From 671d31f2dda8dfd49237155b9de4ee1e0670d278 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 24 Jul 2020 19:35:28 +0200
Subject: [PATCH] [Python] inline URDF_FILENAME
when it was useless otherwise
---
python/example_robot_data/robots_loader.py | 69 +++++++---------------
unittest/test_load.py | 2 +-
2 files changed, 22 insertions(+), 49 deletions(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index d704d03..f930d05 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -89,10 +89,7 @@ def loadANYmal(withArm=None):
def loadTalosArm():
- URDF_FILENAME = "talos_left_arm.urdf"
- SRDF_FILENAME = "talos.srdf"
-
- return robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME)
+ return robot_loader('talos_data', "talos_left_arm.urdf", "talos.srdf")
def loadTalos(legs=False):
@@ -168,55 +165,39 @@ def loadTalosLegs():
def loadHyQ():
- URDF_FILENAME = "hyq_no_sensors.urdf"
- SRDF_FILENAME = "hyq.srdf"
-
- return robot_loader('hyq_description', URDF_FILENAME, SRDF_FILENAME, ref_posture="standing", free_flyer=True)
+ return robot_loader('hyq_description', "hyq_no_sensors.urdf", "hyq.srdf", ref_posture="standing", free_flyer=True)
def loadSolo(solo=True):
- if solo:
- URDF_FILENAME = "solo.urdf"
- else:
- URDF_FILENAME = "solo12.urdf"
- SRDF_FILENAME = "solo.srdf"
-
- return robot_loader('solo_description', URDF_FILENAME, SRDF_FILENAME, ref_posture="standing", free_flyer=True)
+ return robot_loader('solo_description',
+ "solo.urdf" if solo else "solo12.urdf",
+ "solo.srdf",
+ ref_posture="standing",
+ free_flyer=True)
def loadKinova():
- URDF_FILENAME = "kinova.urdf"
- SRDF_FILENAME = "kinova.srdf"
+ return robot_loader('kinova_description', "kinova.urdf", "kinova.srdf", ref_posture="arm_up")
- return robot_loader('kinova_description', URDF_FILENAME, SRDF_FILENAME, ref_posture="arm_up")
-
-def loadTiago():
- URDF_FILENAME = "tiago.urdf"
- # SRDF_FILENAME = "tiago.srdf"
- return robot_loader('tiago_description', URDF_FILENAME)
+def loadTiago(hand=True):
+ return robot_loader('tiago_description', "tiago.urdf" if hand else "tiago_no_hand.urdf")
def loadTiagoNoHand():
- URDF_FILENAME = "tiago_no_hand.urdf"
- # SRDF_FILENAME = "tiago.srdf"
- return robot_loader('tiago_description', URDF_FILENAME)
+ warnings.warn("`loadTiagoNoHand()` is deprecated. Please use `loadTiago(hand=False)`", DeprecationWarning, 2)
+ return loadTiago(hand=False)
def loadICub(reduced=True):
- if reduced:
- URDF_FILENAME = "icub_reduced.urdf"
- else:
- URDF_FILENAME = "icub.urdf"
- SRDF_FILENAME = "icub.srdf"
-
- return robot_loader('icub_description', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
+ return robot_loader('icub_description',
+ "icub_reduced.urdf" if reduced else "icub.urdf",
+ "icub.srdf",
+ free_flyer=True)
def loadPanda():
- URDF_FILENAME = "panda.urdf"
-
- return robot_loader('panda_description', URDF_FILENAME, urdf_subpath='urdf')
+ return robot_loader('panda_description', "panda.urdf", urdf_subpath='urdf')
def loadUR(robot=5, limited=False, gripper=False):
@@ -231,24 +212,16 @@ def loadUR(robot=5, limited=False, gripper=False):
def loadHector():
- URDF_FILENAME = "quadrotor_base.urdf"
-
- return robot_loader('hector_description', URDF_FILENAME, free_flyer=True)
+ return robot_loader('hector_description', "quadroto_base.urdf", free_flyer=True)
def loadDoublePendulum():
- URDF_FILENAME = "double_pendulum.urdf"
-
- return robot_loader('double_pendulum_description', URDF_FILENAME, urdf_subpath='urdf')
+ return robot_loader('double_pendulum_description', "double_pendulum.urdf", urdf_subpath='urdf')
def loadRomeo():
- URDF_FILENAME = "romeo.urdf"
-
- return robot_loader('romeo_description', URDF_FILENAME, urdf_subpath='urdf', free_flyer=True)
+ return robot_loader('romeo_description', "romeo.urdf", urdf_subpath='urdf', free_flyer=True)
def loadIris():
- URDF_FILENAME = "iris_simple.urdf"
-
- return robot_loader('iris_description', URDF_FILENAME, free_flyer=True)
+ return robot_loader('iris_description', "iris_simple.urdf", free_flyer=True)
diff --git a/unittest/test_load.py b/unittest/test_load.py
index abed40c..887c8d4 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -90,7 +90,7 @@ class TiagoTest(RobotTestCase):
class TiagoNoHandTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTiagoNoHand()
+ RobotTestCase.ROBOT = example_robot_data.loadTiago(hand=False)
RobotTestCase.NQ = 14
RobotTestCase.NV = 12
--
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