From d65e828b010f5c626e3a58fa6ca44d1ca9ee93a4 Mon Sep 17 00:00:00 2001
From: Carlos Mastalli <carlos.mastalli@laas.fr>
Date: Wed, 20 Feb 2019 17:06:11 +0100
Subject: [PATCH] [unittest] Formatting these files
---
unittest/test_all.py | 18 +++++++--------
unittest/test_load.py | 7 ++++--
unittest/unittest_utils.py | 46 +++++++++++++++++++++-----------------
3 files changed, 39 insertions(+), 32 deletions(-)
diff --git a/unittest/test_all.py b/unittest/test_all.py
index 02564ce..e2332e4 100644
--- a/unittest/test_all.py
+++ b/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))
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 5e2a02d..78d8702 100644
--- a/unittest/test_load.py
+++ b/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()
diff --git a/unittest/unittest_utils.py b/unittest/unittest_utils.py
index 1d5ee03..5d0e346 100644
--- a/unittest/unittest_utils.py
+++ b/unittest/unittest_utils.py
@@ -1,27 +1,30 @@
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
--
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