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Gepetto
example-robot-data
Commits
5d6f078d
Unverified
Commit
5d6f078d
authored
Jun 17, 2021
by
Carlos Mastalli
Committed by
GitHub
Jun 17, 2021
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
Changes
2
Pipelines
1
Hide whitespace changes
Inline
Side-by-side
python/example_robot_data/robots_loader.py
View file @
5d6f078d
...
...
@@ -258,7 +258,7 @@ def loadHyQ():
return
HyQLoader
().
robot
class
SoloLoader
(
RobotLoader
):
class
Solo
8
Loader
(
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()'
,
'solo
8
'
),
FutureWarning
,
2
)
loader
=
Solo
8
Loader
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
,
...
...
unittest/test_load.py
View file @
5d6f078d
...
...
@@ -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_solo
8
(
self
):
self
.
check
(
'solo
8
'
,
15
,
14
)
def
test_solo12
(
self
):
self
.
check
(
'solo12'
,
19
,
18
)
...
...
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