Unverified Commit 49c09d5d authored by Justin Carpentier's avatar Justin Carpentier Committed by GitHub
Browse files

Merge pull request #966 from jcarpent/devel

Sync models
parents 4235c1ba 2ed8c139
......@@ -30,9 +30,9 @@ int main()
std::cout << "(the time score in debug mode is not relevant) " << std::endl;
#endif
std::string romeo_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::string romeo_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > package_dirs;
std::string romeo_meshDir = PINOCCHIO_MODEL_DIR + std::string("/others");
std::string romeo_meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/robots");
package_dirs.push_back(romeo_meshDir);
pinocchio::Model model;
......
......@@ -22,7 +22,7 @@ int main(int argc, char ** argv)
using namespace pinocchio;
// You should change here to set up your own URDF file or just pass it as an argument of this example.
const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/others/ur_description/urdf/ur5_robot.urdf") : argv[1];
const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/others/robots/ur_description/urdf/ur5_robot.urdf") : argv[1];
// Load the urdf model
Model model;
......
......@@ -16,7 +16,7 @@ int main(int argc, char ** argv)
using namespace pinocchio;
// You should change here to set up your own URDF file or just pass it as an argument of this example.
const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/others/ur_description/urdf/ur5_robot.urdf") : argv[1];
const std::string urdf_filename = (argc<=1) ? PINOCCHIO_MODEL_DIR + std::string("/others/robots/ur_description/urdf/ur5_robot.urdf") : argv[1];
// Load the urdf model
Model model;
......
Subproject commit f6adf9501655c037f040d92cf14e35765a8acdf5
Subproject commit f096f11b8d13d045178720040919ebb71b3bf86d
......@@ -125,9 +125,9 @@ BOOST_AUTO_TEST_CASE ( loading_model )
typedef pinocchio::Data Data;
typedef pinocchio::GeometryData GeometryData;
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/robots/");
packageDirs.push_back(meshDir);
Model model;
......@@ -160,11 +160,11 @@ BOOST_AUTO_TEST_CASE ( test_collisions )
typedef pinocchio::Data Data;
typedef pinocchio::GeometryData GeometryData;
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/robots/");
packageDirs.push_back(meshDir);
const std::string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/srdf/romeo.srdf");
const std::string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/srdf/romeo.srdf");
Model model;
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(),model);
......@@ -198,11 +198,11 @@ BOOST_AUTO_TEST_CASE ( test_distances )
typedef pinocchio::Data Data;
typedef pinocchio::GeometryData GeometryData;
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/robots/");
packageDirs.push_back(meshDir);
const std::string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/srdf/romeo.srdf");
const std::string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/srdf/romeo.srdf");
Model model;
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(),model);
......@@ -234,9 +234,9 @@ BOOST_AUTO_TEST_CASE ( test_append_geom_models )
typedef pinocchio::Model Model;
typedef pinocchio::GeometryModel GeometryModel;
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
std::vector < std::string > packageDirs;
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
const std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/robots/");
packageDirs.push_back(meshDir);
Model model;
......@@ -264,8 +264,8 @@ BOOST_AUTO_TEST_CASE (radius)
{
std::vector < std::string > packageDirs;
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/");
std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
std::string meshDir = PINOCCHIO_MODEL_DIR + std::string("/others/robots/");
packageDirs.push_back(meshDir);
pinocchio::Model model;
......
......@@ -8,7 +8,7 @@ class TestGeometryObjectUrdfBindings(unittest.TestCase):
def setUp(self):
self.current_file = os.path.dirname(os.path.abspath(__file__))
self.model_dir = os.path.abspath(os.path.join(self.current_file, '../../models/others'))
self.model_dir = os.path.abspath(os.path.join(self.current_file, '../../models/others/robots'))
self.model_path = os.path.abspath(os.path.join(self.model_dir, 'romeo_description/urdf/romeo.urdf'))
def test_load(self):
......
......@@ -19,9 +19,9 @@ BOOST_AUTO_TEST_CASE(test_removeCollisionPairs)
{
using namespace pinocchio::urdf;
using namespace pinocchio::srdf;
const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const string model_dir = PINOCCHIO_MODEL_DIR + std::string("/others");
const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/srdf/romeo.srdf");
const string model_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
const string model_dir = PINOCCHIO_MODEL_DIR + std::string("/others/robots");
const string srdf_filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/srdf/romeo.srdf");
Model model;
buildModel(model_filename, model);
......
......@@ -22,8 +22,8 @@ BOOST_AUTO_TEST_SUITE ( BOOST_TEST_MODULE )
BOOST_AUTO_TEST_CASE ( build_model )
{
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string dir = PINOCCHIO_MODEL_DIR + std::string("/others");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
const std::string dir = PINOCCHIO_MODEL_DIR + std::string("/others/robots");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename, model);
......@@ -78,7 +78,7 @@ BOOST_AUTO_TEST_CASE ( build_model_simple_humanoid )
BOOST_AUTO_TEST_CASE ( build_model_from_XML )
{
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
// Read file as XML
std::ifstream file;
......@@ -94,7 +94,7 @@ BOOST_AUTO_TEST_CASE ( build_model_from_XML )
BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
{
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
......@@ -106,8 +106,8 @@ BOOST_AUTO_TEST_CASE ( build_model_from_UDRFTree )
BOOST_AUTO_TEST_CASE ( build_model_with_joint )
{
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string dir = PINOCCHIO_MODEL_DIR + std::string("/others");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
const std::string dir = PINOCCHIO_MODEL_DIR + std::string("/others/robots");
pinocchio::Model model;
pinocchio::urdf::buildModel(filename, pinocchio::JointModelFreeFlyer(), model);
......@@ -119,7 +119,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint )
BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
{
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
// Read file as XML
std::ifstream file;
......@@ -135,7 +135,7 @@ BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_XML )
BOOST_AUTO_TEST_CASE ( build_model_with_joint_from_UDRFTree )
{
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/romeo_description/urdf/romeo_small.urdf");
const std::string filename = PINOCCHIO_MODEL_DIR + std::string("/others/robots/romeo_description/urdf/romeo_small.urdf");
::urdf::ModelInterfaceSharedPtr urdfTree = ::urdf::parseURDFFile(filename);
......
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