Merge pull request #1339 from jcarpent/topic/python

Minor fixes

Author: jcarpent

bindings/python/multibody/geometry-object.hpp

@@ -23,9 +23,9 @@ namespace pinocchio
     : public boost::python::def_visitor< GeometryObjectPythonVisitor >
     {
       typedef GeometryObject::CollisionGeometryPtr CollisionGeometryPtr;
-      
+
       template<class PyClass>
-      void visit(PyClass& cl) const 
+      void visit(PyClass& cl) const
       {
         cl
         .def(bp::init<std::string,FrameIndex,JointIndex,CollisionGeometryPtr,SE3,
@@ -63,13 +63,13 @@ namespace pinocchio
                        "Index of the parent frame.")
         .def_readwrite("placement",&GeometryObject::placement,
                        "Position of geometry object in parent joint's frame.")
-        .def_readonly("meshPath", &GeometryObject::meshPath,
-                      "Path to the mesh file.")
-        .def_readonly("overrideMaterial", &GeometryObject::overrideMaterial,
-                      "Boolean that tells whether material information is stored inside the given GeometryObject.")
-        .def_readonly("meshTexturePath", &GeometryObject::meshTexturePath,
-                      "Path to the mesh texture file.")
-        
+        .def_readwrite("meshPath", &GeometryObject::meshPath,
+                       "Path to the mesh file.")
+        .def_readwrite("overrideMaterial", &GeometryObject::overrideMaterial,
+                       "Boolean that tells whether material information is stored inside the given GeometryObject.")
+        .def_readwrite("meshTexturePath", &GeometryObject::meshTexturePath,
+                       "Path to the mesh texture file.")
+
         .def(bp::self == bp::self)
         .def(bp::self != bp::self)
 
@@ -98,7 +98,7 @@ namespace pinocchio
                                    )
         .def(GeometryObjectPythonVisitor())
         ;
-        
+
         bp::enum_<GeometryType>("GeometryType")
         .value("VISUAL",VISUAL)
         .value("COLLISION",COLLISION)
@@ -107,7 +107,7 @@ namespace pinocchio
       }
 
     };
-    
+
 
   } // namespace python
 } // namespace pinocchio

bindings/python/multibody/model.hpp

@@ -220,8 +220,8 @@ namespace pinocchio
         .add_property("nvs",&Model::nvs)          
         .add_property("parents",&Model::parents)
         .add_property("names",&Model::names)
-        .add_property("name",&Model::name)
-        .add_property("referenceConfigurations", &Model::referenceConfigurations)
+        .def_readwrite("name",&Model::name)
+        .def_readwrite("referenceConfigurations", &Model::referenceConfigurations)
 
         .def_readwrite("rotorInertia",&Model::rotorInertia,
                        "Vector of rotor inertia parameters.")

examples/CMakeLists.txt

@@ -67,7 +67,7 @@ IF(BUILD_PYTHON_INTERFACE)
     inverse-dynamics-derivatives
     )
 
-  IF(BUILD_WITH_UDRF_SUPPORT)
+  IF(BUILD_WITH_URDF_SUPPORT)
     LIST(APPEND ${PROJECT_NAME}_PYTHON_EXAMPLES 
       overview-urdf
       gepetto-viewer
@@ -77,7 +77,7 @@ IF(BUILD_PYTHON_INTERFACE)
       robot-wrapper-viewer
       geometry-models
       )
-  ENDIF(BUILD_WITH_UDRF_SUPPORT)
+  ENDIF(BUILD_WITH_URDF_SUPPORT)
 
   IF(hpp-fcl_FOUND)
     LIST(APPEND ${PROJECT_NAME}_PYTHON_EXAMPLES 

examples/build-reduced-model.py

@@ -1,12 +1,13 @@
 import pinocchio as pin
 import numpy as np
-from os.path import*
+
+from os.path import *
 
 # Goal: Build a reduced model from an existing URDF model by fixing the desired joints at a specified position.
 
 # Load UR robot arm
 # This path refers to Pinocchio source code but you can define your own directory here.
-pinocchio_model_dir = join(dirname(os.dirname(str(abspath(__file__)))), "models")
+pinocchio_model_dir = join(dirname(dirname(str(abspath(__file__)))), "models")
 model_path = pinocchio_model_dir + '/others/robots'
 mesh_dir = model_path
 # You should change here to set up your own URDF file

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>pinocchio</name>
-  <version>2.5.2</version>
+  <version>2.5.3</version>
   <description>A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives.</description>
   <!-- The maintainer listed here is for the ROS release to receive emails for the buildfarm. 
   Please check the repository URL for full list of authors and maintainers. -->

unittest/python/bindings_model.py

@@ -14,6 +14,7 @@ def test_empty_model_sizes(self):
         self.assertEqual(model.nbodies, 1)
         self.assertEqual(model.nq, 0)
         self.assertEqual(model.nv, 0)
+        model.name = "empty_model"
 
     def test_add_joint(self):
         model = pin.Model()