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import platform
import pytest
import dartpy as dart
# TODO(JS): Move this to comprehensive category once created
def test_basic():
urdfParser = dart.utils.DartLoader()
kr5 = urdfParser.parseSkeleton("dart://sample/urdf/KR5/KR5 sixx R650.urdf")
assert kr5 is not None
shoulder = kr5.getBodyNode('shoulder')
assert shoulder is not None
elbow = kr5.getBodyNode('elbow')
assert elbow is not None
chain1 = dart.dynamics.Chain(shoulder, elbow, False, 'midchain')
assert chain1 is not None
assert chain1.getNumBodyNodes() is 2
chain2 = dart.dynamics.Chain(shoulder, elbow, True, 'midchain')
assert chain2 is not None
assert chain2.getNumBodyNodes() is 3
assert len(kr5.getPositions()) is not 0
assert kr5.getNumJoints() is not 0
assert kr5.getRootJoint() is not None
assert len(kr5.getRootJoint().getPositions()) is 0
rootBody = kr5.getBodyNode(0)
assert rootBody is not None
rootJoint = kr5.getJoint(0)
assert rootJoint is not None
if __name__ == "__main__":
pytest.main()
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