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

talos_rbprm/talos.py

@@ -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}