[unittest] Formatting these files

unittest/test_all.py

@@ -2,20 +2,20 @@ import unittest
 import sys
 
 testmodules = [
-  'test_load',
+    'test_load',
 ]
 
 suite = unittest.TestSuite()
 
 for t in testmodules:
-  try:
-    # If the module defines a suite() function, call it to get the suite.
-    mod = __import__(t, globals(), locals(), ['suite'])
-    suitefn = getattr(mod, 'suite')
-    suite.addTest(suitefn())
-  except (ImportError, AttributeError):
-    # else, just load all the test cases from the module.
-    suite.addTest(unittest.defaultTestLoader.loadTestsFromName(t))
+    try:
+        # If the module defines a suite() function, call it to get the suite.
+        mod = __import__(t, globals(), locals(), ['suite'])
+        suitefn = getattr(mod, 'suite')
+        suite.addTest(suitefn())
+    except (ImportError, AttributeError):
+        # else, just load all the test cases from the module.
+        suite.addTest(unittest.defaultTestLoader.loadTestsFromName(t))
 
 result = unittest.TextTestRunner().run(suite)
 sys.exit(len(result.errors) + len(result.failures))

unittest/test_load.py

@@ -16,29 +16,32 @@ class RobotTestCase(unittest.TestCase):
         self.assertEqual(model.nv, self.NV, "Wrong nv value.")
 
     def test_q0(self):
-      self.assertTrue(hasattr(self.ROBOT, "q0"), "It doesn't have q0")
+        self.assertTrue(hasattr(self.ROBOT, "q0"), "It doesn't have q0")
+
 
 class TalosArmTest(RobotTestCase):
     RobotTestCase.ROBOT = loadTalosArm()
     RobotTestCase.NQ = 7
     RobotTestCase.NV = 7
 
+
 class TalosArmFloatingTest(RobotTestCase):
     RobotTestCase.ROBOT = loadTalosArm()
     RobotTestCase.NQ = 14
     RobotTestCase.NV = 13
 
+
 class TalosTest(RobotTestCase):
     RobotTestCase.ROBOT = loadTalos()
     RobotTestCase.NQ = 39
     RobotTestCase.NV = 38
 
+
 class HyQTest(RobotTestCase):
     RobotTestCase.ROBOT = loadHyQ()
     RobotTestCase.NQ = 19
     RobotTestCase.NV = 18
 
 
-
 if __name__ == '__main__':
     unittest.main()

unittest/unittest_utils.py

 import pinocchio
-from pinocchio.utils import *
 from pinocchio.robot_wrapper import RobotWrapper
-
+import numpy as np
 
 
 def readParamsFromSrdf(robot, SRDF_PATH, verbose):
-  rmodel = robot.model
-
-  pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
-  rmodel.armature = \
-                    np.multiply(rmodel.rotorInertia.flat, np.square(rmodel.rotorGearRatio.flat))
-  try:
-    pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
-    robot.q0.flat[:] = rmodel.referenceConfigurations["half_sitting"].copy()
-  except:
-    print "loadReferenceConfigurations did not work. Please check your Pinocchio Version"
+    rmodel = robot.model
+
+    pinocchio.loadRotorParameters(rmodel, SRDF_PATH, verbose)
+    rmodel.armature = \
+        np.multiply(rmodel.rotorInertia.flat,
+                    np.square(rmodel.rotorGearRatio.flat))
     try:
-      pinocchio.getNeutralConfiguration(rmodel, SRDF_PATH, verbose)
-      robot.q0.flat[:] = rmodel.neutralConfiguration.copy()
+        pinocchio.loadReferenceConfigurations(rmodel, SRDF_PATH, verbose)
+        robot.q0.flat[:] = \
+            rmodel.referenceConfigurations["half_sitting"].copy()
     except:
-      robot.q0.flat[:] = pinocchio.neutral(rmodel)
-  return
-  
+        print "loadReferenceConfigurations did not work. Please check your \
+            Pinocchio Version"
+        try:
+            pinocchio.getNeutralConfiguration(rmodel, SRDF_PATH, verbose)
+            robot.q0.flat[:] = rmodel.neutralConfiguration.copy()
+        except:
+            robot.q0.flat[:] = pinocchio.neutral(rmodel)
+    return
+
+
 def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'):
     URDF_FILENAME = "talos_left_arm.urdf"
     URDF_SUBPATH = "/talos/" + URDF_FILENAME
@@ -34,6 +37,7 @@ def loadTalosArm(modelPath='/opt/openrobots/share/example-robot-data'):
     readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
     return robot
 
+
 def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'):
     URDF_FILENAME = "talos_reduced.urdf"
     SRDF_FILENAME = "talos.srdf"
@@ -41,21 +45,21 @@ def loadTalos(modelPath='/opt/openrobots/share/example-robot-data'):
     URDF_SUBPATH = "/talos/" + URDF_FILENAME
     # Load URDF file
     robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
-                                                               pinocchio.JointModelFreeFlyer())
+                                       pinocchio.JointModelFreeFlyer())
     # Load SRDF file
     readParamsFromSrdf(robot, modelPath+SRDF_SUBPATH, False)
-    assert((robot.model.armature[:6]==0.).all())
+    assert((robot.model.armature[:6] == 0.).all())
     return robot
 
 
 def loadHyQ(modelPath='/opt/openrobots/share/example-robot-data'):
-    from pinocchio import JointModelFreeFlyer
     URDF_FILENAME = "hyq_no_sensors.urdf"
     URDF_SUBPATH = "/hyq/" + URDF_FILENAME
     robot = RobotWrapper.BuildFromURDF(modelPath+URDF_SUBPATH, [modelPath],
                                        pinocchio.JointModelFreeFlyer())
     # TODO define default position inside srdf
-    robot.q0.flat[7:] = [-0.2, 0.75, -1.5, -0.2, -0.75, 1.5, -0.2, 0.75, -1.5, -0.2, -0.75, 1.5]
+    robot.q0.flat[7:] = [-0.2, 0.75, -1.5, -0.2, -
+                         0.75, 1.5, -0.2, 0.75, -1.5, -0.2, -0.75, 1.5]
     robot.q0[2] = 0.57750958
     robot.model.referenceConfigurations["half_sitting"] = robot.q0
     return robot