From e93a65ed8cae2cb5745e5a46eac2b29fd0dbf4b7 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 24 Jul 2020 19:51:47 +0200
Subject: [PATCH] [Python] factorize loadTalosArm
---
python/example_robot_data/robots_loader.py | 13 +++++++------
unittest/test_load.py | 4 ++--
2 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index f930d05..298e41b 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/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)
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 887c8d4..0b3c96e 100755
--- a/unittest/test_load.py
+++ b/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
--
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