Commit da6012b8 authored by Carlos Mastalli's avatar Carlos Mastalli
Browse files

[unittest] Updated according to changes in the organization

parent 14c2aca5
Pipeline #3230 failed with stage
in 13 seconds
...@@ -27,9 +27,9 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose): ...@@ -27,9 +27,9 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose):
def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'): def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'):
URDF_FILENAME = "talos_left_arm.urdf" URDF_FILENAME = "talos_left_arm.urdf"
URDF_SUBPATH = "/talos/robots/" + URDF_FILENAME URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
SRDF_FILENAME = "talos.srdf" SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos/robots/" + SRDF_FILENAME SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath]) robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
...@@ -41,8 +41,8 @@ def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'): ...@@ -41,8 +41,8 @@ def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'):
def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'): def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'):
URDF_FILENAME = "talos_reduced.urdf" URDF_FILENAME = "talos_reduced.urdf"
SRDF_FILENAME = "talos.srdf" SRDF_FILENAME = "talos.srdf"
SRDF_SUBPATH = "/talos/robots/" + SRDF_FILENAME SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/talos/robots/" + URDF_FILENAME URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
# Load URDF file # Load URDF file
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath], robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer()) pinocchio.JointModelFreeFlyer())
...@@ -54,7 +54,7 @@ def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'): ...@@ -54,7 +54,7 @@ def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'):
def loadHyQ(modelPath='/opt/openrobots/share/example-robot-data'): def loadHyQ(modelPath='/opt/openrobots/share/example-robot-data'):
URDF_FILENAME = "hyq_no_sensors.urdf" URDF_FILENAME = "hyq_no_sensors.urdf"
URDF_SUBPATH = "/hyq/robots/" + URDF_FILENAME URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath], robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
pinocchio.JointModelFreeFlyer()) pinocchio.JointModelFreeFlyer())
# TODO define default position inside srdf # TODO define default position inside srdf
......
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