From 255c3a521aea7104377ca7304427db55e005e49b Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 6 Jan 2023 14:11:13 +0100
Subject: [PATCH] allegro has no mass informations
---
unittest/test_load.py | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 4f417b1..a4ac2d7 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -11,13 +11,13 @@ from example_robot_data import load_full
class RobotTestCase(unittest.TestCase):
- def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
+ def check(self, name, expected_nq, expected_nv, one_kg_bodies=[], mass=True):
"""Helper function for the real tests"""
robot, _, urdf, _ = load_full(name, display=False)
self.assertEqual(robot.model.nq, expected_nq)
self.assertEqual(robot.model.nv, expected_nv)
self.assertTrue(hasattr(robot, "q0"))
- if pybullet:
+ if pybullet and mass:
self.check_pybullet(urdf, one_kg_bodies)
def check_pybullet(self, urdf, one_kg_bodies):
@@ -90,10 +90,10 @@ class RobotTestCase(unittest.TestCase):
self.check("panda", 9, 9)
def test_allegro_right(self):
- self.check("allegro_right_hand", 16, 16)
+ self.check("allegro_right_hand", 16, 16, mass=False)
def test_allegro_left(self):
- self.check("allegro_left_hand", 16, 16)
+ self.check("allegro_left_hand", 16, 16, mass=False)
def test_romeo(self):
self.check("romeo", 62, 61)
--
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