Commit b049042b authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

Remove the use of environment variable to get the files path and use relative...

Remove the use of environment variable to get the files path and use relative path from installation folder
parent df26342d
Pipeline #15012 passed with stage
in 28 seconds
......@@ -6,7 +6,11 @@ import numpy as np
import os
from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
from pinocchio import SE3
from pathlib import Path
def prefix(module):
"""$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
return Path(module.__file__).parent.parent.parent.parent.parent
class Robot(Parent):
# Information to retrieve urdf and srdf files.
......@@ -366,12 +370,12 @@ class Robot(Parent):
lArmKinematicConstraints = kinematicConstraintsPath + larm + "_com_constraints.obj"
minDist = 0.4
# Constraints used by SL1M:
filekin_right = os.environ["INSTALL_HPP_DIR"] + "/share/talos-rbprm/com_inequalities/feet_quasi_flat/COM_constraints_in_RF_effector_frame_REDUCED.obj"
filekin_left = os.environ["INSTALL_HPP_DIR"] + "/share/talos-rbprm/com_inequalities/feet_quasi_flat/COM_constraints_in_LF_effector_frame_REDUCED.obj"
file_rf_in_lf = os.environ["INSTALL_HPP_DIR"] + "/share/talos-rbprm/relative_effector_positions/RF_constraints_in_LF_quasi_flat_REDUCED.obj"
file_lf_in_rf = os.environ["INSTALL_HPP_DIR"] + "/share/talos-rbprm/relative_effector_positions/LF_constraints_in_RF_quasi_flat_REDUCED.obj"
kinematic_constraints_path = os.environ["INSTALL_HPP_DIR"] + "/share/talos-rbprm/com_inequalities/feet_quasi_flat/"
relative_feet_constraints_path = os.environ["INSTALL_HPP_DIR"] + "/share/talos-rbprm/relative_effector_positions/"
filekin_right = prefix(talos_rbprm) / "share/talos-rbprm/com_inequalities/feet_quasi_flat/COM_constraints_in_RF_effector_frame_REDUCED.obj"
filekin_left = prefix(talos_rbprm) / "share/talos-rbprm/com_inequalities/feet_quasi_flat/COM_constraints_in_LF_effector_frame_REDUCED.obj"
file_rf_in_lf = prefix(talos_rbprm) / "share/talos-rbprm/relative_effector_positions/RF_constraints_in_LF_quasi_flat_REDUCED.obj"
file_lf_in_rf = prefix(talos_rbprm) / "share/talos-rbprm/relative_effector_positions/LF_constraints_in_RF_quasi_flat_REDUCED.obj"
kinematic_constraints_path = prefix(talos_rbprm) / "share/talos-rbprm/com_inequalities/feet_quasi_flat/"
relative_feet_constraints_path = prefix(talos_rbprm) / "share/talos-rbprm/relative_effector_positions/"
# data used by scripts :
limbs_names = [rLegId, lLegId, rArmId, lArmId]
dict_limb_rootJoint = {rLegId: rleg, lLegId: lleg, rArmId: rarm, lArmId: larm}
......
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