From 043bfebcf57d85f159b8e1c9c5ff58e24f30c121 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 10 Mar 2021 12:32:33 +0100
Subject: [PATCH] simple_humanoid: add loader & tests
---
python/example_robot_data/robots_loader.py | 15 +++++++++++++++
unittest/test_load.py | 6 ++++++
2 files changed, 21 insertions(+)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 6c0c97a..5ebb5b4 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -426,6 +426,19 @@ def loadRomeo():
return RomeoLoader().robot
+class SimpleHumanoidLoader(RobotLoader):
+ path = 'simple_humanoid_description'
+ urdf_subpath = 'urdf'
+ urdf_filename = 'simple_humanoid.urdf'
+ srdf_filename = 'simple_humanoid.srdf'
+ free_flyer = True
+
+
+class SimpleHumanoidClassicalLoader(SimpleHumanoidLoader):
+ urdf_filename = 'simple_humanoid_classical.urdf'
+ srdf_filename = 'simple_humanoid_classical.srdf'
+
+
class IrisLoader(RobotLoader):
path = "iris_description"
urdf_filename = "iris_simple.urdf"
@@ -449,6 +462,8 @@ ROBOTS = {
'kinova': KinovaLoader,
'panda': PandaLoader,
'romeo': RomeoLoader,
+ 'simple_humanoid': SimpleHumanoidLoader,
+ 'simple_humanoid_classical': SimpleHumanoidClassicalLoader,
'solo': SoloLoader,
'solo12': Solo12Loader,
'talos': TalosLoader,
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 604c3ea..4330759 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -64,6 +64,12 @@ class RobotTestCase(unittest.TestCase):
def test_romeo(self):
self.check('romeo', 62, 61)
+ def test_simple_humanoid(self):
+ self.check('simple_humanoid', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
+
+ def test_simple_humanoid_classical(self):
+ self.check('simple_humanoid_classical', 36, 35, one_kg_bodies=['LARM_LINK3', 'RARM_LINK3'])
+
def test_solo(self):
self.check('solo', 15, 14)
--
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