[Python] Updated RobotWrapper with change in buildGeom

src/python/robot_wrapper.py

@@ -25,10 +25,8 @@ class RobotWrapper:
     def __init__(self, filename, package_dirs = None, root_joint = None):
         if(root_joint is None):
               self.model = se3.buildModelFromUrdf(filename)
-              self.root_added = False
         else:
               self.model = se3.buildModelFromUrdf(filename, root_joint)
-              self.root_added = True
 
         self.data = self.model.createData()
 
@@ -36,13 +34,13 @@ class RobotWrapper:
             raise Exception('It seems that the Geometry Module has not been compiled with Pinocchio. No geometry model')
         else:
             if (package_dirs is None):
-                self.geometry_model = se3.buildGeomFromUrdf(self.model, filename, self.root_added) # Will parse ROS_PACKAGE_PATH
+                self.geometry_model = se3.buildGeomFromUrdf(self.model, filename)
                 self.geometry_data = se3.GeometryData(self.data, self.geometry_model)
             else:
                 if not all(isinstance(item,basestring) for item in package_dirs):
                     raise Exception('The list of package directories is wrong. At least one is not a string')
                 else:
-                    self.geometry_model = se3.buildGeomFromUrdf(self.model, filename, utils.fromListToVectorOfString(package_dirs), self.root_added)
+                    self.geometry_model = se3.buildGeomFromUrdf(self.model, filename, utils.fromListToVectorOfString(package_dirs))
                     self.geometry_data = se3.GeometryData(self.data, self.geometry_model)
 
         self.v0 = utils.zero(self.nv)

src/tools/file-explorer.hpp

@@ -34,7 +34,7 @@ namespace se3
      *
      * @param[in][out]  paths  { The package directories where to search for meshes }
      */
-    void appendRosPackagePaths(std::vector<std::string> & package_dirs)
+    inline void appendRosPackagePaths(std::vector<std::string> & package_dirs)
     {
 
         std::string delimiter = ":";