From ea86adb042cd7bf8b0619de347b3d4124ec1fa8c Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Mon, 13 Dec 2021 15:06:26 +0000
Subject: [PATCH] Enable prefix resolution without needing to install HPP-Corba
---
anymal_rbprm/__init__.py | 5 +++++
anymal_rbprm/anymal.py | 10 ++--------
2 files changed, 7 insertions(+), 8 deletions(-)
diff --git a/anymal_rbprm/__init__.py b/anymal_rbprm/__init__.py
index e69de29..e3beac8 100644
--- a/anymal_rbprm/__init__.py
+++ b/anymal_rbprm/__init__.py
@@ -0,0 +1,5 @@
+from pathlib import Path
+
+def prefix():
+ """$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
+ return Path(__file__).parent.parent.parent.parent.parent
diff --git a/anymal_rbprm/anymal.py b/anymal_rbprm/anymal.py
index 1a25355..8ee8414 100644
--- a/anymal_rbprm/anymal.py
+++ b/anymal_rbprm/anymal.py
@@ -19,12 +19,6 @@
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
from pinocchio import SE3
import numpy as np
-from pathlib import Path
-
-
-def prefix(module):
- """$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
- return Path(module.__file__).parent.parent.parent.parent.parent
class Robot(Parent):
@@ -131,9 +125,9 @@ class Robot(Parent):
legy = 0.02
import anymal_rbprm
kinematic_constraints_path = str(
- prefix(anymal_rbprm) / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
+ anymal_rbprm.prefix() / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
relative_feet_constraints_path = str(
- prefix(anymal_rbprm) / "share/anymal-rbprm/relative_effector_positions/anymal_")
+ anymal_rbprm.prefix() / "share/anymal-rbprm/relative_effector_positions/anymal_")
minDist = 0.2
--
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