bindings_sample_models.py

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import unittest
from test_case import PinocchioTestCase as TestCase
 
import pinocchio as pin
 
 
class TestSampleModels(TestCase):
    def setUp(self):
        pass
 
    def test_all_sampled_models(self):
        huamnoid_1 = pin.buildSampleModelHumanoidRandom()
        huamnoid_2 = pin.buildSampleModelHumanoidRandom(True)
        huamnoid_3 = pin.buildSampleModelHumanoidRandom(False)
 
        self.assertTrue(huamnoid_1 != huamnoid_2)
        self.assertTrue(huamnoid_1 != huamnoid_3)
 
        manipulator_1 = pin.buildSampleModelManipulator()
 
        if pin.WITH_HPP_FCL:
            geometry_manipulator_1 = pin.buildSampleGeometryModelManipulator(
                manipulator_1
            )
 
        humanoid_4 = pin.buildSampleModelHumanoid()
        humanoid_5 = pin.buildSampleModelHumanoid(True)
        humanoid_6 = pin.buildSampleModelHumanoid(False)
 
        self.assertTrue(humanoid_4 == humanoid_5)
        self.assertTrue(humanoid_4 != humanoid_6)
 
        if pin.WITH_HPP_FCL:
            geometry_humanoid_2 = pin.buildSampleGeometryModelHumanoid(humanoid_4)
 
 
if __name__ == "__main__":
    unittest.main()