diff --git a/python/example_robot_data/__main__.py b/python/example_robot_data/__main__.py
index 1f066326a51d47c6da8d68c48e5d7ca1b20e0e10..2dc21f77edb1f1fc0d66dc34442955a2dfd2b8b8 100644
--- a/python/example_robot_data/__main__.py
+++ b/python/example_robot_data/__main__.py
@@ -5,8 +5,8 @@ from .robots_loader import ROBOTS, load
ROBOTS = sorted(ROBOTS.keys())
parser = ArgumentParser(description=load.__doc__)
-parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
-parser.add_argument('--no-display', action='store_true')
+parser.add_argument("robot", nargs="?", default=ROBOTS[0], choices=ROBOTS)
+parser.add_argument("--no-display", action="store_true")
args = parser.parse_args()
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 818069038026ac49d4bac0ab89cd79dcc1a88579..4b7b15d3d862fa478678604412170c641a415352 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -12,29 +12,46 @@ pin.switchToNumpyArray()
def getModelPath(subpath, printmsg=False):
source = dirname(dirname(dirname(__file__))) # top level source directory
paths = [
- join(dirname(dirname(dirname(source))), 'robots'), # function called from "make release" in build/ dir
- join(dirname(source), 'robots'), # function called from a build/ dir inside top level source
- join(source, 'robots') # function called from top level source dir
+ join(
+ dirname(dirname(dirname(source))), "robots"
+ ), # function called from "make release" in build/ dir
+ join(
+ dirname(source), "robots"
+ ), # function called from a build/ dir inside top level source
+ join(source, "robots"), # function called from top level source dir
]
try:
from .path import EXAMPLE_ROBOT_DATA_MODEL_DIR, EXAMPLE_ROBOT_DATA_SOURCE_DIR
- paths.append(EXAMPLE_ROBOT_DATA_MODEL_DIR) # function called from installed project
- paths.append(EXAMPLE_ROBOT_DATA_SOURCE_DIR) # function called from off-tree build dir
+
+ paths.append(
+ EXAMPLE_ROBOT_DATA_MODEL_DIR
+ ) # function called from installed project
+ paths.append(
+ EXAMPLE_ROBOT_DATA_SOURCE_DIR
+ ) # function called from off-tree build dir
except ImportError:
pass
- paths += [join(p, '../../../share/example-robot-data/robots') for p in sys.path]
+ paths += [join(p, "../../../share/example-robot-data/robots") for p in sys.path]
for path in paths:
- if exists(join(path, subpath.strip('/'))):
+ if exists(join(path, subpath.strip("/"))):
if printmsg:
print("using %s as modelPath" % path)
return path
- raise IOError('%s not found' % subpath)
+ raise IOError("%s not found" % subpath)
-def readParamsFromSrdf(model, SRDF_PATH, verbose=False, has_rotor_parameters=True, referencePose='half_sitting'):
+def readParamsFromSrdf(
+ model,
+ SRDF_PATH,
+ verbose=False,
+ has_rotor_parameters=True,
+ referencePose="half_sitting",
+):
if has_rotor_parameters:
pin.loadRotorParameters(model, SRDF_PATH, verbose)
- model.armature = np.multiply(model.rotorInertia.flat, np.square(model.rotorGearRatio.flat))
+ model.armature = np.multiply(
+ model.rotorInertia.flat, np.square(model.rotorGearRatio.flat)
+ )
pin.loadReferenceConfigurations(model, SRDF_PATH, verbose)
q0 = pin.neutral(model)
if referencePose is not None:
@@ -44,16 +61,16 @@ def readParamsFromSrdf(model, SRDF_PATH, verbose=False, has_rotor_parameters=Tru
class RobotLoader(object):
- path = ''
- urdf_filename = ''
- srdf_filename = ''
- sdf_filename = ''
- sdf_root_link_name = ''
+ path = ""
+ urdf_filename = ""
+ srdf_filename = ""
+ sdf_filename = ""
+ sdf_root_link_name = ""
sdf_parent_guidance = []
- urdf_subpath = 'robots'
- srdf_subpath = 'srdf'
- sdf_subpath = ''
- ref_posture = 'half_sitting'
+ urdf_subpath = "robots"
+ srdf_subpath = "srdf"
+ sdf_subpath = ""
+ ref_posture = "half_sitting"
has_rotor_parameters = False
free_flyer = False
verbose = False
@@ -68,8 +85,11 @@ class RobotLoader(object):
if self.model_path is None:
self.model_path = getModelPath(df_path, self.verbose)
self.df_path = join(self.model_path, df_path)
- self.robot = builder(self.df_path, [join(self.model_path, '../..')],
- pin.JointModelFreeFlyer() if self.free_flyer else None)
+ self.robot = builder(
+ self.df_path,
+ [join(self.model_path, "../..")],
+ pin.JointModelFreeFlyer() if self.free_flyer else None,
+ )
else:
df_path = join(self.path, self.sdf_subpath, self.sdf_filename)
try:
@@ -77,30 +97,47 @@ class RobotLoader(object):
if self.model_path is None:
self.model_path = getModelPath(df_path, self.verbose)
self.df_path = join(self.model_path, df_path)
- if tuple(int(i) for i in pin.__version__.split('.')) > (2, 9, 1):
- self.robot = builder(self.df_path,
- package_dirs=[join(self.model_path, '../..')],
- root_joint=pin.JointModelFreeFlyer() if self.free_flyer else None,
- root_link_name=self.sdf_root_link_name,
- parent_guidance=self.sdf_parent_guidance)
+ if tuple(int(i) for i in pin.__version__.split(".")) > (2, 9, 1):
+ self.robot = builder(
+ self.df_path,
+ package_dirs=[join(self.model_path, "../..")],
+ root_joint=pin.JointModelFreeFlyer()
+ if self.free_flyer
+ else None,
+ root_link_name=self.sdf_root_link_name,
+ parent_guidance=self.sdf_parent_guidance,
+ )
else:
- self.robot = builder(self.df_path,
- package_dirs=[join(self.model_path, '../..')],
- root_joint=pin.JointModelFreeFlyer() if self.free_flyer else None)
+ self.robot = builder(
+ self.df_path,
+ package_dirs=[join(self.model_path, "../..")],
+ root_joint=pin.JointModelFreeFlyer()
+ if self.free_flyer
+ else None,
+ )
except AttributeError:
raise ImportError("Building SDF models require pinocchio >= 3.0.0")
if self.srdf_filename:
- self.srdf_path = join(self.model_path, self.path, self.srdf_subpath, self.srdf_filename)
- self.robot.q0 = readParamsFromSrdf(self.robot.model, self.srdf_path, self.verbose,
- self.has_rotor_parameters, self.ref_posture)
+ self.srdf_path = join(
+ self.model_path, self.path, self.srdf_subpath, self.srdf_filename
+ )
+ self.robot.q0 = readParamsFromSrdf(
+ self.robot.model,
+ self.srdf_path,
+ self.verbose,
+ self.has_rotor_parameters,
+ self.ref_posture,
+ )
if pin.WITH_HPP_FCL and pin.WITH_HPP_FCL_BINDINGS:
# Add all collision pairs
self.robot.collision_model.addAllCollisionPairs()
# Remove collision pairs per SRDF
- pin.removeCollisionPairs(self.robot.model, self.robot.collision_model, self.srdf_path, False)
+ pin.removeCollisionPairs(
+ self.robot.model, self.robot.collision_model, self.srdf_path, False
+ )
# Recreate collision data since the collision pairs changed
self.robot.collision_data = self.robot.collision_model.createData()
@@ -126,7 +163,7 @@ class RobotLoader(object):
class A1Loader(RobotLoader):
- path = 'a1_description'
+ path = "a1_description"
urdf_filename = "a1.urdf"
urdf_subpath = "urdf"
srdf_filename = "a1.srdf"
@@ -135,7 +172,7 @@ class A1Loader(RobotLoader):
class ANYmalLoader(RobotLoader):
- path = 'anymal_b_simple_description'
+ path = "anymal_b_simple_description"
urdf_filename = "anymal.urdf"
srdf_filename = "anymal.srdf"
ref_posture = "standing"
@@ -143,7 +180,7 @@ class ANYmalLoader(RobotLoader):
class LaikagoLoader(RobotLoader):
- path = 'laikago_description'
+ path = "laikago_description"
urdf_subpath = "urdf"
urdf_filename = "laikago.urdf"
free_flyer = True
@@ -162,25 +199,34 @@ class BaxterLoader(RobotLoader):
class CassieLoader(RobotLoader):
- path = 'cassie_description'
- if tuple(int(i) for i in pin.__version__.split('.')) > (2, 9, 1):
+ path = "cassie_description"
+ if tuple(int(i) for i in pin.__version__.split(".")) > (2, 9, 1):
sdf_filename = "cassie.sdf"
else:
sdf_filename = "cassie_v2.sdf"
- sdf_subpath = 'robots'
+ sdf_subpath = "robots"
srdf_filename = "cassie_v2.srdf"
ref_posture = "standing"
free_flyer = True
sdf_root_link_name = "pelvis"
sdf_parent_guidance = [
- "left-roll-op", "left-yaw-op", "left-pitch-op", "left-knee-op", "left-tarsus-spring-joint", "left-foot-op",
- "right-roll-op", "right-yaw-op", "right-pitch-op", "right-knee-op", "right-tarsus-spring-joint",
- "right-foot-op"
+ "left-roll-op",
+ "left-yaw-op",
+ "left-pitch-op",
+ "left-knee-op",
+ "left-tarsus-spring-joint",
+ "left-foot-op",
+ "right-roll-op",
+ "right-yaw-op",
+ "right-pitch-op",
+ "right-knee-op",
+ "right-tarsus-spring-joint",
+ "right-foot-op",
]
class TalosLoader(RobotLoader):
- path = 'talos_data'
+ path = "talos_data"
urdf_filename = "talos_reduced.urdf"
srdf_filename = "talos.srdf"
free_flyer = True
@@ -188,7 +234,7 @@ class TalosLoader(RobotLoader):
class AsrTwoDofLoader(RobotLoader):
- path = 'asr_twodof_description'
+ path = "asr_twodof_description"
urdf_filename = "TwoDofs.urdf"
urdf_subpath = "urdf"
@@ -211,20 +257,29 @@ class TalosArmLoader(TalosLoader):
class TalosLegsLoader(TalosLoader):
-
def __init__(self):
super(TalosLegsLoader, self).__init__()
legMaxId = 14
m1 = self.robot.model
m2 = pin.Model()
- for j, M, name, parent, Y in zip(m1.joints, m1.jointPlacements, m1.names, m1.parents, m1.inertias):
+ for j, M, name, parent, Y in zip(
+ m1.joints, m1.jointPlacements, m1.names, m1.parents, m1.inertias
+ ):
if j.id < legMaxId:
jid = m2.addJoint(parent, getattr(pin, j.shortname())(), M, name)
idx_q, idx_v = m2.joints[jid].idx_q, m2.joints[jid].idx_v
- m2.upperPositionLimit[idx_q:idx_q + j.nq] = m1.upperPositionLimit[j.idx_q:j.idx_q + j.nq]
- m2.lowerPositionLimit[idx_q:idx_q + j.nq] = m1.lowerPositionLimit[j.idx_q:j.idx_q + j.nq]
- m2.velocityLimit[idx_v:idx_v + j.nv] = m1.velocityLimit[j.idx_v:j.idx_v + j.nv]
- m2.effortLimit[idx_v:idx_v + j.nv] = m1.effortLimit[j.idx_v:j.idx_v + j.nv]
+ m2.upperPositionLimit[idx_q : idx_q + j.nq] = m1.upperPositionLimit[
+ j.idx_q : j.idx_q + j.nq
+ ]
+ m2.lowerPositionLimit[idx_q : idx_q + j.nq] = m1.lowerPositionLimit[
+ j.idx_q : j.idx_q + j.nq
+ ]
+ m2.velocityLimit[idx_v : idx_v + j.nv] = m1.velocityLimit[
+ j.idx_v : j.idx_v + j.nv
+ ]
+ m2.effortLimit[idx_v : idx_v + j.nv] = m1.effortLimit[
+ j.idx_v : j.idx_v + j.nv
+ ]
assert jid == j.id
m2.appendBodyToJoint(jid, Y, pin.SE3.Identity())
@@ -255,10 +310,15 @@ class TalosLegsLoader(TalosLoader):
self.robot.visual_data = pin.GeometryData(g2)
# Load SRDF file
- self.robot.q0 = readParamsFromSrdf(self.robot.model, self.srdf_path, self.verbose, self.has_rotor_parameters,
- self.ref_posture)
-
- assert (m2.armature[:6] == 0.).all()
+ self.robot.q0 = readParamsFromSrdf(
+ self.robot.model,
+ self.srdf_path,
+ self.verbose,
+ self.has_rotor_parameters,
+ self.ref_posture,
+ )
+
+ assert (m2.armature[:6] == 0.0).all()
# Add the free-flyer joint limits to the new model
self.addFreeFlyerJointLimits()
@@ -272,7 +332,7 @@ class HyQLoader(RobotLoader):
class BoltLoader(RobotLoader):
- path = 'bolt_description'
+ path = "bolt_description"
urdf_filename = "bolt.urdf"
srdf_filename = "bolt.srdf"
ref_posture = "standing"
@@ -280,7 +340,7 @@ class BoltLoader(RobotLoader):
class Solo8Loader(RobotLoader):
- path = 'solo_description'
+ path = "solo_description"
urdf_filename = "solo.urdf"
srdf_filename = "solo.srdf"
ref_posture = "standing"
@@ -288,7 +348,6 @@ class Solo8Loader(RobotLoader):
class SoloLoader(Solo8Loader):
-
def __init__(self, *args, **kwargs):
warnings.warn('"solo" is deprecated, please try to load "solo8"')
return super(SoloLoader, self).__init__(*args, **kwargs)
@@ -299,7 +358,7 @@ class Solo12Loader(Solo8Loader):
class FingerEduLoader(RobotLoader):
- path = 'finger_edu_description'
+ path = "finger_edu_description"
urdf_filename = "finger_edu.urdf"
srdf_filename = "finger_edu.srdf"
ref_posture = "hanging"
@@ -409,16 +468,16 @@ class RomeoLoader(RobotLoader):
class SimpleHumanoidLoader(RobotLoader):
- path = 'simple_humanoid_description'
- urdf_subpath = 'urdf'
- urdf_filename = 'simple_humanoid.urdf'
- srdf_filename = 'simple_humanoid.srdf'
+ path = "simple_humanoid_description"
+ urdf_subpath = "urdf"
+ urdf_filename = "simple_humanoid.urdf"
+ srdf_filename = "simple_humanoid.srdf"
free_flyer = True
class SimpleHumanoidClassicalLoader(SimpleHumanoidLoader):
- urdf_filename = 'simple_humanoid_classical.urdf'
- srdf_filename = 'simple_humanoid_classical.srdf'
+ urdf_filename = "simple_humanoid_classical.urdf"
+ srdf_filename = "simple_humanoid_classical.srdf"
class IrisLoader(RobotLoader):
@@ -428,56 +487,58 @@ class IrisLoader(RobotLoader):
ROBOTS = {
- 'a1': A1Loader,
- 'anymal': ANYmalLoader,
- 'anymal_kinova': ANYmalKinovaLoader,
- 'asr_twodof': AsrTwoDofLoader,
- 'baxter': BaxterLoader,
- 'cassie': CassieLoader,
- 'double_pendulum': DoublePendulumLoader,
- 'double_pendulum_continuous': DoublePendulumContinuousLoader,
- 'double_pendulum_simple': DoublePendulumSimpleLoader,
- 'hector': HectorLoader,
- 'hyq': HyQLoader,
- 'icub': ICubLoader,
- 'icub_reduced': ICubReducedLoader,
- 'iris': IrisLoader,
- 'kinova': KinovaLoader,
- 'laikago': LaikagoLoader,
- 'panda': PandaLoader,
- 'romeo': RomeoLoader,
- 'simple_humanoid': SimpleHumanoidLoader,
- 'simple_humanoid_classical': SimpleHumanoidClassicalLoader,
- 'bolt': BoltLoader,
- 'solo': SoloLoader,
- 'solo8': Solo8Loader,
- 'solo12': Solo12Loader,
- 'finger_edu': FingerEduLoader,
- 'talos': TalosLoader,
- 'talos_box': TalosBoxLoader,
- 'talos_arm': TalosArmLoader,
- 'talos_legs': TalosLegsLoader,
- 'talos_full': TalosFullLoader,
- 'talos_full_box': TalosFullBoxLoader,
- 'tiago': TiagoLoader,
- 'tiago_dual': TiagoDualLoader,
- 'tiago_no_hand': TiagoNoHandLoader,
- 'ur3': UR5Loader,
- 'ur3_gripper': UR3GripperLoader,
- 'ur3_limited': UR3LimitedLoader,
- 'ur5': UR5Loader,
- 'ur5_gripper': UR5GripperLoader,
- 'ur5_limited': UR5LimitedLoader,
- 'ur10': UR10Loader,
- 'ur10_limited': UR10LimitedLoader,
+ "a1": A1Loader,
+ "anymal": ANYmalLoader,
+ "anymal_kinova": ANYmalKinovaLoader,
+ "asr_twodof": AsrTwoDofLoader,
+ "baxter": BaxterLoader,
+ "cassie": CassieLoader,
+ "double_pendulum": DoublePendulumLoader,
+ "double_pendulum_continuous": DoublePendulumContinuousLoader,
+ "double_pendulum_simple": DoublePendulumSimpleLoader,
+ "hector": HectorLoader,
+ "hyq": HyQLoader,
+ "icub": ICubLoader,
+ "icub_reduced": ICubReducedLoader,
+ "iris": IrisLoader,
+ "kinova": KinovaLoader,
+ "laikago": LaikagoLoader,
+ "panda": PandaLoader,
+ "romeo": RomeoLoader,
+ "simple_humanoid": SimpleHumanoidLoader,
+ "simple_humanoid_classical": SimpleHumanoidClassicalLoader,
+ "bolt": BoltLoader,
+ "solo": SoloLoader,
+ "solo8": Solo8Loader,
+ "solo12": Solo12Loader,
+ "finger_edu": FingerEduLoader,
+ "talos": TalosLoader,
+ "talos_box": TalosBoxLoader,
+ "talos_arm": TalosArmLoader,
+ "talos_legs": TalosLegsLoader,
+ "talos_full": TalosFullLoader,
+ "talos_full_box": TalosFullBoxLoader,
+ "tiago": TiagoLoader,
+ "tiago_dual": TiagoDualLoader,
+ "tiago_no_hand": TiagoNoHandLoader,
+ "ur3": UR5Loader,
+ "ur3_gripper": UR3GripperLoader,
+ "ur3_limited": UR3LimitedLoader,
+ "ur5": UR5Loader,
+ "ur5_gripper": UR5GripperLoader,
+ "ur5_limited": UR5LimitedLoader,
+ "ur10": UR10Loader,
+ "ur10_limited": UR10LimitedLoader,
}
-def loader(name, display=False, rootNodeName=''):
+def loader(name, display=False, rootNodeName=""):
"""Load a robot by its name, and optionnaly display it in a viewer."""
if name not in ROBOTS:
robots = ", ".join(sorted(ROBOTS.keys()))
- raise ValueError("Robot '%s' not found. Possible values are %s" % (name, robots))
+ raise ValueError(
+ "Robot '%s' not found. Possible values are %s" % (name, robots)
+ )
inst = ROBOTS[name]()
if display:
if rootNodeName:
@@ -489,12 +550,12 @@ def loader(name, display=False, rootNodeName=''):
return inst
-def load(name, display=False, rootNodeName=''):
+def load(name, display=False, rootNodeName=""):
"""Load a robot by its name, and optionnaly display it in a viewer."""
return loader(name, display, rootNodeName).robot
-def load_full(name, display=False, rootNodeName=''):
+def load_full(name, display=False, rootNodeName=""):
"""Load a robot by its name, optionnaly display it in a viewer, and provide its q0 and paths."""
inst = loader(name, display, rootNodeName)
return inst.robot, inst.robot.q0, inst.df_path, inst.srdf_path
diff --git a/unittest/test_load.py b/unittest/test_load.py
index d8833fe5681629b0d65f2a4b66cf3a13c06a6404..b7687a3820ca3b13a12d3a07f754e0011e82437e 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -11,7 +11,6 @@ from example_robot_data import load_full
class RobotTestCase(unittest.TestCase):
-
def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
"""Helper function for the real tests"""
robot, _, urdf, _ = load_full(name, display=False)
@@ -33,132 +32,140 @@ class RobotTestCase(unittest.TestCase):
pybullet.disconnect(client_id)
def test_a1(self):
- self.check('a1', 19, 18)
+ self.check("a1", 19, 18)
def test_anymal(self):
- self.check('anymal', 19, 18)
+ self.check("anymal", 19, 18)
def test_anymal_kinova(self):
- self.check('anymal_kinova', 25, 24)
+ self.check("anymal_kinova", 25, 24)
def test_baxter(self):
- self.check('baxter', 19, 19)
+ self.check("baxter", 19, 19)
def test_cassie(self):
try:
- self.check('cassie', 29, 28)
+ self.check("cassie", 29, 28)
except ImportError:
import pinocchio
- self.assertLess(int(pinocchio.__version__.split('.')[0]), 3)
+
+ self.assertLess(int(pinocchio.__version__.split(".")[0]), 3)
def test_double_pendulum(self):
- self.check('double_pendulum', 2, 2)
+ self.check("double_pendulum", 2, 2)
def test_double_pendulum_continuous(self):
- self.check('double_pendulum_continuous', 4, 2)
+ self.check("double_pendulum_continuous", 4, 2)
def test_double_pendulum_simple(self):
- self.check('double_pendulum_simple', 2, 2)
+ self.check("double_pendulum_simple", 2, 2)
def test_asr(self):
- self.check('asr_twodof', 2, 2, one_kg_bodies=['ground'])
+ self.check("asr_twodof", 2, 2, one_kg_bodies=["ground"])
def test_hector(self):
- self.check('hector', 7, 6)
+ self.check("hector", 7, 6)
def test_hyq(self):
- self.check('hyq', 19, 18)
+ self.check("hyq", 19, 18)
def test_icub(self):
- self.check('icub', 39, 38)
+ self.check("icub", 39, 38)
def test_icub_reduced(self):
- self.check('icub_reduced', 36, 35)
+ self.check("icub_reduced", 36, 35)
def test_iris(self):
- self.check('iris', 7, 6)
+ self.check("iris", 7, 6)
def test_kinova(self):
- self.check('kinova', 9, 6)
+ self.check("kinova", 9, 6)
def test_panda(self):
- self.check('panda', 9, 9)
+ self.check("panda", 9, 9)
def test_romeo(self):
- self.check('romeo', 62, 61)
+ self.check("romeo", 62, 61)
def test_simple_humanoid(self):
- self.check('simple_humanoid', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
+ self.check(
+ "simple_humanoid", 36, 35, one_kg_bodies=["LARM_LINK3", "RARM_LINK3"]
+ )
def test_simple_humanoid_classical(self):
- self.check('simple_humanoid_classical', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
+ self.check(
+ "simple_humanoid_classical",
+ 36,
+ 35,
+ one_kg_bodies=["LARM_LINK3", "RARM_LINK3"],
+ )
def test_bolt(self):
- self.check('bolt', 13, 12)
+ self.check("bolt", 13, 12)
def test_solo8(self):
- self.check('solo8', 15, 14)
+ self.check("solo8", 15, 14)
def test_solo12(self):
- self.check('solo12', 19, 18)
+ self.check("solo12", 19, 18)
def test_finger_edu(self):
- self.check('finger_edu', 3, 3, one_kg_bodies=['finger_base_link'])
+ self.check("finger_edu", 3, 3, one_kg_bodies=["finger_base_link"])
def test_talos(self):
- self.check('talos', 39, 38)
+ self.check("talos", 39, 38)
def test_laikago(self):
- self.check('laikago', 19, 18)
+ self.check("laikago", 19, 18)
def test_talos_box(self):
- self.check('talos_box', 39, 38)
+ self.check("talos_box", 39, 38)
def test_talos_full(self):
- self.check('talos_full', 51, 50)
+ self.check("talos_full", 51, 50)
def test_talos_full_box(self):
- self.check('talos_full_box', 51, 50)
+ self.check("talos_full_box", 51, 50)
def test_talos_arm(self):
- self.check('talos_arm', 7, 7)
+ self.check("talos_arm", 7, 7)
def test_talos_legs(self):
- self.check('talos_legs', 19, 18)
+ self.check("talos_legs", 19, 18)
def test_tiago(self):
- self.check('tiago', 50, 48)
+ self.check("tiago", 50, 48)
def test_tiago_dual(self):
- self.check('tiago_dual', 111, 101)
+ self.check("tiago_dual", 111, 101)
def test_tiago_no_hand(self):
- self.check('tiago_no_hand', 14, 12)
+ self.check("tiago_no_hand", 14, 12)
def test_ur3(self):
- self.check('ur3', 6, 6)
+ self.check("ur3", 6, 6)
def test_ur3_gripper(self):
- self.check('ur3_gripper', 6, 6)
+ self.check("ur3_gripper", 6, 6)
def test_ur3_limited(self):
- self.check('ur3_limited', 6, 6)
+ self.check("ur3_limited", 6, 6)
def test_ur5(self):
- self.check('ur5', 6, 6)
+ self.check("ur5", 6, 6)
def test_ur5_gripper(self):
- self.check('ur5_gripper', 6, 6)
+ self.check("ur5_gripper", 6, 6)
def test_ur5_limited(self):
- self.check('ur5_limited', 6, 6)
+ self.check("ur5_limited", 6, 6)
def test_ur10(self):
- self.check('ur10', 6, 6)
+ self.check("ur10", 6, 6)
def test_ur10_limited(self):
- self.check('ur10_limited', 6, 6)
+ self.check("ur10_limited", 6, 6)
-if __name__ == '__main__':
+if __name__ == "__main__":
unittest.main()