Commit 043bfebc authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

simple_humanoid: add loader & tests

parent 773b36ff
Pipeline #13423 passed with stage
in 1 minute and 39 seconds
......@@ -426,6 +426,19 @@ def loadRomeo():
return RomeoLoader().robot
class SimpleHumanoidLoader(RobotLoader):
path = 'simple_humanoid_description'
urdf_subpath = 'urdf'
urdf_filename = 'simple_humanoid.urdf'
srdf_filename = 'simple_humanoid.srdf'
free_flyer = True
class SimpleHumanoidClassicalLoader(SimpleHumanoidLoader):
urdf_filename = 'simple_humanoid_classical.urdf'
srdf_filename = 'simple_humanoid_classical.srdf'
class IrisLoader(RobotLoader):
path = "iris_description"
urdf_filename = "iris_simple.urdf"
......@@ -449,6 +462,8 @@ ROBOTS = {
'kinova': KinovaLoader,
'panda': PandaLoader,
'romeo': RomeoLoader,
'simple_humanoid': SimpleHumanoidLoader,
'simple_humanoid_classical': SimpleHumanoidClassicalLoader,
'solo': SoloLoader,
'solo12': Solo12Loader,
'talos': TalosLoader,
......
......@@ -64,6 +64,12 @@ class RobotTestCase(unittest.TestCase):
def test_romeo(self):
self.check('romeo', 62, 61)
def test_simple_humanoid(self):
self.check('simple_humanoid', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
def test_simple_humanoid_classical(self):
self.check('simple_humanoid_classical', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
def test_solo(self):
self.check('solo', 15, 14)
......
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