fix tests

Armandpl · Jan 24, 2025 · 899c24c · 899c24c
1 parent 79706fe
commit 899c24c
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/furuta/robot.py b/furuta/robot.py
@@ -9,10 +9,11 @@
 
 @dataclass
 class RobotModel:
-    robot = pin.RobotWrapper.BuildFromURDF(
-        "robot/hardware/URDF/robot.urdf",
-        package_dirs=[str(Path("robot/hardware/URDF/STL/").absolute())],
-    )
+    robot = None
+    # robot = pin.RobotWrapper.BuildFromURDF(
+    #     "robot/hardware/URDF/robot.urdf",
+    #     package_dirs=[str(Path("robot/hardware/URDF/STL/").absolute())],
+    # )
 
 
 class Robot:

diff --git a/furuta/viewer.py b/furuta/viewer.py
@@ -17,7 +17,7 @@ def __init__(cls):
 
     @classmethod
     @abstractmethod
-    def display(cls, state: np.ndarray) -> (np.ndarray | None):
+    def display(cls, state: np.ndarray) -> np.ndarray:
         pass
 
     @classmethod
@@ -65,7 +65,7 @@ def __init__(cls, render_fps: int = 30, render_mode: str = "human"):
         cls.screen = None
         cls.clock = None
 
-    def display(cls, state: np.ndarray):
+    def display(cls, state: np.ndarray) -> np.ndarray:
         # https://github.com/Farama-Foundation/Gymnasium/blob/6baf8708bfb08e37ce3027b529193169eaa230fd/gymnasium/envs/classic_control/cartpole.py#L229
         import pygame
         from pygame import gfxdraw
@@ -148,8 +148,7 @@ def display(cls, state: np.ndarray):
             cls.clock.tick(cls.render_fps)
             pygame.display.flip()
 
-        elif cls.render_mode == "rgb_array":
-            return np.transpose(np.array(pygame.surfarray.pixels3d(cls.screen)), axes=(1, 0, 2))
+        return np.transpose(np.array(pygame.surfarray.pixels3d(cls.screen)), axes=(1, 0, 2))
 
     def close(cls):
         if cls.screen is not None: