29 lines
840 B
Python
29 lines
840 B
Python
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"""Document the unsupported historical direct-URDF MuJoCo path.
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The closed-loop simulator uses Pinocchio for the canonical slave dynamics.
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MuJoCo's URDF importer strips the mesh subdirectory from this vendor URDF, so
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the former interactive demo is not a valid automated contract test.
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"""
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from __future__ import annotations
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import unittest
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from pathlib import Path
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CONFIG_ROOT = Path(__file__).resolve().parents[1] / "config"
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SLAVE_URDF = CONFIG_ROOT / "real_slave_7dof.urdf"
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class SlaveMujocoLegacyDemoTest(unittest.TestCase):
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@unittest.skip(
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"legacy direct-URDF MuJoCo demo is unsupported; "
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"canonical slave dynamics are covered by Pinocchio model tests"
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)
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def test_legacy_direct_urdf_import(self) -> None:
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self.assertTrue(SLAVE_URDF.is_file())
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if __name__ == "__main__":
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unittest.main()
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