Fixed an issue where a value error occurred when optional files were …

…not provided.

src/locomotionbench/environment.py

@@ -418,13 +418,16 @@ def are_columns_matching(self, body_map):
     def reindex_columns(self, body_map):
         # TODO check order for all files in a smart way
         self.files['pos'] = self.get_file('pos').reindex(columns=['time'] + body_map)
-        self.files['vel'] = self.get_file('vel').reindex(columns=['time'] + body_map)
+        if 'vel' not in self.files_not_provided:
+            self.files['vel'] = self.get_file('vel').reindex(columns=['time'] + body_map)
         if 'acc' not in self.files_not_provided:
             self.files['acc'] = self.get_file('acc').reindex(columns=['time'] + body_map)
         if 'trq' not in self.files_not_provided:
             self.files['trq'] = self.get_file('trq').reindex(columns=['time'] + body_map)
 
     def open_file(self, file_type, file, separator):
+        if file is None:
+            return file_type
         try:
             self.files[file_type] = pd.read_csv(file, sep=separator)
         except FileNotFoundError as err:

src/script/run_i3sa.py

@@ -182,7 +182,7 @@ def main(args):
 
 
 ENTRY_USAGE = """
-usage: run_i3s1 tests/reemc_conf/robot.yaml tests/reemc_conf/reemc.lua tests/input/2021_02_19/14/1/pos.csv tests/input/2021_02_19/14/1/vel.csv tests/input/2021_02_19/14/1/acc.csv tests/input/2021_02_19/14/1/trq.csv tests/input/2021_02_19/14/1/ftl.csv tests/input/2021_02_19/14/1/ftr.csv tests/input/2021_02_19/14/1/gaitEvents.yaml output/
+usage: run_i3sa tests/reemc_conf/robot.yaml tests/reemc_conf/reemc.lua tests/input/2021_02_19/14/1/pos.csv tests/input/2021_02_19/14/1/vel.csv tests/input/2021_02_19/14/1/acc.csv tests/input/2021_02_19/14/1/trq.csv tests/input/2021_02_19/14/1/ftl.csv tests/input/2021_02_19/14/1/ftr.csv tests/input/2021_02_19/14/1/gaitEvents.yaml output/
 robot.yaml: robot specific data
 robot.lua: robot description
 joint_states.csv: joint angle file