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Commit 3ea12bd7 authored by Guilhem Saurel's avatar Guilhem Saurel
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Revert "allegro has no mass informations"

parent b00a6c76
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......@@ -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=[], mass=True):
def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
"""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 and mass:
if pybullet:
self.check_pybullet(urdf, one_kg_bodies)
def check_pybullet(self, urdf, one_kg_bodies):
......@@ -96,10 +96,10 @@ class RobotTestCase(unittest.TestCase):
self.check("panda", 9, 9)
def test_allegro_right(self):
self.check("allegro_right_hand", 16, 16, mass=False)
self.check("allegro_right_hand", 16, 16)
def test_allegro_left(self):
self.check("allegro_left_hand", 16, 16, mass=False)
self.check("allegro_left_hand", 16, 16)
def test_romeo(self):
self.check("romeo", 62, 61)
......
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