simple_humanoid: add loader & tests

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,

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)