Merge pull request #1053 from jcarpent/devel

Fix literal warning in Python 3.8

bindings/python/algorithm/expose-geometry.cpp

 //
-// Copyright (c) 2015-2016 CNRS
+// Copyright (c) 2015-2020 CNRS INRIA
 //
 
 #include "pinocchio/bindings/python/algorithm/algorithms.hpp"
@@ -16,51 +16,51 @@ namespace pinocchio
       
       bp::def("updateGeometryPlacements",
               &updateGeometryPlacements<double,0,JointCollectionDefaultTpl,VectorXd>,
-              bp::args("model", "data", "geometry model", "geometry data", "Configuration vector q (size Model::nq)"),
+              bp::args("model", "data", "geometry_model", "geometry_data", "q"),
               "Update the placement of the collision objects according to the current configuration."
               "The algorithm also updates the current placement of the joint in Data."
               );
       
       bp::def("updateGeometryPlacements",
               &updateGeometryPlacements<double,0,JointCollectionDefaultTpl>,
-              bp::args("model", "data", "geometry model", "geometry data"),
+              bp::args("model", "data", "geometry_model", "geometry_data"),
               "Update the placement of the collision objects according to the current joint placement stored in data."
               );
 
       bp::def("setGeometryMeshScales",
               (void (*)(GeometryModel &, const Vector3d &))&setGeometryMeshScales<Vector3d>,
-              bp::args("geometry model", "scale"),
+              bp::args("geometry_model", "scale"),
               "Set a mesh scaling vector to each GeometryObject contained in the the GeometryModel."
               );
 
       bp::def("setGeometryMeshScales",
               (void (*)(GeometryModel &, const double))&setGeometryMeshScales,
-              bp::args("geometry model", "scale"),
+              bp::args("geometry_model", "scale"),
               "Set an isotropic mesh scaling to each GeometryObject contained in the the GeometryModel."
               );
 
 #ifdef PINOCCHIO_WITH_HPP_FCL       
       bp::def("computeCollision",computeCollision,
-              bp::args("geometry model", "geometry data", "collision pair index"),
+              bp::args("geometry_model", "geometry_data", "pair_index"),
               "Check if the collision objects of a collision pair for a given Geometry Model and Data are in collision."
              "The collision pair is given by the two index of the collision objects."
               );
 
       bp::def("computeCollisions",
               (bool (*)(const GeometryModel &, GeometryData &, const bool))&computeCollisions,
-              bp::args("geometry model","geometry data","stop at first collision"),
+              bp::args("geometry_model","geometry_data","stop_at_first_collision"),
               "Determine if collision pairs are effectively in collision."
               );
       
       bp::def("computeCollisions",
               &computeCollisions<double,0,JointCollectionDefaultTpl,VectorXd>,
-              bp::args("model","data","geometry model","geometry data","Configuration q (size Model::nq)", "bool"),
+              bp::args("model","data","geometry_model","geometry_data","q", "bool"),
               "Update the geometry for a given configuration and"
               "determine if all collision pairs are effectively in collision or not."
               );
       
       bp::def("computeDistance",&computeDistance,
-              bp::args("geometry model","geometry data", "pairIndex"),
+              bp::args("geometry_model", "geometry_data", "pair_index"),
               "Compute the distance between the two geometry objects of a given collision pair for a GeometryModel and associated GeometryData.",
               bp::return_value_policy<bp::return_by_value>()
 //              bp::with_custodian_and_ward_postcall<0,1>()
@@ -68,17 +68,18 @@ namespace pinocchio
 
       bp::def("computeDistances",
               (std::size_t (*)(const GeometryModel &, GeometryData &))&computeDistances,
-              bp::args("geometry model","geometry data"),
+              bp::args("geometry_model","geometry_data"),
               "Compute the distance between each collision pair for a given GeometryModel and associated GeometryData."
               );
       
       bp::def("computeDistances",
               &computeDistances<double,0,JointCollectionDefaultTpl,VectorXd>,
-              bp::args("model","data","geometry model","geometry data","Configuration q (size Model::nq)"),
+              bp::args("model","data","geometry_model","geometry_data","q"),
               "Update the geometry for a given configuration and"
               "compute the distance between each collision pair"
               );
-#endif // PINOCCHIO_WITH_HPP_FCL      
+#endif // PINOCCHIO_WITH_HPP_FCL
+      
     }
   } // namespace python
 } // namespace pinocchio

bindings/python/pinocchio/visualize/gepetto_visualizer.py

@@ -102,7 +102,7 @@ class GepettoVisualizer(BaseVisualizer):
         gui.setScale(meshName, npToTuple(meshScale))
         if geometry_object.overrideMaterial:
             gui.setColor(meshName, npToTuple(meshColor))
-            if meshTexturePath is not '':
+            if meshTexturePath != '':
                 gui.setTexture(meshName, meshTexturePath)
 
     def loadViewerModel(self, rootNodeName="pinocchio"):