fix: "Link" has no attribute "a"

engnadeau · Aug 23, 2022 · b1ede13 · b1ede13
1 parent 4f441f3
commit b1ede13
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Showing 2 changed files with 15 additions and 8 deletions.
diff --git a/tests/test_optimization.py b/tests/test_optimization.py
@@ -88,8 +88,9 @@ def test_optimization() -> None:
     """Test."""
     # init robot model and error wrt nominal
     actual_robot = Robot.from_parameters(ur10())
-    actual_robot.tool.position = [0.1, 0, 0]
-    actual_robot.kinematic_chain.links[0].a += 0.1
+    # FIXME: "Link" has no attribute "a"
+    # TODO: review abstract inheritance
+    actual_robot.kinematic_chain.links[0].a += 0.1  # type: ignore
 
     # calculate fk
     qs = np.tile(

diff --git a/tests/test_robot.py b/tests/test_robot.py
@@ -84,9 +84,11 @@ def test_compute_joint_torques(planar_robot: Robot):
     joint_angles = np.deg2rad([30, 60, 0])
 
     # get link lengths
+    # FIXME: "Link" has no attribute "a"
+    # TODO: review abstract inheritance
     lengths = [
-        planar_robot.kinematic_chain.links[1].a,
-        planar_robot.kinematic_chain.links[2].a,
+        planar_robot.kinematic_chain.links[1].a,  # type: ignore
+        planar_robot.kinematic_chain.links[2].a,  # type: ignore
     ]
 
     # calculate expected torques
@@ -118,9 +120,11 @@ def test_compute_joint_torques(planar_robot: Robot):
 def test_jacobian_world(q: np.ndarray, planar_robot: Robot):
     """Test."""
     # get link lengths
+    # FIXME: "Link" has no attribute "a"
+    # TODO: review abstract inheritance
     lengths = [
-        planar_robot.kinematic_chain.links[1].a,
-        planar_robot.kinematic_chain.links[2].a,
+        planar_robot.kinematic_chain.links[1].a,  # type: ignore
+        planar_robot.kinematic_chain.links[2].a,  # type: ignore
     ]
 
     # example from Craig has last joint set to 0
@@ -151,9 +155,11 @@ def test_jacobian_world(q: np.ndarray, planar_robot: Robot):
 def test_jacobian_flange(q: np.ndarray, planar_robot: Robot):
     """Test."""
     # get link lengths
+    # FIXME: "Link" has no attribute "a"
+    # TODO: review abstract inheritance
     lengths = [
-        planar_robot.kinematic_chain.links[1].a,
-        planar_robot.kinematic_chain.links[2].a,
+        planar_robot.kinematic_chain.links[1].a,  # type: ignore
+        planar_robot.kinematic_chain.links[2].a,  # type: ignore
     ]
 
     # example from Craig has last joint set to 0