From be1a995b9683a9989755c9a5be8676d82a4589bc Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@gmail.com>
Date: Tue, 16 Apr 2019 17:49:58 +0200
Subject: [PATCH] [format] Fixed format issues
---
python/display.py | 6 +++---
unittest/test_load.py | 4 +++-
unittest/unittest_utils.py | 40 ++++++++++++++++++--------------------
3 files changed, 25 insertions(+), 25 deletions(-)
diff --git a/python/display.py b/python/display.py
index e91de54..7039f7d 100644
--- a/python/display.py
+++ b/python/display.py
@@ -1,7 +1,8 @@
import sys
-sys.path.append('/opt/openrobots/share/example-robot-data/unittest/')
-from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand, loadICub
+from unittest_utils import loadHyQ, loadICub, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand
+
+sys.path.append('/opt/openrobots/share/example-robot-data/unittest/')
DISPLAY_HYQ = 'hyq' in sys.argv
DISPLAY_TALOS = 'talos' in sys.argv
@@ -39,4 +40,3 @@ if DISPLAY_ICUB:
icub = loadICub()
icub.initDisplay(loadModel=True)
icub.display(icub.q0)
-
diff --git a/unittest/test_load.py b/unittest/test_load.py
index e2c5d9d..3bd17d0 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -2,7 +2,7 @@
import unittest
-from unittest_utils import loadHyQ, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand, loadICub
+from unittest_utils import loadHyQ, loadICub, loadTalos, loadTalosArm, loadTiago, loadTiagoNoHand
class RobotTestCase(unittest.TestCase):
@@ -57,10 +57,12 @@ class TiagoNoHandTest(RobotTestCase):
RobotTestCase.NQ = 14
RobotTestCase.NV = 12
+
class ICubTest(RobotTestCase):
RobotTestCase.ROBOT = loadICub()
RobotTestCase.NQ = 39
RobotTestCase.NV = 38
+
if __name__ == '__main__':
unittest.main()
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index 50563fd..440c8be 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -1,7 +1,6 @@
from os.path import exists, join
import numpy as np
-
import pinocchio
from pinocchio.robot_wrapper import RobotWrapper
@@ -28,6 +27,7 @@ def readParamsFromSrdf(robot, SRDF_PATH, verbose):
except:
print "loadReferenceConfigurations did not work. Please check your \
Pinocchio Version"
+
try:
pinocchio.getNeutralConfiguration(rmodel, SRDF_PATH, verbose)
robot.q0.flat[:] = rmodel.neutralConfiguration.copy()
@@ -43,10 +43,10 @@ def loadTalosArm():
SRDF_SUBPATH = "/talos_data/srdf/" + SRDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
# Load SRDF file
- readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
return robot
@@ -57,11 +57,10 @@ def loadTalos():
URDF_SUBPATH = "/talos_data/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
- assert((robot.model.armature[:6] == 0.).all())
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
+ assert ((robot.model.armature[:6] == 0.).all())
return robot
@@ -72,38 +71,38 @@ def loadHyQ():
URDF_SUBPATH = "/hyq_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
return robot
def loadTiago():
URDF_FILENAME = "tiago.urdf"
-# SRDF_FILENAME = "tiago.srdf"
-# SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
+ # SRDF_FILENAME = "tiago.srdf"
+ # SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/tiago_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
# Load SRDF file
-# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ # readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
def loadTiagoNoHand():
URDF_FILENAME = "tiago_no_hand.urdf"
-# SRDF_FILENAME = "tiago.srdf"
-# SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
+ # SRDF_FILENAME = "tiago.srdf"
+ # SRDF_SUBPATH = "/tiago_description/srdf/" + SRDF_FILENAME
URDF_SUBPATH = "/tiago_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath])
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath])
# Load SRDF file
-# readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ # readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
return robot
+
def loadICub(reduced=True):
if reduced:
URDF_FILENAME = "icub_reduced.urdf"
@@ -114,8 +113,7 @@ def loadICub(reduced=True):
URDF_SUBPATH = "/icub_description/robots/" + URDF_FILENAME
modelPath = getModelPath(URDF_SUBPATH)
# Load URDF file
- robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
- pinocchio.JointModelFreeFlyer())
+ robot = RobotWrapper.BuildFromURDF(modelPath + URDF_SUBPATH, [modelPath], pinocchio.JointModelFreeFlyer())
# Load SRDF file
- readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
+ readParamsFromSrdf(robot, modelPath + SRDF_SUBPATH, False)
return robot
--
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