stderr fix

jhavl · jhavl · commit b69c1d286730 · 2020-10-26T16:00:49.000+10:00
diff --git a/examples/robots.py b/examples/robots.py
@@ -47,10 +47,10 @@
 wx250s = rp.models.wx250s()
 wx250s.base = sm.SE3.Tx(0.7) * sm.SE3.Ty(2.4)
 
-# Kinova robots
-j2n4s300 = rp.models.j2n4s300()
-j2n4s300.base = sm.SE3.Tx(1.2) * sm.SE3.Ty(0)
-j2n4s300.q = j2n4s300.qr
+# # Kinova robots
+# j2n4s300 = rp.models.j2n4s300()
+# j2n4s300.base = sm.SE3.Tx(1.2) * sm.SE3.Ty(0)
+# j2n4s300.q = j2n4s300.qr
 
 # Launch Sim
 env = rp.backend.Swift()
@@ -60,17 +60,17 @@
 env.add(ur3)
 env.add(ur5)
 env.add(ur10)
-# env.add(puma560)
-# env.add(panda)
+env.add(puma560)
+env.add(panda)
 
-# env.add(px100)
-# env.add(px150)
-# env.add(rx150)
-# env.add(rx200)
-# env.add(vx300)
-# env.add(vx300s)
-# env.add(wx200)
-# env.add(wx250)
-# env.add(wx250s)
+env.add(px100)
+env.add(px150)
+env.add(rx150)
+env.add(rx200)
+env.add(vx300)
+env.add(vx300s)
+env.add(wx200)
+env.add(wx250)
+env.add(wx250s)
 
 # env.add(j2n4s300)
diff --git a/examples/test.py b/examples/test.py
@@ -21,3 +21,20 @@
 
 # Add the puma to the simulator
 env.add(puma)
+
+# Tep = puma.fkine() * sm.SE3.Tz(0.1)
+
+# arrived = False
+
+# dt = 0.05
+
+# while not arrived:
+
+#     start = time.time()
+#     v, arrived = rtb.p_servo(puma.fkine(), Tep, 0.1)
+#     puma.qd = np.linalg.pinv(puma.jacobe()) @ v
+#     env.step(50)
+#     stop = time.time()
+
+#     if stop - start < dt:
+#         time.sleep(dt - (stop - start))
diff --git a/roboticstoolbox/backend/VPython/stl.py b/roboticstoolbox/backend/VPython/stl.py
@@ -5,9 +5,24 @@
 
 from vpython import vec, vertex, color, triangle, compound
 from roboticstoolbox.backend.VPython.common_functions import *
-# from roboticstoolbox.tools.stdout_supress import stdout_supress
-# with stdout_supress():
-from stl import mesh
+from io import StringIO
+
+try:
+    from roboticstoolbox.tools.stdout_supress import pipes
+except BaseException:  # pragma nocover
+    from contextlib import contextmanager
+
+    @contextmanager
+    def pipes(stdout=None, stderr=None):
+        pass
+
+_out = StringIO()
+_err = StringIO()
+try:
+    with pipes(stdout=_out, stderr=_err):
+        from stl import mesh
+except BaseException:  # pragma nocover
+    from stl import mesh
 
 
 def import_object_from_numpy_stl(filename, scene):
diff --git a/roboticstoolbox/models/xacro/franka_description/robots/hand.xacro b/roboticstoolbox/models/xacro/franka_description/robots/hand.xacro
@@ -61,7 +61,6 @@
     </link>
     <link name="${ns}_rightfinger">
       <visual>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
         <geometry>
           <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
         </geometry>
diff --git a/roboticstoolbox/robot/Shape.py b/roboticstoolbox/robot/Shape.py
@@ -59,7 +59,7 @@ def __init__(
         self._wT = SE3()
         self.co = None
         self.base = base
-        self.wT = None
+        # self.wT = None
         self.scale = scale
         self.radius = radius
         self.length = length
