From 80c372da1108dd82c120cf10e454c8ab834d59bc Mon Sep 17 00:00:00 2001
From: Brian Delhaisse <briandelhaisse@gmail.com>
Date: Thu, 13 Jun 2019 22:33:39 +0200
Subject: [PATCH] fix errors appearing when using Py3.5

---
 pyrobolearn/robots/anymal.py       |  2 +-
 pyrobolearn/robots/base.py         |  5 +++++
 pyrobolearn/simulators/__init__.py |  2 +-
 pyrobolearn/states/body_states.py  | 12 +++++++++---
 4 files changed, 16 insertions(+), 5 deletions(-)

diff --git a/pyrobolearn/robots/anymal.py b/pyrobolearn/robots/anymal.py
index 2cddd0f..7f5c94c 100644
--- a/pyrobolearn/robots/anymal.py
+++ b/pyrobolearn/robots/anymal.py
@@ -5,7 +5,7 @@
 import os
 import numpy as np
 
-from legged_robot import QuadrupedRobot
+from pyrobolearn.robots.legged_robot import QuadrupedRobot
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
diff --git a/pyrobolearn/robots/base.py b/pyrobolearn/robots/base.py
index 0b66eec..cab987a 100644
--- a/pyrobolearn/robots/base.py
+++ b/pyrobolearn/robots/base.py
@@ -6,11 +6,16 @@ Dependencies:
 - `pyrobolearn.utils`
 """
 
+import sys
 import copy
 
 from pyrobolearn.simulators import Simulator
 from pyrobolearn.utils.transformation import get_rpy_from_quaternion, get_matrix_from_quaternion
 
+# define long for Python 3.x
+if int(sys.version[0]) == 3:
+    long = int
+
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
diff --git a/pyrobolearn/simulators/__init__.py b/pyrobolearn/simulators/__init__.py
index 1982910..ed06018 100644
--- a/pyrobolearn/simulators/__init__.py
+++ b/pyrobolearn/simulators/__init__.py
@@ -9,7 +9,7 @@ from .bullet import Bullet
 from .bullet import Bullet as BulletSim  # alias  # TODO: remove that alias
 
 # dart simulator
-from .dart import Dart
+# from .dart import Dart
 
 # # PyBullet simulator
 # import pybullet
diff --git a/pyrobolearn/states/body_states.py b/pyrobolearn/states/body_states.py
index f04e005..c219c33 100644
--- a/pyrobolearn/states/body_states.py
+++ b/pyrobolearn/states/body_states.py
@@ -4,12 +4,17 @@
 This includes notably the joint positions, velocities, and force/torque states.
 """
 
+import sys
 from abc import ABCMeta, abstractmethod
 
 from pyrobolearn.states.state import State
 from pyrobolearn.worlds import World
 from pyrobolearn.robots import Body
 
+# define long for Python 3.x
+if int(sys.version[0]) == 3:
+    long = int
+
 
 __author__ = "Brian Delhaisse"
 __copyright__ = "Copyright 2018, PyRoboLearn"
@@ -49,9 +54,10 @@ class BodyState(State):
         """
 
         super(BodyState, self).__init__(window_size=window_size, axis=axis, ticks=ticks)
-        if not isinstance(body, (Body, int)):
-            raise TypeError("Expecting an instance of Body, or an identifier from the simulator/world.")
-        if isinstance(body, int):
+        if not isinstance(body, (Body, int, long)):
+            raise TypeError("Expecting an instance of Body, or an identifier from the simulator/world, instead got: "
+                            "{}".format(type(body)))
+        if isinstance(body, (int, long)):
             if not isinstance(world, World):
                 # try to look for the world in global variables
                 if 'world' in globals() and isinstance(globals()['world'], World):  # O(1)