Merge pull request #294 from fvalenza/topic/updatePythonTest

[Python] Updating Python tests to corresponds to the API 

python/bindings_frame.py

@@ -24,19 +24,19 @@ class TestFrameBindings(unittest.TestCase):
     robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
 
     def test_type_get_set(self):
-        f = self.robot.model.frames[1]
+        f = self.robot.model.frames[2]
         self.assertTrue(f.type == se3.FrameType.JOINT)
         f.type = se3.FrameType.BODY
         self.assertTrue(f.type == se3.FrameType.BODY)
 
     def test_name_get_set(self):
-        f = self.robot.model.frames[1]
+        f = self.robot.model.frames[2]
         self.assertTrue(f.name == 'LHipYaw')
         f.name = 'new_hip_frame'
         self.assertTrue(f.name == 'new_hip_frame')
 
     def test_parent_get_set(self):
-        f = self.robot.model.frames[1]
+        f = self.robot.model.frames[2]
         self.assertTrue(f.parent == 2)
         f.parent = 5
         self.assertTrue(f.parent == 5)
@@ -44,7 +44,7 @@ class TestFrameBindings(unittest.TestCase):
     def test_placement_get_set(self):
         m = se3.SE3(self.m3ones, np.array([0,0,0],np.double))
         new_m = se3.SE3(rand([3,3]), rand(3))
-        f = self.robot.model.frames[1]
+        f = self.robot.model.frames[2]
         self.assertTrue(np.allclose(f.placement.homogeneous, m.homogeneous))
         f.placement = new_m
         self.assertTrue(np.allclose(f.placement.homogeneous, new_m.homogeneous))

python/bindings_geometry_object.py

@@ -26,7 +26,7 @@ class TestGeometryObjectBindings(unittest.TestCase):
 
     def test_name_get_set(self):
         col = self.robot.collision_model.geometryObjects[1]
-        self.assertTrue(col.name == 'LHipPitchLink')
+        self.assertTrue(col.name == 'LHipPitchLink_0')
         col.name = 'new_collision_name'
         self.assertTrue(col.name == 'new_collision_name')