From 37e2c61b85fa6fc34412bfb55b539a72839e10d4 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Sun, 28 Jan 2024 01:00:42 +0000
Subject: [PATCH] [robots] Store urdf path in robot
---
python/example_robot_data/robots_loader.py | 2 ++
unittest/test_load.py | 1 +
2 files changed, 3 insertions(+)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 2fe0f32..3f8ce30 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -143,6 +143,8 @@ class RobotLoader(object):
else:
self.srdf_path = None
self.robot.q0 = pin.neutral(self.robot.model)
+ root = getModelPath(self.path)
+ self.robot.urdf = join(root, self.path, self.urdf_subpath, self.urdf_filename)
if self.free_flyer:
self.addFreeFlyerJointLimits()
diff --git a/unittest/test_load.py b/unittest/test_load.py
index a7fb877..f1373f9 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -17,6 +17,7 @@ class RobotTestCase(unittest.TestCase):
self.assertEqual(robot.model.nq, expected_nq)
self.assertEqual(robot.model.nv, expected_nv)
self.assertTrue(hasattr(robot, "q0"))
+ self.assertTrue(hasattr(robot, "urdf"))
if pybullet:
self.check_pybullet(urdf, one_kg_bodies)
--
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