Merge branch 'release/1.4.6'

docs/Doxyfile

@@ -38,7 +38,7 @@ PROJECT_NAME = "qiBullet"
 # could be handy for archiving the generated documentation or if some version
 # control system is used.
 
-PROJECT_NUMBER = 1.4.5
+PROJECT_NUMBER = 1.4.6
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

qibullet/__init__.py

@@ -11,4 +11,4 @@
 from qibullet.ros_wrapper import PepperRosWrapper
 
 name = 'qibullet'
-__version__ = "1.4.5"
+__version__ = "1.4.6"

qibullet/nao_virtual.py

@@ -235,8 +235,9 @@ def setAngles(self, joint_names, joint_values, percentage_speed):
  containing the name of the joints to be controlled
  joint_values - List of values (or value if only one joint)
  corresponding to the angles in radians to be applied
- percentage_speed - Percentage (or percentages) of the max speed to
- be used for the movement
+ percentage_speed - Percentages of the max speed to be used for
+ each joint, has to be strictly superior to 0 and inferior or equal
+ to 1
  """
  try:
  if type(joint_names) is str:

qibullet/pepper_virtual.py

@@ -241,8 +241,9 @@ def setAngles(self, joint_names, joint_values, percentage_speed):
  containing the name of the joints to be controlled
  joint_values - List of values (or value if only one joint)
  corresponding to the angles in radians to be applied
- percentage_speed - Percentage (or percentages) of the max speed to
- be used for the movement
+ percentage_speed - Percentages of the max speed to be used for
+ each joint, has to be strictly superior to 0 and inferior or equal
+ to 1
  """
  try:
  if type(joint_names) is str:

qibullet/robot_virtual.py

@@ -6,6 +6,7 @@
 from qibullet.camera import *
 from qibullet.link import Link
 from qibullet.joint import Joint
+from qibullet.tools import isNan
 
 IS_VERSION_PYTHON_3 = sys.version_info[0] >= 3
 
@@ -124,7 +125,11 @@ def getLink(self, link_name):
  def setAngles(self, joint_names, joint_values, percentage_speeds):
  """
  Set angles on the robot's joints. Tests have to be performed by the
- child class to guarantee the validity of the input parameters.
+ child class to guarantee the validity of the input parameters. If one
+ of the specified joint values or percentage speed is a NaN, a pybullet
+ error will be raised. Aditionally, if the joint_names, joint_values or
+ percentage_speeds don't have the same size, a pybullet error will be
+ raised
 
  Parameters:
  joint_names - List of string containing the name of the joints
@@ -150,6 +155,10 @@ def setAngles(self, joint_names, joint_values, percentage_speeds):
  joint_names,
  joint_values,
  percentage_speeds):
+
+ if isNan(joint_value):
+ raise pybullet.error(
+ "Joint value specified for " + joint_name + " is a NaN")
 
  joint_speed =\
  self.joint_dict[joint_name].getMaxVelocity() *\

qibullet/romeo_virtual.py

@@ -226,8 +226,9 @@ def setAngles(self, joint_names, joint_values, percentage_speed):
  containing the name of the joints to be controlled
  joint_values - List of values (or value if only one joint)
  corresponding to the angles in radians to be applied
- percentage_speed - Percentage (or percentages) of the max speed to
- be used for the movement
+ percentage_speed - Percentages of the max speed to be used for
+ each joint, has to be strictly superior to 0 and inferior or equal
+ to 1
  """
  try:
  if type(joint_names) is str:

qibullet/tools.py

@@ -39,6 +39,19 @@ def computeVelocity(acc, vel_min, vel_max, dist_traveled, dist_remained):
  return vel_computed
 
 
+def isNan(number):
+ """
+ Check if a number is a NaN.
+
+ Args:
+ number (float, int): The number variable to be tested
+
+ Returns:
+ bool: True if the variable is a NaN, false otherwise
+ """
+ return number != number
+
+
 def _get_resources_root_folder(): # pragma: no cover
  """
  Returns the path to the resources' root folder (.qibullet folder in the

setup.py

@@ -86,7 +86,7 @@ def run(self):
 
 setuptools.setup(
  name="qibullet",
- version="1.4.5",
+ version="1.4.6",
  author="Maxime Busy, Maxime Caniot",
  author_email="",
  description="Bullet-based simulation for SoftBank Robotics' robots",
@@ -127,6 +127,5 @@ def run(self):
  "Operating System :: Microsoft",
  'Topic :: Games/Entertainment :: Simulation',
  'Topic :: Scientific/Engineering :: Artificial Intelligence',
- 'Framework :: Robot Framework :: Tool'
  ]
 )

tests/joint_test.py

@@ -89,6 +89,11 @@ def test_set_angles(self):
  with self.assertRaises(pybullet.error):
  JointTest.robot.setAngles("HeadRoll", "wrong", 0.5)
  JointTest.robot.setAngles(["HeadRoll", "HeadPitch"], 2, 0.5)
+ JointTest.robot.setAngles("HeadPitch", float("NaN"), 0.5)
+ JointTest.robot.setAngles(
+ ["HeadRoll", "HeadPitch"],
+ [float("NaN"), 0.5],
+ 0.5)
 
  for i in range(iterations):
  angles = list()