Merge pull request #203 from cmastalli/topic/urdf

Store urdf file in robot

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()

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)