From ed9df1646672301addd58ba7cfd688b47f5461f2 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 12 Nov 2021 14:53:03 +0100
Subject: [PATCH] allow customization of model path (#109)
---
python/example_robot_data/robots_loader.py | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index a8399ae..018e317 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -58,6 +58,7 @@ class RobotLoader(object):
has_rotor_parameters = False
free_flyer = False
verbose = False
+ model_path = None
def __init__(self):
if self.urdf_filename:
@@ -71,7 +72,8 @@ class RobotLoader(object):
builder = RobotWrapper.BuildFromSDF
except AttributeError:
raise ImportError("Building SDF models require pinocchio >= 3.0.0")
- self.model_path = getModelPath(df_path, self.verbose)
+ if self.model_path is None:
+ self.model_path = getModelPath(df_path, self.verbose)
self.df_path = join(self.model_path, df_path)
self.robot = builder(self.df_path, [join(self.model_path, '../..')],
pin.JointModelFreeFlyer() if self.free_flyer else None)
--
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