Chang eback to path name for back compatibilty, port modifications to…

… parmatetrci
ami-iit · Jun 10, 2024 · c2a8fc2 · c2a8fc2
1 parent ccf061e
commit c2a8fc2
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Showing 4 changed files with 5 additions and 6 deletions.
diff --git a/src/adam/casadi/computations.py b/src/adam/casadi/computations.py
@@ -32,7 +32,7 @@ def __init__(
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
+        factory = URDFModelFactory(path=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = self.rbdalgos.NDoF

diff --git a/src/adam/jax/computations.py b/src/adam/jax/computations.py
@@ -30,7 +30,7 @@ def __init__(
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
+        factory = URDFModelFactory(path=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = self.rbdalgos.NDoF

diff --git a/src/adam/model/std_factories/std_model.py b/src/adam/model/std_factories/std_model.py
@@ -29,8 +29,8 @@ class URDFModelFactory(ModelFactory):
     Args:
         ModelFactory: the Model factory
     """
-
-    def __init__(self, urdf_string: str, math: SpatialMath):
+    #TODO: path can be either a path and an urdf-string, leaving path for back compatibility, to be changed to meaningfull name  
+    def __init__(self, path: str, math: SpatialMath):
         self.math = math
         isPath = False
         isUrdf = False
@@ -46,7 +46,6 @@ def __init__(self, urdf_string: str, math: SpatialMath):
                     if elem.tag == "robot":
                         xml_string = urdf_string
                         isUrdf = True
-                        # raise ValueError(f"Invalid urdf string: {urdf_string}. It is neither a path nor a urdf string")
         elif urdf_string.exists():
             isPath = True
 

diff --git a/src/adam/numpy/computations.py b/src/adam/numpy/computations.py
@@ -29,7 +29,7 @@ def __init__(
             root_link (str, optional): the first link. Defaults to 'root_link'.
         """
         math = SpatialMath()
-        factory = URDFModelFactory(urdf_string=urdfstring, math=math)
+        factory = URDFModelFactory(path=urdfstring, math=math)
         model = Model.build(factory=factory, joints_name_list=joints_name_list)
         self.rbdalgos = RBDAlgorithms(model=model, math=math)
         self.NDoF = model.NDoF