test_Gravity.py

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from pathlib import Path
 
import pinocchio as se3
import tsid
 
print("")
print("Test setGravity")
print("")
 
 
filename = str(Path(__file__).resolve().parent)
path = filename + "/../../models/romeo"
urdf = path + "/urdf/romeo.urdf"
vector = se3.StdVec_StdString()
vector.extend(item for item in path)
 
robot = tsid.RobotWrapper(urdf, vector, se3.JointModelFreeFlyer(), False)
 
init_gravity = robot.model().gravity.copy()
 
robot.setGravity(se3.Motion.Zero())
 
no_gravity = robot.model().gravity.copy()
 
print(init_gravity)
print(no_gravity)
 
assert init_gravity != no_gravity
 
print("All test is done")