From b40df3a6b8819266e4644928c07a719fdf279020 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 30 Jul 2020 16:47:48 +0200
Subject: [PATCH] [Python] add more paths to getModelPath, fix #37
and document their purpose
---
python/example_robot_data/path.py.in | 1 +
python/example_robot_data/robots_loader.py | 12 +++++++-----
2 files changed, 8 insertions(+), 5 deletions(-)
diff --git a/python/example_robot_data/path.py.in b/python/example_robot_data/path.py.in
index c1b0976..efb9ccb 100644
--- a/python/example_robot_data/path.py.in
+++ b/python/example_robot_data/path.py.in
@@ -1 +1,2 @@
EXAMPLE_ROBOT_DATA_MODEL_DIR = "${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/robots"
+EXAMPLE_ROBOT_DATA_SOURCE_DIR = "${PROJECT_SOURCE_DIR}/robots"
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 1df545a..b0efd60 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -3,7 +3,6 @@ import warnings
from os.path import dirname, exists, join
import numpy as np
-
import pinocchio as pin
from pinocchio.robot_wrapper import RobotWrapper
@@ -11,13 +10,16 @@ pin.switchToNumpyArray()
def getModelPath(subpath, printmsg=False):
+ source = dirname(dirname(dirname(__file__))) # top level source directory
paths = [
- join(dirname(dirname(dirname(dirname(__file__)))), 'robots'),
- join(dirname(dirname(dirname(__file__))), 'robots')
+ join(dirname(dirname(dirname(source))), 'robots'), # function called from "make release" in build/ dir
+ join(dirname(source), 'robots'), # function called from a build/ dir inside top level source
+ join(source, 'robots') # function called from top level source dir
]
try:
- from .path import EXAMPLE_ROBOT_DATA_MODEL_DIR
- paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR)
+ from .path import EXAMPLE_ROBOT_DATA_MODEL_DIR, EXAMPLE_ROBOT_DATA_SOURCE_DIR
+ paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR) # function called from installed project
+ paths.append(EXAMPLE_ROBOT_DATA_SOURCE_DIR) # function called from off-tree build dir
except ImportError:
pass
paths += [join(p, '../../../share/example-robot-data/robots') for p in sys.path]
--
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