From 0cc0e57b784400fac2151bff6c90e948fd878502 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 9 Aug 2023 13:39:38 +0200
Subject: [PATCH] expose verbosity flag
---
python/example_robot_data/robots_loader.py | 18 +++++++++---------
1 file changed, 9 insertions(+), 9 deletions(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index af560fa..7b0afe9 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -11,7 +11,7 @@ except ImportError:
pass
-def getModelPath(subpath, printmsg=False):
+def getModelPath(subpath, verbose=False):
source = dirname(dirname(dirname(__file__))) # top level source directory
paths = [
# function called from "make release" in build/ dir
@@ -33,7 +33,7 @@ def getModelPath(subpath, printmsg=False):
paths += [join(p, "../../../share/example-robot-data/robots") for p in sys.path]
for path in paths:
if exists(join(path, subpath.strip("/"))):
- if printmsg:
+ if verbose:
print("using %s as modelPath" % path)
return path
raise IOError("%s not found" % subpath)
@@ -72,10 +72,10 @@ class RobotLoader(object):
ref_posture = "half_sitting"
has_rotor_parameters = False
free_flyer = False
- verbose = False
model_path = None
- def __init__(self):
+ def __init__(self, verbose=False):
+ self.verbose = verbose
if self.urdf_filename:
if self.sdf_filename:
raise AttributeError("Please choose between URDF *or* SDF")
@@ -565,7 +565,7 @@ ROBOTS = {
}
-def loader(name, display=False, rootNodeName=""):
+def loader(name, display=False, rootNodeName="", verbose=False):
"""Load a robot by its name, and optionally display it in a viewer."""
if name not in ROBOTS:
robots = ", ".join(sorted(ROBOTS.keys()))
@@ -583,13 +583,13 @@ def loader(name, display=False, rootNodeName=""):
return inst
-def load(name, display=False, rootNodeName=""):
+def load(name, display=False, rootNodeName="", verbose=False):
"""Load a robot by its name, and optionnaly display it in a viewer."""
- return loader(name, display, rootNodeName).robot
+ return loader(name, display, rootNodeName, verbose).robot
-def load_full(name, display=False, rootNodeName=""):
+def load_full(name, display=False, rootNodeName="", verbose=False):
"""Load a robot by its name, optionnaly display it in a viewer,
and provide its q0 and paths."""
- inst = loader(name, display, rootNodeName)
+ inst = loader(name, display, rootNodeName, verbose)
return inst.robot, inst.robot.q0, inst.df_path, inst.srdf_path
--
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