WIP: Start ValueError issue exception for Pinocchio tests

Author: stephane-caron

robot_descriptions/_descriptions.py

@@ -75,15 +75,15 @@ def has_urdf(self) -> bool:
     # "a1_mj_description": Description(Format.MJCF),
     # "aliengo_description": Description(Format.MJCF),
     # "allegro_hand_description": Description(Format.URDF),
-    "anymal_b_description": Description(Format.URDF),
+    # "anymal_b_description": Description(Format.URDF),
     # "anymal_b_mj_description": Description(Format.MJCF),
     # "anymal_c_description": Description(Format.URDF),
     # "anymal_c_mj_description": Description(Format.MJCF),
     # "atlas_drc_description": Description(Format.URDF),
     # "atlas_v4_description": Description(Format.URDF),
     # "baxter_description": Description(Format.URDF),
-    # "bolt_description": Description(Format.URDF),
-    # "cassie_description": Description(Format.URDF),
+    "bolt_description": Description(Format.URDF),
+    "cassie_description": Description(Format.URDF),
     # "cassie_mj_description": Description(Format.MJCF),
     # "cf2_description": Description(Format.URDF),
     # "double_pendulum_description": Description(Format.URDF),

tests/test_pinocchio.py

@@ -63,12 +63,19 @@ def test(self):
     "pr2_description",
 }
 
+VALUE_ERROR_ISSUE = {
+    "anymal_b_description",
+}
+
 for name, description in DESCRIPTIONS.items():
     if name in USE_RELATIVE_PATHS:
         # Those descriptions won't pass until the following fix hits release:
         # Issue: https://github.com/stack-of-tasks/pinocchio/issues/1741
         # PR: https://github.com/stack-of-tasks/pinocchio/pull/1742
         continue
+    if name in VALUE_ERROR_ISSUE:
+        # ValueError: Argument geometry_model should be a GeometryModel
+        continue
     if description.has_urdf:
         setattr(
             TestPinocchio,