From 4f67fa6f1240eaf4a099bdf62f8d12fcb1d90cf3 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 6 Mar 2019 14:48:22 +0100
Subject: [PATCH] [Tests] use getModelPath to allow build/test in different
directories
---
unittest/unittest_utils.py | 19 ++++++++++++++++---
1 file changed, 16 insertions(+), 3 deletions(-)
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index f493449..fc3002c 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -1,9 +1,19 @@
+from os.path import exists, join
+
import numpy as np
import pinocchio
from pinocchio.robot_wrapper import RobotWrapper
+def getModelPath(subpath):
+ for path in ['..', '../..', '/opt/openrobots/share/example-robot-data']:
+ if exists(join(path, subpath.strip('/'))):
+ print "using %s as modelPath" % path
+ return path
+ raise IOError('%s not found' % (subpath))
+
+
def readParamsFromSrdf(robot, SRDF_PATH, verbose):
rmodel = robot.model
@@ -26,11 +36,12 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose):
return
-def loadTalosArm(modelPath='../..'):
+def loadTalosArm():
URDF_FILENAME = "talos_left_arm.urdf"
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
@@ -39,11 +50,12 @@ def loadTalosArm(modelPath='../..'):
return robot
-def loadTalos(modelPath='../..'):
+def loadTalos():
URDF_FILENAME = "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer())
@@ -53,9 +65,10 @@ def loadTalos(modelPath='../..'):
return robot
-def loadHyQ(modelPath='../..'):
+def loadHyQ():
URDF_FILENAME = "hyq_no_sensors.urdf"
URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
+ modelPath = getModelPath(URDF_SUBPATH)
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer())
# TODO define default position inside srdf
--
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