Merge branch 'topic/code-reorganization' into 'devel'

Created robots folder and moved the description folders there, fix #15

See merge request !23

CMakeLists.txt

@@ -41,15 +41,15 @@ IF(BUILD_PYTHON_INTERFACE)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
-  INSTALL(DIRECTORY anymal_b_simple_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY hyq_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY solo_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY icub_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY talos_data DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY kinova_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY tiago_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY ur_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY romeo_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY hector_description DESTINATION share/${PROJECT_NAME})
-  INSTALL(DIRECTORY double_pendulum_description DESTINATION share/${PROJECT_NAME})
+  INSTALL(DIRECTORY robots/anymal_b_simple_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/hyq_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/solo_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/icub_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/talos_data DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/kinova_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/tiago_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/ur_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/romeo_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/hector_description DESTINATION share/${PROJECT_NAME}/robots)
+  INSTALL(DIRECTORY robots/double_pendulum_description DESTINATION share/${PROJECT_NAME}/robots)
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

python/example_robot_data/robots_loader.py

@@ -7,9 +7,10 @@ from pinocchio.robot_wrapper import RobotWrapper
 
 
 def getModelPath(subpath, printmsg=False):
-    base = '../../../share/example-robot-data'
-    for path in [dirname(dirname(dirname(dirname(__file__)))),
-                 dirname(dirname(dirname(__file__)))] + [join(p, base.strip('/')) for p in sys.path]:
+    base = '../../../share/example-robot-data/robots'
+    main_dir = dirname(dirname(dirname(__file__)))
+    for path in [join(dirname(main_dir), 'robots'), join(main_dir, 'robots')
+                 ] + [join(p, base.strip('/')) for p in sys.path]:
         if exists(join(path, subpath.strip('/'))):
             if printmsg:
                 print("using %s as modelPath" % path)