[Python] robot_loader: infer most URDF_SUBPATHs

python/example_robot_data/robots_loader.py

@@ -50,14 +50,14 @@ def addFreeFlyerJointLimits(model):
 
 def robot_loader(path,
                  urdf_filename,
-                 urdf_subpath=None,
                  srdf_filename=None,
+                 urdf_subpath='robots',
                  verbose=False,
                  has_rotor_parameters=False,
                  ref_posture='half_sitting',
                  free_flyer=False):
     """Helper function to load a robot."""
-    urdf_path = join(urdf_subpath, urdf_filename)
+    urdf_path = join(path, urdf_subpath, urdf_filename)
     model_path = getModelPath(urdf_path)
     robot = RobotWrapper.BuildFromURDF(join(model_path, urdf_path), [join(model_path, '../..')],
                                        pin.JointModelFreeFlyer() if free_flyer else None)
@@ -81,11 +81,8 @@ def loadANYmal(withArm=None):
         SRDF_FILENAME = "anymal-kinova.srdf"
         REF_POSTURE = "standing_with_arm_up"
 
-    URDF_SUBPATH = "anymal_b_simple_description/robots"
-
     return robot_loader('anymal_b_simple_description',
                         URDF_FILENAME,
-                        URDF_SUBPATH,
                         SRDF_FILENAME,
                         ref_posture=REF_POSTURE,
                         free_flyer=True)
@@ -94,17 +91,15 @@ def loadANYmal(withArm=None):
 def loadTalosArm():
     URDF_FILENAME = "talos_left_arm.urdf"
     SRDF_FILENAME = "talos.srdf"
-    URDF_SUBPATH = "talos_data/robots"
 
-    return robot_loader('talos_data', URDF_FILENAME, URDF_SUBPATH, SRDF_FILENAME)
+    return robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME)
 
 
 def loadTalos(legs=False):
     URDF_FILENAME = "talos_reduced.urdf"
     SRDF_FILENAME = "talos.srdf"
-    URDF_SUBPATH = "talos_data/robots"
 
-    robot = robot_loader('talos_data', URDF_FILENAME, URDF_SUBPATH, SRDF_FILENAME, free_flyer=True)
+    robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
 
     assert (robot.model.armature[:6] == 0.).all()
 
@@ -157,7 +152,7 @@ def loadTalos(legs=False):
 
         # Load SRDF file
         robot.q0 = robot.q0[:robot.model.nq]
-        model_path = getModelPath(join(URDF_SUBPATH, URDF_FILENAME))
+        model_path = getModelPath(join('talos_data/robots', URDF_FILENAME))
         robot.q0 = readParamsFromSrdf(robot.model, join(model_path, 'talos_data/srdf', SRDF_FILENAME), False)
 
         assert ((m2.armature[:6] == 0.).all())
@@ -175,14 +170,8 @@ def loadTalosLegs():
 def loadHyQ():
     URDF_FILENAME = "hyq_no_sensors.urdf"
     SRDF_FILENAME = "hyq.srdf"
-    URDF_SUBPATH = "hyq_description/robots"
 
-    return robot_loader('hyq_description',
-                        URDF_FILENAME,
-                        URDF_SUBPATH,
-                        SRDF_FILENAME,
-                        ref_posture="standing",
-                        free_flyer=True)
+    return robot_loader('hyq_description', URDF_FILENAME, SRDF_FILENAME, ref_posture="standing", free_flyer=True)
 
 
 def loadSolo(solo=True):
@@ -191,36 +180,27 @@ def loadSolo(solo=True):
     else:
         URDF_FILENAME = "solo12.urdf"
     SRDF_FILENAME = "solo.srdf"
-    URDF_SUBPATH = "solo_description/robots"
 
-    return robot_loader('solo_description',
-                        URDF_FILENAME,
-                        URDF_SUBPATH,
-                        SRDF_FILENAME,
-                        ref_posture="standing",
-                        free_flyer=True)
+    return robot_loader('solo_description', URDF_FILENAME, SRDF_FILENAME, ref_posture="standing", free_flyer=True)
 
 
 def loadKinova():
     URDF_FILENAME = "kinova.urdf"
     SRDF_FILENAME = "kinova.srdf"
-    URDF_SUBPATH = "kinova_description/robots"
 
-    return robot_loader('kinova_description', URDF_FILENAME, URDF_SUBPATH, SRDF_FILENAME, ref_posture="arm_up")
+    return robot_loader('kinova_description', URDF_FILENAME, SRDF_FILENAME, ref_posture="arm_up")
 
 
 def loadTiago():
     URDF_FILENAME = "tiago.urdf"
     # SRDF_FILENAME = "tiago.srdf"
-    URDF_SUBPATH = "tiago_description/robots"
-    return robot_loader('tiago_description', URDF_FILENAME, URDF_SUBPATH)
+    return robot_loader('tiago_description', URDF_FILENAME)
 
 
 def loadTiagoNoHand():
     URDF_FILENAME = "tiago_no_hand.urdf"
     # SRDF_FILENAME = "tiago.srdf"
-    URDF_SUBPATH = "tiago_description/robots"
-    return robot_loader('tiago_description', URDF_FILENAME, URDF_SUBPATH)
+    return robot_loader('tiago_description', URDF_FILENAME)
 
 
 def loadICub(reduced=True):
@@ -229,53 +209,46 @@ def loadICub(reduced=True):
     else:
         URDF_FILENAME = "icub.urdf"
     SRDF_FILENAME = "icub.srdf"
-    URDF_SUBPATH = "icub_description/robots"
 
-    return robot_loader('icub_description', URDF_FILENAME, URDF_SUBPATH, SRDF_FILENAME, free_flyer=True)
+    return robot_loader('icub_description', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
 
 
 def loadPanda():
     URDF_FILENAME = "panda.urdf"
-    URDF_SUBPATH = "panda_description/urdf"
 
-    return robot_loader('panda_description', URDF_FILENAME, URDF_SUBPATH)
+    return robot_loader('panda_description', URDF_FILENAME, urdf_subpath='urdf')
 
 
 def loadUR(robot=5, limited=False, gripper=False):
     assert (not (gripper and (robot == 10 or limited)))
     URDF_FILENAME = "ur%i%s_%s.urdf" % (robot, "_joint_limited" if limited else '', 'gripper' if gripper else 'robot')
-    URDF_SUBPATH = "ur_description/urdf"
     if robot == 5 or robot == 3 and gripper:
         SRDF_FILENAME = "ur%i%s.srdf" % (robot, '_gripper' if gripper else '')
     else:
         SRDF_FILENAME = None
 
-    return robot_loader('ur_description', URDF_FILENAME, URDF_SUBPATH, SRDF_FILENAME, ref_posture=None)
+    return robot_loader('ur_description', URDF_FILENAME, SRDF_FILENAME, urdf_subpath='urdf', ref_posture=None)
 
 
 def loadHector():
     URDF_FILENAME = "quadrotor_base.urdf"
-    URDF_SUBPATH = "hector_description/robots"
 
-    return robot_loader('hector_description', URDF_FILENAME, URDF_SUBPATH, free_flyer=True)
+    return robot_loader('hector_description', URDF_FILENAME, free_flyer=True)
 
 
 def loadDoublePendulum():
     URDF_FILENAME = "double_pendulum.urdf"
-    URDF_SUBPATH = "double_pendulum_description/urdf"
 
-    return robot_loader('double_pendulum_description', URDF_FILENAME, URDF_SUBPATH)
+    return robot_loader('double_pendulum_description', URDF_FILENAME, urdf_subpath='urdf')
 
 
 def loadRomeo():
     URDF_FILENAME = "romeo.urdf"
-    URDF_SUBPATH = "romeo_description/urdf"
 
-    return robot_loader('romeo_description', URDF_FILENAME, URDF_SUBPATH, free_flyer=True)
+    return robot_loader('romeo_description', URDF_FILENAME, urdf_subpath='urdf', free_flyer=True)
 
 
 def loadIris():
     URDF_FILENAME = "iris_simple.urdf"
-    URDF_SUBPATH = "iris_description/robots"
 
-    return robot_loader('iris_description', URDF_FILENAME, URDF_SUBPATH, free_flyer=True)
+    return robot_loader('iris_description', URDF_FILENAME, free_flyer=True)