Commit dd54c6e7 authored by Guilhem Saurel's avatar Guilhem Saurel
Browse files

add baxter

parent 581f4c1a
Pipeline #14605 passed with stage
in 2 minutes and 27 seconds
......@@ -98,6 +98,12 @@ class ANYmalKinovaLoader(ANYmalLoader):
ref_posture = "standing_with_arm_up"
class BaxterLoader(RobotLoader):
path = "baxter_description"
urdf_filename = "baxter.urdf"
urdf_subpath = "urdf"
def loadANYmal(withArm=None):
if withArm:
warnings.warn(_depr_msg('loadANYmal(kinova)', 'anymal_kinova'), FutureWarning, 2)
......@@ -453,6 +459,7 @@ def loadIris():
ROBOTS = {
'anymal': ANYmalLoader,
'anymal_kinova': ANYmalKinovaLoader,
'baxter': BaxterLoader,
'double_pendulum': DoublePendulumLoader,
'hector': HectorLoader,
'hyq': HyQLoader,
......
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......@@ -37,6 +37,9 @@ class RobotTestCase(unittest.TestCase):
def test_anymal_kinova(self):
self.check('anymal_kinova', 25, 24)
def test_baxter(self):
self.check('baxter', 15, 15)
def test_double_pendulum(self):
self.check('double_pendulum', 2, 2)
......
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