Merge pull request #9 from compas-dev/no_support_package

Allow no support package in LocalPackageMeshLoader

Author: yck011522

CHANGELOG.md

@@ -12,6 +12,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 * Fixed bug in `RobotModelObject` caused by non-existent `compas_rhino.rs`. Replaced with `import rhinoscriptsyntax as rs`.
+* Allow no `support_package` in `LocalPackageMeshLoader`
 
 ### Removed
 

src/compas_robots/resources/basic.py

@@ -156,16 +156,20 @@ class LocalPackageMeshLoader(AbstractMeshLoader):
     ----------
     path : str
         Path where the package is stored locally.
-    support_package : str
+    support_package : str, optional
         Name of the support package containing URDF, Meshes
-        and additional assets, e.g. 'abb_irb4400_support'
+        and additional assets, e.g. 'abb_irb4400_support'.
+        Default is None.
     """
 
-    def __init__(self, path, support_package):
+    def __init__(self, path, support_package=None):
         super(LocalPackageMeshLoader, self).__init__()
         self.path = path
         self.support_package = support_package
-        self.schema_prefix = "package://" + self.support_package + "/"
+        if not support_package:
+            self.schema_prefix = "package://"
+        else:
+            self.schema_prefix = "package://" + self.support_package + "/"
 
     def build_path(self, *path_parts):
         """Returns the building path.
@@ -179,7 +183,10 @@ def build_path(self, *path_parts):
         -------
         str
         """
-        return os.path.join(self.path, self.support_package, *path_parts)
+        if not self.support_package:
+            return os.path.join(self.path, *path_parts)
+        else:
+            return os.path.join(self.path, self.support_package, *path_parts)
 
     def load_urdf(self, file):
         """Load a URDF file from local storage.

tests/test_resources.py

@@ -0,0 +1,13 @@
+import os
+
+from compas_robots.resources import LocalPackageMeshLoader
+
+
+def test_build_path():
+    loader_with_support_package = LocalPackageMeshLoader("meshes", "ur_description")
+    assert os.path.join("meshes", "ur_description", "urdf", "some.urdf") == loader_with_support_package.build_path(
+        "urdf", "some.urdf"
+    )
+
+    loader_without_support_package = LocalPackageMeshLoader("meshes")
+    assert os.path.join("meshes", "urdf", "some.urdf") == loader_without_support_package.build_path("urdf", "some.urdf")