diff --git a/python/example_robot_data/__init__.py b/python/example_robot_data/__init__.py
index b33e19fbdbe82bee4be43876c1dfef3e85c43573..af07e57346d2b68c22f51541e8fbcf20213b108b 100644
--- a/python/example_robot_data/__init__.py
+++ b/python/example_robot_data/__init__.py
@@ -1,4 +1,4 @@
# flake8: noqa
-from .robots_loader import (getModelPath, loadANYmal, loadDoublePendulum, loadHector, loadHyQ, loadICub, loadIris,
- loadKinova, loadPanda, loadRomeo, loadSolo, loadTalos, loadTalosArm, loadTalosLegs,
- loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
+from .robots_loader import (ROBOTS, getModelPath, load, loadANYmal, loadDoublePendulum, loadHector, loadHyQ, loadICub,
+ loadIris, loadKinova, loadPanda, loadRomeo, loadSolo, loadTalos, loadTalosArm,
+ loadTalosLegs, loadTiago, loadTiagoNoHand, loadUR, readParamsFromSrdf)
diff --git a/python/example_robot_data/__main__.py b/python/example_robot_data/__main__.py
index ec45e7513e123f51c48d7190c0bba6ead91a7194..f3f87796087cc21701de636819c02f28e682c8f5 100644
--- a/python/example_robot_data/__main__.py
+++ b/python/example_robot_data/__main__.py
@@ -1,107 +1,13 @@
from argparse import ArgumentParser
-import eigenpy
+from .robots_loader import ROBOTS, load
-from . import robots_loader
+ROBOTS = sorted(ROBOTS.keys())
-eigenpy.switchToNumpyMatrix()
-
-ROBOTS = [
- 'anymal', 'anymal_kinova', 'hyq', 'solo', 'solo12', 'talos', 'talos_arm', 'talos_legs', 'kinova', 'tiago',
- 'tiago_no_hand', 'icub', 'ur5', 'romeo', 'hector', 'double_pendulum', 'iris', 'panda'
-]
-
-parser = ArgumentParser()
+parser = ArgumentParser(description=load.__doc__)
parser.add_argument('robot', nargs='?', default=ROBOTS[0], choices=ROBOTS)
+parser.add_argument('--no-display', action='store_false')
args = parser.parse_args()
-if args.robot == 'anymal':
- anymal = robots_loader.loadANYmal()
- anymal.initViewer(loadModel=True)
- anymal.display(anymal.q0)
-
-elif args.robot == 'anymal_kinova':
- anymal = robots_loader.loadANYmal(withArm='kinova')
- anymal.initViewer(loadModel=True)
- anymal.display(anymal.q0)
-
-elif args.robot == 'hyq':
- hyq = robots_loader.loadHyQ()
- hyq.initViewer(loadModel=True)
- hyq.display(hyq.q0)
-
-elif args.robot == 'solo':
- solo = robots_loader.loadSolo()
- solo.initViewer(loadModel=True)
- solo.display(solo.q0)
-
-elif args.robot == 'solo12':
- solo = robots_loader.loadSolo(False)
- solo.initViewer(loadModel=True)
- solo.display(solo.q0)
-
-elif args.robot == 'talos':
- talos = robots_loader.loadTalos()
- talos.initViewer(loadModel=True)
- talos.display(talos.q0)
-
-elif args.robot == 'talos_arm':
- talos_arm = robots_loader.loadTalosArm()
- talos_arm.initViewer(loadModel=True)
- talos_arm.display(talos_arm.q0)
-
-elif args.robot == 'talos_legs':
- talos_legs = robots_loader.loadTalosLegs()
- talos_legs.initViewer(loadModel=True)
- talos_legs.display(talos_legs.q0)
-
-elif args.robot == 'kinova':
- kinova = robots_loader.loadKinova()
- kinova.initViewer(loadModel=True)
- kinova.display(kinova.q0)
-
-elif args.robot == 'tiago':
- tiago = robots_loader.loadTiago()
- tiago.initViewer(loadModel=True)
- tiago.display(tiago.q0)
-
-elif args.robot == 'tiago_no_hand':
- tiago_no_hand = robots_loader.loadTiagoNoHand()
- tiago_no_hand.initViewer(loadModel=True)
- tiago_no_hand.display(tiago_no_hand.q0)
-
-elif args.robot == 'icub':
- icub = robots_loader.loadICub()
- icub.initViewer(loadModel=True)
- icub.display(icub.q0)
-
-elif args.robot == 'ur5':
- ur5 = robots_loader.loadUR()
- ur5.initViewer(loadModel=True)
- ur5.display(ur5.q0)
-
-elif args.robot == 'romeo':
- romeo = robots_loader.loadRomeo()
- romeo.initViewer(loadModel=True)
- romeo.display(romeo.q0)
-
-if args.robot == 'hector':
- hector = robots_loader.loadHector()
- hector.initViewer(loadModel=True)
- hector.display(hector.q0)
-
-if args.robot == 'double_pendulum':
- pendulum = robots_loader.loadDoublePendulum()
- pendulum.initViewer(loadModel=True)
- pendulum.display(pendulum.q0)
-
-if args.robot == 'iris':
- iris = robots_loader.loadIris()
- iris.initViewer(loadModel=True)
- iris.display(iris.q0)
-
-if args.robot == 'panda':
- panda = robots_loader.loadPanda()
- panda.initViewer(loadModel=True)
- panda.display(panda.q0)
+load(args.robot, display=not args.no_display)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 630fa9c0c62a9b7e4dda20bc05671c2060827cce..1df545ac25cb42c0854b75427267e11b48e257b7 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -227,3 +227,56 @@ def loadRomeo():
def loadIris():
return robot_loader('iris_description', "iris_simple.urdf", free_flyer=True)
+
+
+ROBOTS = {
+ 'anymal': (loadANYmal, {}),
+ 'anymal_kinova': (loadANYmal, {
+ 'withArm': 'kinova'
+ }),
+ 'double_pendulum': (loadDoublePendulum, {}),
+ 'hector': (loadHector, {}),
+ 'hyq': (loadHyQ, {}),
+ 'icub': (loadICub, {
+ 'reduced': False
+ }),
+ 'icub_reduced': (loadICub, {
+ 'reduced': True
+ }),
+ 'iris': (loadIris, {}),
+ 'kinova': (loadKinova, {}),
+ 'panda': (loadPanda, {}),
+ 'romeo': (loadRomeo, {}),
+ 'solo': (loadSolo, {}),
+ 'solo12': (loadSolo, {
+ 'solo': False
+ }),
+ 'talos': (loadTalos, {}),
+ 'talos_arm': (loadTalos, {
+ 'arm': True
+ }),
+ 'talos_legs': (loadTalos, {
+ 'legs': True
+ }),
+ 'tiago': (loadTiago, {}),
+ 'tiago_no_hand': (loadTiago, {
+ 'hand': False
+ }),
+ 'ur5': (loadUR, {}),
+ 'ur5_gripper': (loadUR, {
+ 'gripper': True
+ }),
+ 'ur5_limited': (loadUR, {
+ 'limited': True
+ }),
+}
+
+
+def load(name, display=False):
+ """Load a robot by its name, and optionnaly display it in a viewer."""
+ loader, kwargs = ROBOTS[name]
+ robot = loader(**kwargs)
+ if display:
+ robot.initViewer(loadModel=True)
+ robot.display(robot.q0)
+ return robot
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 0b3c96eb1be70ca77490c1a988f344df2c2fe57c..75acaf6ca5624749b96371e8d7981a7394946cbe 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -1,148 +1,81 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python
-import sys
import unittest
-import example_robot_data
+from example_robot_data import load
class RobotTestCase(unittest.TestCase):
- ROBOT = None
- NQ = None
- NV = None
+ def check(self, name, expected_nq, expected_nv):
+ """Helper function for the real tests"""
+ robot = load(name, display=False)
+ self.assertEqual(robot.model.nq, expected_nq)
+ self.assertEqual(robot.model.nv, expected_nv)
+ self.assertTrue(hasattr(robot, "q0"))
- def test_nq(self):
- model = self.ROBOT.model
- self.assertEqual(model.nq, self.NQ, "Wrong nq value.")
+ def test_anymal(self):
+ self.check('anymal', 19, 18)
- def test_nv(self):
- model = self.ROBOT.model
- self.assertEqual(model.nv, self.NV, "Wrong nv value.")
+ def test_anymal_kinova(self):
+ self.check('anymal_kinova', 25, 24)
- def test_q0(self):
- self.assertTrue(hasattr(self.ROBOT, "q0"), "It doesn't have q0")
+ def test_double_pendulum(self):
+ self.check('double_pendulum', 2, 2)
+ # def test_hector(self):
+ # self.check('hector', 0, 0)
-class ANYmalTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadANYmal()
- RobotTestCase.NQ = 19
- RobotTestCase.NV = 18
+ def test_hyq(self):
+ self.check('hyq', 19, 18)
+ def test_icub(self):
+ self.check('icub', 39, 38)
-class ANYmalKinovaTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadANYmal(withArm="kinova")
- RobotTestCase.NQ = 27
- RobotTestCase.NV = 24
+ def test_icub_reduced(self):
+ self.check('icub_reduced', 36, 35)
+ def test_iris(self):
+ self.check('iris', 7, 6)
-class HyQTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadHyQ()
- RobotTestCase.NQ = 19
- RobotTestCase.NV = 18
+ def test_kinova(self):
+ self.check('kinova', 9, 6)
+ def test_panda(self):
+ self.check('panda', 9, 9)
-class TalosTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTalos()
- RobotTestCase.NQ = 39
- RobotTestCase.NV = 38
+ def test_romeo(self):
+ self.check('romeo', 62, 61)
+ def test_solo(self):
+ self.check('solo', 15, 14)
-class TalosArmTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTalos(arm=True)
- RobotTestCase.NQ = 7
- RobotTestCase.NV = 7
+ def test_solo12(self):
+ self.check('solo12', 19, 18)
+ def test_talos(self):
+ self.check('talos', 39, 38)
-class TalosArmFloatingTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTalos(arm=True)
- RobotTestCase.NQ = 14
- RobotTestCase.NV = 13
+ def test_talos_arm(self):
+ self.check('talos_arm', 7, 7)
+ def test_talos_legs(self):
+ self.check('talos_legs', 19, 18)
-class TalosLegsTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTalos(legs=True)
- RobotTestCase.NQ = 19
- RobotTestCase.NV = 18
+ def test_tiago(self):
+ self.check('tiago', 50, 48)
+ def test_tiago_no_hand(self):
+ self.check('tiago_no_hand', 14, 12)
-class ICubTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadICub(reduced=False)
- RobotTestCase.NQ = 39
- RobotTestCase.NV = 38
+ def test_ur5(self):
+ self.check('ur5', 6, 6)
+ def test_ur5_gripper(self):
+ self.check('ur5_gripper', 6, 6)
-class SoloTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadSolo()
- RobotTestCase.NQ = 15
- RobotTestCase.NV = 14
-
-
-class Solo12Test(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadSolo(False)
- RobotTestCase.NQ = 19
- RobotTestCase.NV = 18
-
-
-class TiagoTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTiago()
- RobotTestCase.NQ = 50
- RobotTestCase.NV = 48
-
-
-class TiagoNoHandTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadTiago(hand=False)
- RobotTestCase.NQ = 14
- RobotTestCase.NV = 12
-
-
-class UR5Test(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadUR()
- RobotTestCase.NQ = 6
- RobotTestCase.NV = 6
-
-
-class UR5LimitedTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadUR(limited=True)
- RobotTestCase.NQ = 6
- RobotTestCase.NV = 6
-
-
-class UR5GripperTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadUR(gripper=True)
- RobotTestCase.NQ = 6
- RobotTestCase.NV = 6
-
-
-class KinovaTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadKinova()
- RobotTestCase.NQ = 9
- RobotTestCase.NV = 6
-
-
-class RomeoTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadRomeo()
- RobotTestCase.NQ = 62
- RobotTestCase.NV = 61
-
-
-class PandaTest(RobotTestCase):
- RobotTestCase.ROBOT = example_robot_data.loadPanda()
- RobotTestCase.NQ = 9
- RobotTestCase.NV = 9
+ def test_ur5_limited(self):
+ self.check('ur5_limited', 6, 6)
if __name__ == '__main__':
- test_classes_to_run = [
- ANYmalTest, ANYmalKinovaTest, HyQTest, TalosTest, TalosArmTest, TalosArmFloatingTest, TalosLegsTest, ICubTest,
- SoloTest, Solo12Test, TiagoTest, TiagoNoHandTest, UR5Test, UR5LimitedTest, UR5GripperTest, KinovaTest,
- RomeoTest, PandaTest
- ]
- loader = unittest.TestLoader()
- suites_list = []
- for test_class in test_classes_to_run:
- suite = loader.loadTestsFromTestCase(test_class)
- suites_list.append(suite)
- big_suite = unittest.TestSuite(suites_list)
- runner = unittest.TextTestRunner()
- results = runner.run(big_suite)
- sys.exit(not results.wasSuccessful())
+ unittest.main()