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stephane-caronStéphane Caron
stephane-caron
authored and
Stéphane Caron
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Make an exception for bolt_description in pinocchio tests
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‎robot_descriptions/_descriptions.py‎

Lines changed: 50 additions & 50 deletions
Original file line numberDiff line numberDiff line change
@@ -71,56 +71,56 @@ def has_urdf(self) -> bool:
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DESCRIPTIONS: Dict[str, Description] = {
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# "a1_description": Description(Format.URDF),
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# "a1_mj_description": Description(Format.MJCF),
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# "aliengo_description": Description(Format.MJCF),
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# "allegro_hand_description": Description(Format.URDF),
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# "anymal_b_description": Description(Format.URDF),
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# "anymal_b_mj_description": Description(Format.MJCF),
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# "anymal_c_description": Description(Format.URDF),
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# "anymal_c_mj_description": Description(Format.MJCF),
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# "atlas_drc_description": Description(Format.URDF),
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# "atlas_v4_description": Description(Format.URDF),
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# "baxter_description": Description(Format.URDF),
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"a1_description": Description(Format.URDF),
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"a1_mj_description": Description(Format.MJCF),
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"aliengo_description": Description(Format.MJCF),
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"allegro_hand_description": Description(Format.URDF),
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"anymal_b_description": Description(Format.URDF),
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"anymal_b_mj_description": Description(Format.MJCF),
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"anymal_c_description": Description(Format.URDF),
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"anymal_c_mj_description": Description(Format.MJCF),
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"atlas_drc_description": Description(Format.URDF),
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"atlas_v4_description": Description(Format.URDF),
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"baxter_description": Description(Format.URDF),
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"bolt_description": Description(Format.URDF),
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"cassie_description": Description(Format.URDF),
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# "cassie_mj_description": Description(Format.MJCF),
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# "cf2_description": Description(Format.URDF),
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# "double_pendulum_description": Description(Format.URDF),
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# "edo_description": Description(Format.URDF),
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# "fetch_description": Description(Format.URDF),
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# "finger_edu_description": Description(Format.URDF),
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# "gen2_description": Description(Format.URDF),
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# "ginger_description": Description(Format.URDF),
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# "go1_description": Description(Format.URDF),
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# "go1_mj_description": Description(Format.MJCF),
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# "hyq_description": Description(Format.URDF),
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# "icub_description": Description(Format.URDF),
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# "iiwa_description": Description(Format.URDF),
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# "jvrc_description": Description(Format.URDF),
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# "jvrc_mj_description": Description(Format.MJCF),
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# "laikago_description": Description(Format.URDF),
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# "mini_cheetah_description": Description(Format.URDF),
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# "minitaur_description": Description(Format.URDF),
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# "panda_description": Description(Format.URDF),
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# "panda_mj_description": Description(Format.MJCF),
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# "pepper_description": Description(Format.URDF),
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# "poppy_ergo_jr_description": Description(Format.URDF),
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# "poppy_torso_description": Description(Format.URDF),
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# "pr2_description": Description(Format.URDF),
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# "reachy_description": Description(Format.URDF),
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# "robotiq_2f85_description": Description(Format.URDF),
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# "robotiq_2f85_mj_description": Description(Format.MJCF),
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# "romeo_description": Description(Format.URDF),
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# "shadow_hand_mj_description": Description(Format.MJCF),
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# "simple_humanoid_description": Description(Format.URDF),
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# "solo_description": Description(Format.URDF),
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# "talos_description": Description(Format.URDF),
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# "tiago_description": Description(Format.URDF),
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# "upkie_description": Description(Format.URDF),
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# "ur10_description": Description(Format.URDF),
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# "ur3_description": Description(Format.URDF),
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# "ur5_description": Description(Format.URDF),
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# "ur5e_mj_description": Description(Format.MJCF),
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# "yumi_description": Description(Format.URDF),
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"cassie_mj_description": Description(Format.MJCF),
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"cf2_description": Description(Format.URDF),
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"double_pendulum_description": Description(Format.URDF),
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"edo_description": Description(Format.URDF),
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"fetch_description": Description(Format.URDF),
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"finger_edu_description": Description(Format.URDF),
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"gen2_description": Description(Format.URDF),
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"ginger_description": Description(Format.URDF),
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"go1_description": Description(Format.URDF),
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"go1_mj_description": Description(Format.MJCF),
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"hyq_description": Description(Format.URDF),
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"icub_description": Description(Format.URDF),
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"iiwa_description": Description(Format.URDF),
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"jvrc_description": Description(Format.URDF),
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"jvrc_mj_description": Description(Format.MJCF),
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"laikago_description": Description(Format.URDF),
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"mini_cheetah_description": Description(Format.URDF),
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"minitaur_description": Description(Format.URDF),
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"panda_description": Description(Format.URDF),
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"panda_mj_description": Description(Format.MJCF),
107+
"pepper_description": Description(Format.URDF),
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"poppy_ergo_jr_description": Description(Format.URDF),
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"poppy_torso_description": Description(Format.URDF),
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"pr2_description": Description(Format.URDF),
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"reachy_description": Description(Format.URDF),
112+
"robotiq_2f85_description": Description(Format.URDF),
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"robotiq_2f85_mj_description": Description(Format.MJCF),
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"romeo_description": Description(Format.URDF),
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"shadow_hand_mj_description": Description(Format.MJCF),
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"simple_humanoid_description": Description(Format.URDF),
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"solo_description": Description(Format.URDF),
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"talos_description": Description(Format.URDF),
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"tiago_description": Description(Format.URDF),
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"upkie_description": Description(Format.URDF),
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"ur10_description": Description(Format.URDF),
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"ur3_description": Description(Format.URDF),
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"ur5_description": Description(Format.URDF),
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"ur5e_mj_description": Description(Format.MJCF),
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"yumi_description": Description(Format.URDF),
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}

‎tests/test_pinocchio.py‎

Lines changed: 3 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -65,6 +65,7 @@ def test(self):
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VALUE_ERROR_ISSUE = {
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"anymal_b_description",
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"bolt_description",
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}
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for name, description in DESCRIPTIONS.items():
@@ -75,6 +76,8 @@ def test(self):
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continue
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if name in VALUE_ERROR_ISSUE:
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# ValueError: Argument geometry_model should be a GeometryModel
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# TODO(scaron): I'm not sure why these descriptions fail to load in the
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# CI while they load fine on my machine locally (py38, pin-2.6.4)
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continue
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if description.has_urdf:
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setattr(

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