From 1a828c6ac2e0f141625b779402aaeb425a8a76ff Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 21 May 2021 19:51:02 +0200
Subject: [PATCH] tiago_dual: add loader & unit-test
---
python/example_robot_data/robots_loader.py | 5 +++++
unittest/test_load.py | 3 +++
2 files changed, 8 insertions(+)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 89e1427..128042b 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -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,
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 8a537b8..37af255 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -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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