remove encoding from stickbot for tests with hardware parameters

CarlottaSartore · Nov 7, 2023 · 5bec824 · 5bec824
1 parent 0903bd1
commit 5bec824
Show file tree

Hide file tree

Showing 4 changed files with 36 additions and 0 deletions.
diff --git a/tests/parametric/test_CasADi_computations_parametric.py b/tests/parametric/test_CasADi_computations_parametric.py
@@ -23,6 +23,15 @@
 Repo.clone_from(git_url, temp_dir.name)
 model_path = temp_dir.name + "/models/stickBot/model.urdf"
 
+## Ack to remove the encoding urdf, see https://github.com/icub-tech-iit/ergocub-gazebo-simulations/issues/49
+robot_file_read = open(model_path, "r")
+robot_urdf_string = robot_file_read.read()
+robot_urdf_string = robot_urdf_string.replace("<?xml", "")
+robot_urdf_string = robot_urdf_string.replace("version='1.0'", "")
+robot_urdf_string = robot_urdf_string.replace("encoding='UTF-8'?>", "")
+robot_file_write = open(model_path, "w")
+robot_file_write.write(robot_urdf_string)
+
 joints_name_list = [
     "torso_pitch",
     "torso_roll",

diff --git a/tests/parametric/test_Jax_computations_parametric.py b/tests/parametric/test_Jax_computations_parametric.py
@@ -27,6 +27,15 @@
 Repo.clone_from(git_url, temp_dir.name)
 model_path = temp_dir.name + "/models/stickBot/model.urdf"
 
+## Ack to remove the encoding urdf, see https://github.com/icub-tech-iit/ergocub-gazebo-simulations/issues/49
+robot_file_read = open(model_path, "r")
+robot_urdf_string = robot_file_read.read()
+robot_urdf_string = robot_urdf_string.replace("<?xml", "")
+robot_urdf_string = robot_urdf_string.replace("version='1.0'", "")
+robot_urdf_string = robot_urdf_string.replace("encoding='UTF-8'?>", "")
+robot_file_write = open(model_path, "w")
+robot_file_write.write(robot_urdf_string)
+
 joints_name_list = [
     "torso_pitch",
     "torso_roll",

diff --git a/tests/parametric/test_NumPy_computations_parametric.py b/tests/parametric/test_NumPy_computations_parametric.py
@@ -24,6 +24,15 @@
 Repo.clone_from(git_url, temp_dir.name)
 model_path = temp_dir.name + "/models/stickBot/model.urdf"
 
+## Ack to remove the encoding urdf, see https://github.com/icub-tech-iit/ergocub-gazebo-simulations/issues/49
+robot_file_read = open(model_path, "r")
+robot_urdf_string = robot_file_read.read()
+robot_urdf_string = robot_urdf_string.replace("<?xml", "")
+robot_urdf_string = robot_urdf_string.replace("version='1.0'", "")
+robot_urdf_string = robot_urdf_string.replace("encoding='UTF-8'?>", "")
+robot_file_write = open(model_path, "w")
+robot_file_write.write(robot_urdf_string)
+
 joints_name_list = [
     "torso_pitch",
     "torso_roll",

diff --git a/tests/parametric/test_pytorch_computations_parametric.py b/tests/parametric/test_pytorch_computations_parametric.py
@@ -26,6 +26,15 @@
 Repo.clone_from(git_url, temp_dir.name)
 model_path = temp_dir.name + "/models/stickBot/model.urdf"
 
+## Ack to remove the encoding urdf, see https://github.com/icub-tech-iit/ergocub-gazebo-simulations/issues/49
+robot_file_read = open(model_path, "r")
+robot_urdf_string = robot_file_read.read()
+robot_urdf_string = robot_urdf_string.replace("<?xml", "")
+robot_urdf_string = robot_urdf_string.replace("version='1.0'", "")
+robot_urdf_string = robot_urdf_string.replace("encoding='UTF-8'?>", "")
+robot_file_write = open(model_path, "w")
+robot_file_write.write(robot_urdf_string)
+
 joints_name_list = [
     "torso_pitch",
     "torso_roll",