[tests/python] Remove unnecessary call to rospack

tests/python/test_com_estimation.py

 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
+
+pin.switchToNumpyMatrix()
 
 import sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
-from sot_talos_balance.create_entities_utils import (DcmEstimator, EulerToQuat, TalosBaseEstimator,
-                                                     create_parameter_server, plug)
+from sot_talos_balance.create_entities_utils \
+    import (DcmEstimator,
+            TalosBaseEstimator,
+            create_parameter_server,
+            plug)
+
+from sot_talos_balance.euler_to_quat import EulerToQuat
 
-pin.switchToNumpyMatrix()
 
 # --- General ---
 print("--- General ---")
@@ -62,9 +67,8 @@ q = np.matrix(halfSitting).T
 print("q:")
 print(q.flatten().tolist()[0])
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()
@@ -96,8 +100,9 @@ tauy = -fz * lever
 wrenchLeft = forceLeft + [0.0, tauy, 0.0]
 wrenchRight = forceRight + [0.0, tauy, 0.0]
 
-centerTranslation = (data.oMf[rightId].translation + data.oMf[leftId].translation) / 2 + np.matrix(
-    param_server_conf.rightFootSoleXYZ).T
+centerTranslation = (data.oMf[rightId].translation +
+                     data.oMf[leftId].translation) / 2 + \
+                     np.matrix(param_server_conf.rightFootSoleXYZ).T
 
 centerPos = pin.SE3(rightPos.rotation, centerTranslation)
 print("Center of feet:")

tests/python/test_dcm_controller_talos.py

@@ -3,7 +3,6 @@ from math import sqrt
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
 
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import DcmController, create_parameter_server
@@ -62,9 +61,8 @@ q = np.matrix(halfSitting).T
 print("q:")
 print(q.flatten().tolist()[0])
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()

tests/python/test_dcm_distribute.py

@@ -3,14 +3,17 @@ from math import sqrt
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
+
+pin.switchToNumpyMatrix()
 
 import sot_talos_balance.talos.distribute_conf as distribute_conf
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
-from sot_talos_balance.create_entities_utils import (DcmController, create_distribute_wrench, create_parameter_server,
-                                                     plug)
+from sot_talos_balance.create_entities_utils import \
+    (DcmController,
+     create_distribute_wrench,
+     create_parameter_server,
+     plug)
 
-pin.switchToNumpyMatrix()
 
 # --- General ---
 print("--- General ---")
@@ -64,9 +67,8 @@ q = np.matrix(halfSitting).T
 print("q:")
 print(q.flatten().tolist()[0])
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()

tests/python/test_dcm_estimator.py

@@ -3,20 +3,18 @@ from __future__ import print_function
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
-
-import sot_talos_balance.talos.parameter_server_conf as parameter_server_conf
-from sot_talos_balance.create_entities_utils import Bunch, DcmEstimator, ParameterServer
 
 pin.switchToNumpyMatrix()
 
+import sot_talos_balance.talos.parameter_server_conf as param_server_conf
+from sot_talos_balance.create_entities_utils import Bunch, DcmEstimator,\
+     ParameterServer
 dt = 0.001
 conf = Bunch()
 robot_name = 'robot'
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 model.lowerPositionLimit = np.vstack((np.matrix([-1.] * 7).T, model.lowerPositionLimit[7:]))
@@ -30,12 +28,11 @@ print("Expected:")
 print("CoM position value: {0}".format(tuple(data.com[0].flat)))
 print("CoM velocity value: {0}".format(tuple(data.vcom[0].flat)))
 
-conf.param_server = parameter_server_conf
 param_server = ParameterServer("param_server")
-param_server.init(dt, conf.param_server.urdfFileName, robot_name)
-param_server.setJointsUrdfToSot(conf.param_server.urdftosot)
-param_server.setRightFootForceSensorXYZ(conf.param_server.rightFootSensorXYZ)
-param_server.setRightFootSoleXYZ(conf.param_server.rightFootSoleXYZ)
+param_server.init(dt, param_server_conf.urdfFileName, robot_name)
+param_server.setJointsUrdfToSot(param_server_conf.urdftosot)
+param_server.setRightFootForceSensorXYZ(param_server_conf.rightFootSensorXYZ)
+param_server.setRightFootSoleXYZ(param_server_conf.rightFootSoleXYZ)
 
 dcm_estimator = DcmEstimator('dcm_estimator')
 dcm_estimator.q.value = list(q.flat)

tests/python/test_distribute.py

-from __future__ import print_function
-
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
+
+pin.switchToNumpyMatrix()
 
 import sot_talos_balance.talos.distribute_conf as distribute_conf
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import create_distribute_wrench, create_parameter_server
 
+
 # --- General ---
 print("--- General ---")
 
@@ -60,9 +60,8 @@ halfSitting = [
 q = np.matrix(halfSitting).T
 print("q: %s\n" % str(q.flatten().tolist()[0]))
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()

tests/python/test_dummy_wpgen.py

@@ -3,13 +3,14 @@ from math import sqrt
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
+
+pin.switchToNumpyMatrix()
 
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
-from sot_talos_balance.create_entities_utils import (DummyWalkingPatternGenerator, SimpleReferenceFrame,
-                                                     create_parameter_server, plug)
+from sot_talos_balance.create_entities_utils import \
+    (DummyWalkingPatternGenerator, SimpleReferenceFrame,
+     create_parameter_server, plug)
 
-pin.switchToNumpyMatrix()
 
 # --- General ---
 print("--- General ---")
@@ -62,9 +63,8 @@ q = np.matrix(halfSitting).T
 print("q:")
 print(q.flatten().tolist()[0])
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()

tests/python/test_round_double_to_int.py

@@ -4,8 +4,6 @@ import numpy as np
 
 from sot_talos_balance.round_double_to_int import RoundDoubleToInt
 
-import eigenpy
-eigenpy.switchToNumpyMatrix()
 
 rd = RoundDoubleToInt('round')
 time = 0

tests/python/test_simple_distribute.py

@@ -8,6 +8,8 @@ from rospkg import RosPack
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
 from sot_talos_balance.create_entities_utils import create_parameter_server, create_simple_distribute_wrench
 
+pin.switchToNumpyMatrix()
+
 # --- General ---
 print("--- General ---")
 
@@ -59,9 +61,8 @@ halfSitting = [
 q = np.matrix(halfSitting).T
 print("q: %s\n" % str(q.flatten().tolist()[0]))
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()

tests/python/test_state_transformation.py

-import eigenpy
 import numpy as np
 import pinocchio as pin
 from numpy.testing import assert_almost_equal as assertApprox
-from rospkg import RosPack
+
+pin.switchToNumpyMatrix()
 
 import sot_talos_balance.talos.base_estimator_conf as base_estimator_conf
 import sot_talos_balance.talos.parameter_server_conf as param_server_conf
-from sot_talos_balance.create_entities_utils import (DcmEstimator, SimpleReferenceFrame, StateTransformation,
-                                                     TalosBaseEstimator, create_parameter_server, plug)
-from sot_talos_balance.euler_to_quat import EulerToQuat
+from sot_talos_balance.create_entities_utils \
+   import (DcmEstimator, SimpleReferenceFrame, StateTransformation,
+           TalosBaseEstimator, create_parameter_server, plug)
 
-eigenpy.switchToNumpyMatrix()
+from sot_talos_balance.euler_to_quat import EulerToQuat
 
 # --- General ---
 print("--- General ---")
@@ -64,9 +64,8 @@ q = np.matrix(halfSitting).T
 print("q:")
 print(q.flatten().tolist()[0])
 
-rospack = RosPack()
-urdfPath = rospack.get_path('talos_data') + "/urdf/talos_reduced.urdf"
-urdfDir = [rospack.get_path('talos_data') + "/../"]
+urdfPath= param_server_conf.urdfFileName
+urdfDir= param_server_conf.model_path
 
 model = pin.buildModelFromUrdf(urdfPath, pin.JointModelFreeFlyer())
 data = model.createData()