Unverified Commit 5d6f078d authored by Carlos Mastalli's avatar Carlos Mastalli Committed by GitHub
Browse files

Merge pull request #93 from jviereck/jviereck/solo8

Rename "Solo" to "Solo8". Fixes #92
parents 6a809268 f1bad2ea
Pipeline #14975 passed with stage
in 1 minute and 51 seconds
......@@ -258,7 +258,7 @@ def loadHyQ():
return HyQLoader().robot
class SoloLoader(RobotLoader):
class Solo8Loader(RobotLoader):
path = 'solo_description'
urdf_filename = "solo.urdf"
srdf_filename = "solo.srdf"
......@@ -266,13 +266,19 @@ class SoloLoader(RobotLoader):
free_flyer = True
class Solo12Loader(SoloLoader):
class SoloLoader(Solo8Loader):
def __init__(self, *args, **kwargs):
warnings.warn('"solo" is deprecated, please try to load "solo8"')
return super(SoloLoader, self).__init__(*args, **kwargs)
class Solo12Loader(Solo8Loader):
urdf_filename = "solo12.urdf"
def loadSolo(solo=True):
warnings.warn(_depr_msg('loadSolo()', 'solo'), FutureWarning, 2)
loader = SoloLoader if solo else Solo12Loader
warnings.warn(_depr_msg('loadSolo()', 'solo8'), FutureWarning, 2)
loader = Solo8Loader if solo else Solo12Loader
return loader().robot
......@@ -499,6 +505,7 @@ ROBOTS = {
'simple_humanoid': SimpleHumanoidLoader,
'simple_humanoid_classical': SimpleHumanoidClassicalLoader,
'solo': SoloLoader,
'solo8': Solo8Loader,
'solo12': Solo12Loader,
'finger_edu': FingerEduLoader,
'talos': TalosLoader,
......
......@@ -73,8 +73,8 @@ class RobotTestCase(unittest.TestCase):
def test_simple_humanoid_classical(self):
self.check('simple_humanoid_classical', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
def test_solo(self):
self.check('solo', 15, 14)
def test_solo8(self):
self.check('solo8', 15, 14)
def test_solo12(self):
self.check('solo12', 19, 18)
......
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