Fix model_testing.py

Relates to #336
dfki-ric · Feb 13, 2024 · f0a292e · f0a292e
1 parent 866d796
commit f0a292e
Showing 1 changed file with 9 additions and 7 deletions.
diff --git a/phobos/ci/model_testing.py b/phobos/ci/model_testing.py
@@ -25,15 +25,15 @@ def __init__(self, new_model, compare_model=None):
         self.old_hyrodyn = None
         self.new_hml_test = get_load_report(self.new.robot.xmlfile, self.new.robot.submechanisms_file)
         self.new_sm_hml_test = []
-        if len([x for x in self.new.robot.submodel_defs if not x["name"].startswith("#submech#")]) > 0:
+        if len([x for name, x in self.new.robot.submodel_defs.items() if not name.startswith("#submech#")]) > 0:
             sm_path = os.path.join(self.new.exportdir, "submodels")
-            for au in self.new.robot.submodel_defs:
-                if au["name"].startswith("#submech#"):
+            for name, au in self.new.robot.submodel_defs.items():
+                if name.startswith("#submech#"):
                     continue
                 self.new_sm_hml_test += [{
-                    "name": au["name"],
-                    "urdf": os.path.join(sm_path, au["name"], "urdf", au["name"] + ".urdf"),
-                    "submech": os.path.normpath(os.path.join(sm_path, au["name"], "smurf", au["name"] + "_submechanisms.yml"))
+                    "name": name,
+                    "urdf": os.path.join(sm_path, name, "urdf", name + ".urdf"),
+                    "submech": os.path.normpath(os.path.join(sm_path, name, "smurf", name + "_submechanisms.yml"))
                 }]
                 self.new_sm_hml_test[-1]["report"] = get_load_report(
                     self.new_sm_hml_test[-1]["urdf"],
@@ -267,10 +267,12 @@ def test_compare_amount_joints(self):
         return len(self.new.robot.joints) == len(self.old.joints)
 
     def test_load_in_pybullet(self):
-        if not PYBULLET_AVAILABLE:
             log.warning('Pybullet not present')
             return True
+        from ..defs import  check_pybullet_available
+        if not check_pybullet_available():
         try:
+            import pybullet as pb
             client = pb.connect(pb.DIRECT)
             pb.loadURDF(os.path.join(self.new.robot.xmlfile), physicsClientId=client)
             pb.disconnect(client)