModelFromActiveRobot (self, urdfName, rootJointType, meshPackageName, packageName, urdfSuffix, srdfSuffix):
self.clientRbprm.rbprm.loadFullBodyRobotFromExistingRobot()
Robot.__init__(self,urdfName,rootJointType, False)
self.clientRbprm.rbprm.loadFullBodyRobotFromExistingRobot()
self.client.robot.meshPackageName = meshPackageName
self.meshPackageName = meshPackageName
self.packageName = packageName
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment