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30 lines
894 B
30 lines
894 B
2 years ago
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#include <gtest/gtest.h>
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#include "drake/multibody/parsing/parser.h"
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#include "drake/multibody/plant/multibody_plant.h"
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#include "drake/systems/framework/diagram_builder.h"
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namespace drake {
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namespace examples {
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namespace pr2 {
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// Tests if the model from pr2_simplified.urdf loads with no errors.
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GTEST_TEST(LoadPr2SimplifiedTest, TestIfPr2SimplifiedLoads) {
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systems::DiagramBuilder<double> builder;
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multibody::MultibodyPlant<double>& plant =
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multibody::AddMultibodyPlantSceneGraph(&builder, 0.0 /* time_step */);
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multibody::Parser parser(&plant);
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parser.AddModelsFromUrl(
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"package://drake/examples/pr2/models/pr2_description/urdf/"
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"pr2_simplified.urdf");
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plant.Finalize();
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EXPECT_EQ(plant.num_actuators(), 28);
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EXPECT_EQ(plant.num_positions(), 28);
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EXPECT_EQ(plant.num_bodies(), 84);
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}
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} // namespace pr2
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} // namespace examples
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} // namespace drake
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