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Humanoid Path Planner
hpp-rbprm-corba
Commits
765dc3c9
Commit
765dc3c9
authored
Apr 22, 2021
by
Guilhem Saurel
Browse files
loadFullBodyModel: replace urdf dir if necessary
parent
b74d1b76
Changes
1
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src/hpp/corbaserver/rbprm/rbprmfullbody.py
View file @
765dc3c9
...
...
@@ -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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