"""Document the unsupported historical direct-URDF MuJoCo path.

The closed-loop simulator uses Pinocchio for the canonical slave dynamics.
MuJoCo's URDF importer strips the mesh subdirectory from this vendor URDF, so
the former interactive demo is not a valid automated contract test.
"""

from __future__ import annotations

import unittest
from pathlib import Path


CONFIG_ROOT = Path(__file__).resolve().parents[1] / "config"
SLAVE_URDF = CONFIG_ROOT / "real_slave_7dof.urdf"


class SlaveMujocoLegacyDemoTest(unittest.TestCase):
    @unittest.skip(
        "legacy direct-URDF MuJoCo demo is unsupported; "
        "canonical slave dynamics are covered by Pinocchio model tests"
    )
    def test_legacy_direct_urdf_import(self) -> None:
        self.assertTrue(SLAVE_URDF.is_file())


if __name__ == "__main__":
    unittest.main()
