Commit 1a828c6a authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

tiago_dual: add loader & unit-test

parent dfacc5aa
......@@ -283,6 +283,10 @@ class TiagoLoader(RobotLoader):
urdf_filename = "tiago.urdf"
class TiagoDualLoader(TiagoLoader):
urdf_filename = "tiago_dual.urdf"
class TiagoNoHandLoader(TiagoLoader):
urdf_filename = "tiago_no_hand.urdf"
......@@ -485,6 +489,7 @@ ROBOTS = {
'talos_full': TalosFullLoader,
'talos_full_box': TalosFullBoxLoader,
'tiago': TiagoLoader,
'tiago_dual': TiagoDualLoader,
'tiago_no_hand': TiagoNoHandLoader,
'ur3': UR5Loader,
'ur3_gripper': UR3GripperLoader,
......
......@@ -100,6 +100,9 @@ class RobotTestCase(unittest.TestCase):
def test_tiago(self):
self.check('tiago', 50, 48)
def test_tiago_dual(self):
self.check('tiago_dual', 111, 101)
def test_tiago_no_hand(self):
self.check('tiago_no_hand', 14, 12)
......
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