[Python] factorize loadTalosArm

python/example_robot_data/robots_loader.py

@@ -88,12 +88,8 @@ def loadANYmal(withArm=None):
                         free_flyer=True)
 
 
-def loadTalosArm():
-    return robot_loader('talos_data', "talos_left_arm.urdf", "talos.srdf")
-
-
-def loadTalos(legs=False):
-    URDF_FILENAME = "talos_reduced.urdf"
+def loadTalos(legs=False, arm=False):
+    URDF_FILENAME = "talos_left_arm.urdf" if arm else "talos_reduced.urdf"
     SRDF_FILENAME = "talos.srdf"
 
     robot = robot_loader('talos_data', URDF_FILENAME, SRDF_FILENAME, free_flyer=True)
@@ -164,6 +160,11 @@ def loadTalosLegs():
     return loadTalos(legs=True)
 
 
+def loadTalosArm():
+    warnings.warn("`loadTalosArm()` is deprecated. Please use `loadTalos(arm=True)`", DeprecationWarning, 2)
+    return loadTalos(arm=True)
+
+
 def loadHyQ():
     return robot_loader('hyq_description', "hyq_no_sensors.urdf", "hyq.srdf", ref_posture="standing", free_flyer=True)
 

unittest/test_load.py

@@ -48,13 +48,13 @@ class TalosTest(RobotTestCase):
 
 
 class TalosArmTest(RobotTestCase):
-    RobotTestCase.ROBOT = example_robot_data.loadTalosArm()
+    RobotTestCase.ROBOT = example_robot_data.loadTalos(arm=True)
     RobotTestCase.NQ = 7
     RobotTestCase.NV = 7
 
 
 class TalosArmFloatingTest(RobotTestCase):
-    RobotTestCase.ROBOT = example_robot_data.loadTalosArm()
+    RobotTestCase.ROBOT = example_robot_data.loadTalos(arm=True)
     RobotTestCase.NQ = 14
     RobotTestCase.NV = 13