Commit 765dc3c9 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

loadFullBodyModel: replace urdf dir if necessary

parent b74d1b76
......@@ -50,6 +50,8 @@ class FullBody(Robot):
# "anchor"), WARNING. Currently RB-PRM only considerds freeflyer roots
def loadFullBodyModel(self, robotName, rootJointType):
urdfFilename, srdfFilename = self.urdfSrdfFilenames () # inherited method from corbaserver.robot
if hasattr(self, 'urdfDir'):
urdfFilename = urdfFilename.replace('/urdf/', '/%s/' % self.urdfDir)
print("selected problem: ",self.client.problem.getSelected("problem")[0])
self.clientRbprm.rbprm.loadFullBodyRobot(robotName, rootJointType,
urdfFilename, srdfFilename,
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