From 10035a10cec1ad7123e5e5523a333dfc20ec8d14 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Mon, 26 Aug 2019 19:29:32 +0200
Subject: [PATCH] [script] Now the loader script works for any installation
folder
---
CMakeLists.txt | 16 +++++++++++++++-
python/robots_loader.py | 5 ++++-
2 files changed, 19 insertions(+), 2 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index e4f36c4..d3796cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,12 +4,26 @@ INCLUDE(cmake/base.cmake)
INCLUDE(cmake/test.cmake)
INCLUDE(cmake/python.cmake)
+# Set up project properties
SET(PROJECT_NAMESPACE gepetto)
SET(PROJECT_NAME example-robot-data)
SET(PROJECT_DESCRIPTION "Set of robot URDFs for benchmarking and developed examples.")
-
SET(PROJECT_URL https://gepgitlab.laas.fr/${PROJECT_NAMESPACE}/${PROJECT_NAME})
+# Print initial message
+MESSAGE("${PROJECT_DESCRIPTION}, version ${PROJECT_VERSION}")
+MESSAGE("Copyright (C) 2018-2019 CNRS-LAAS")
+MESSAGE("All rights reserved.")
+MESSAGE("Released under the BSD 3-Clause License.")
+
+# Set a default build type to 'Release' if none was specified
+IF(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+ MESSAGE(STATUS "Setting build type to 'Release' as none was specified.")
+ SET(CMAKE_BUILD_TYPE Release CACHE STRING "Choose the type of build." FORCE)
+ # Set the possible values of build type for cmake-gui
+ SET_PROPERTY(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+ENDIF()
+
SETUP_PROJECT()
ADD_REQUIRED_DEPENDENCY("pinocchio >= 2.1.0")
diff --git a/python/robots_loader.py b/python/robots_loader.py
index da229de..b759161 100644
--- a/python/robots_loader.py
+++ b/python/robots_loader.py
@@ -1,12 +1,15 @@
from os.path import exists, join
+import sys
import numpy as np
import pinocchio
from pinocchio.robot_wrapper import RobotWrapper
def getModelPath(subpath):
- for path in ['..', '../..', '/opt/openrobots/share/example-robot-data']:
+ base = '../../../share/example-robot-data'
+ for p in sys.path:
+ path = join(p, base.strip('/'))
if exists(join(path, subpath.strip('/'))):
print("using %s as modelPath" % path)
return path
--
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