[pythontest] Moved python tests in unittest folder

unittest/python/bindings_geometry_object.py

 import unittest
 import pinocchio as se3
 import numpy as np
+from pinocchio.utils import eye,zero,rand
+import os
+
+ones = lambda n: np.matrix(np.ones([n, 1] if isinstance(n, int) else n), np.double)
+
+# TODO: remove these lines. Do not use RobotWrapper. Do not use URDF
+from pinocchio.robot_wrapper import RobotWrapper
+current_file =  os.path.dirname(os.path.abspath(__file__))
+romeo_model_dir = os.path.abspath(os.path.join(current_file, '../../models/romeo'))
+romeo_model_path = os.path.abspath(os.path.join(romeo_model_dir, 'romeo_description/urdf/romeo.urdf'))
+hint_list = [romeo_model_dir, "wrong/hint"] # hint list
+robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
+expected_mesh_path = os.path.join(romeo_model_dir,'romeo_description/meshes/V1/collision/LHipPitch.dae')
 
 class TestGeometryObjectBindings(unittest.TestCase):
 
+    v3zero = zero(3)
+    v6zero = zero(6)
+    v3ones = ones(3)
+    m3zero = zero([3,3])
+    m6zero = zero([6,6])
+    m3ones = eye(3)
+    m4ones = eye(4)
+
+    # WARNING: the collision model is the same object is the same for all the tests.
+    # This can cause problems if a test expects the collision model to be in a certain way but a previous test has changed it
+    # Still, at the moment this is not the case.
+    # Loading the URDF and related meshes before each test would make the whole unit test run too slowly
+    # 
+    # TODO: do not use URDF. Then, build self.collision_model from scratch for each test
     def setUp(self):
-        model = se3.buildSampleModelHumanoid()
-        self.collision_model = se3.buildSampleGeometryModelHumanoid(model)
+        self.collision_model = robot.collision_model
+        self.expected_mesh_path = expected_mesh_path
 
     def test_name_get_set(self):
-        col = self.collision_model.geometryObjects[0]
-        self.assertTrue(col.name == 'rlegshoulder_object')
+        col = self.collision_model.geometryObjects[1]
+        self.assertTrue(col.name == 'LHipPitchLink_0')
         col.name = 'new_collision_name'
         self.assertTrue(col.name == 'new_collision_name')
 
     def test_parent_get_set(self):
-        col = self.collision_model.geometryObjects[0]
-        self.assertTrue(col.parentJoint == 2)
-        col.parentJoint = 3
-        self.assertTrue(col.parentJoint == 3)
+        col = self.collision_model.geometryObjects[1]
+        self.assertTrue(col.parentJoint == 4)
+        col.parentJoint = 5
+        self.assertTrue(col.parentJoint == 5)
 
     def test_placement_get_set(self):
-        m = se3.SE3.Identity()
-        new_m = se3.SE3.Random()
-        col = self.collision_model.geometryObjects[0]
+        m = se3.SE3(self.m3ones, self.v3zero)
+        new_m = se3.SE3(rand([3,3]), rand(3))
+        col = self.collision_model.geometryObjects[1]
         self.assertTrue(np.allclose(col.placement.homogeneous,m.homogeneous))
         col.placement = new_m
         self.assertTrue(np.allclose(col.placement.homogeneous , new_m.homogeneous))
 
     def test_meshpath_get(self):
-        col = self.collision_model.geometryObjects[0]
-        self.assertTrue(col.meshPath == "")
+        col = self.collision_model.geometryObjects[1]
+        self.assertTrue(col.meshPath == self.expected_mesh_path)
 
 if __name__ == '__main__':
     unittest.main()