def deploy_service_registry_and_set_urls(
    private_keys, web3, contract_manager, service_registry_address
) -> Tuple[ServiceRegistry, List[str]]:
    urls = ["http://foo", "http://boo", "http://coo"]
    c1_client = JSONRPCClient(web3, private_keys[0])
    c1_service_proxy = ServiceRegistry(
        jsonrpc_client=c1_client,
        service_registry_address=service_registry_address,
        contract_manager=contract_manager,
    )
    c2_client = JSONRPCClient(web3, private_keys[1])
    c2_service_proxy = ServiceRegistry(
        jsonrpc_client=c2_client,
        service_registry_address=service_registry_address,
        contract_manager=contract_manager,
    )
    c3_client = JSONRPCClient(web3, private_keys[2])
    c3_service_proxy = ServiceRegistry(
        jsonrpc_client=c3_client,
        service_registry_address=service_registry_address,
        contract_manager=contract_manager,
    )

    # Test that getting a random service for an empty registry returns None
    pfs_address = get_random_service(c1_service_proxy, "latest")
    assert pfs_address is None

    # Test that setting the urls works
    c1_service_proxy.set_url(urls[0])
    c2_service_proxy.set_url(urls[1])
    c3_service_proxy.set_url(urls[2])

    return c1_service_proxy, urls
def torque(pos, torque, ax=0):
    """creates plot from torque vs position"""
    k = 20
    alpha = np.linspace(pos[0], pos[-1],
                        k*len(torque))
    f = ip.interp1d(pos, torque, kind='quadratic')
    unit = 'Nm'
    scale = 1
    if np.min(torque) < -9.9e3 or np.max(torque) > 9.9e3:
        scale = 1e-3
        unit = 'kNm'
    if ax == 0:
        ax = plt.gca()
    ax.set_title('Torque / {}'.format(unit))
    ax.grid(True)
    ax.plot(pos, [scale*t for t in torque], 'go')
    ax.plot(alpha, scale*f(alpha))
    if np.min(torque) > 0 and np.max(torque) > 0:
        ax.set_ylim(bottom=0)
    elif np.min(torque) < 0 and np.max(torque) < 0:
        ax.set_ylim(top=0)