Fix local build launch_gripper (#1375)

Co-authored-by: robopen07 <>
facebookresearch · Oct 5, 2022 · 144f7a6 · 144f7a6
1 parent 2afb324
commit 144f7a6
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Showing 3 changed files with 11 additions and 6 deletions.
diff --git a/polymetis/polymetis/python/polymetis/utils/data_dir.py b/polymetis/polymetis/python/polymetis/utils/data_dir.py
@@ -9,6 +9,7 @@
 
 PKG_ROOT_DIR = polymetis.__path__[0]
 DATA_DIR = os.path.join(PKG_ROOT_DIR, "data")
+BUILD_DIR = os.path.abspath(os.path.join(PKG_ROOT_DIR, "..", "..", "build"))
 
 
 def get_full_path_to_urdf(path: str):

diff --git a/polymetis/polymetis/python/scripts/launch_gripper.py b/polymetis/polymetis/python/scripts/launch_gripper.py
@@ -6,17 +6,23 @@
 # LICENSE file in the root directory of this source tree.
 
 import os
-import signal
 import time
+import logging
 
 import hydra
 
 from polymetis.robot_servers import GripperServerLauncher
 from polymetis.utils.grpc_utils import check_server_exists
+from polymetis.utils.data_dir import BUILD_DIR
+
+log = logging.getLogger(__name__)
 
 
 @hydra.main(config_name="launch_gripper")
 def main(cfg):
+    log.info(f"Adding {BUILD_DIR} to $PATH")
+    os.environ["PATH"] = BUILD_DIR + os.pathsep + os.environ["PATH"]
+
     if cfg.gripper:
         pid = os.fork()
     else:

diff --git a/polymetis/polymetis/python/scripts/launch_robot.py b/polymetis/polymetis/python/scripts/launch_robot.py
@@ -6,7 +6,6 @@
 # LICENSE file in the root directory of this source tree.
 
 import os
-import socket
 import logging
 import subprocess
 import atexit
@@ -17,17 +16,16 @@
 import hydra
 
 from polymetis.utils.grpc_utils import check_server_exists
-from polymetis.utils.data_dir import PKG_ROOT_DIR, which
+from polymetis.utils.data_dir import BUILD_DIR, which
 
 
 log = logging.getLogger(__name__)
 
 
 @hydra.main(config_name="launch_robot")
 def main(cfg):
-    build_dir = os.path.abspath(os.path.join(PKG_ROOT_DIR, "..", "..", "build"))
-    log.info(f"Adding {build_dir} to $PATH")
-    os.environ["PATH"] = build_dir + os.pathsep + os.environ["PATH"]
+    log.info(f"Adding {BUILD_DIR} to $PATH")
+    os.environ["PATH"] = BUILD_DIR + os.pathsep + os.environ["PATH"]
 
     # Check if another server is alive on address
     assert not check_server_exists(