old_contents: import os
  import matplotlib.pyplot as plt
  
  # ikpy imports
  from ikpy import chain
  from ikpy import URDF_utils
  from ikpy import plot_utils
  
  
  def test_urdf_chain(resources_path):
      """Test that we can open chain from a URDF file"""
      chain1 = chain.Chain.from_urdf_file(
          os.path.join(resources_path, "poppy_torso.URDF"),
          base_elements=[
              "base", "abs_z", "spine", "bust_y", "bust_motors", "bust_x",
              "chest", "r_shoulder_y"
          ],
          last_link_vector=[0, 0.18, 0],
          active_links_mask=[
              False, False, False, False, True, True, True, True, True
          ])
  
      joints = [0] * len(chain1.links)
      joints[-4] = 0
      ax = plot_utils.init_3d_figure()
      chain1.plot(joints, ax)
      plt.show()
      plt.savefig("out/chain1.jpg")
  
  
  def test_urdf_parser(resources_path):
      """Test the correctness of a URDF parser"""
      urdf_file = os.path.join(resources_path, "poppy_torso.URDF")
      base_elements = [
              "base", "abs_z", "spine", "bust_y", "bust_motors", "bust_x",
              "chest", "r_shoulder_y"
          ]
      last_link_vector = [0, 0.18, 0]
  
      links = URDF_utils.get_urdf_parameters(urdf_file, base_elements=base_elements, last_link_vector=last_link_vector)
  
      assert len(links) == len(base_elements)
  
new_contents: import os
  import matplotlib.pyplot as plt
  
  # ikpy imports
  from ikpy import chain
  from ikpy import URDF_utils
  from ikpy import plot_utils
  
  
  def test_urdf_chain(resources_path, interactive):
      """Test that we can open chain from a URDF file"""
      chain1 = chain.Chain.from_urdf_file(
          os.path.join(resources_path, "poppy_torso.URDF"),
          base_elements=[
              "base", "abs_z", "spine", "bust_y", "bust_motors", "bust_x",
              "chest", "r_shoulder_y"
          ],
          last_link_vector=[0, 0.18, 0],
          active_links_mask=[
              False, False, False, False, True, True, True, True, True
          ])
  
      joints = [0] * len(chain1.links)
      joints[-4] = 0
      ax = plot_utils.init_3d_figure()
      chain1.plot(joints, ax)
      if interactive:
          plt.show()
      plt.savefig("out/chain1.jpg")
  
  
  def test_urdf_parser(resources_path):
      """Test the correctness of a URDF parser"""
      urdf_file = os.path.join(resources_path, "poppy_torso.URDF")
      base_elements = [
              "base", "abs_z", "spine", "bust_y", "bust_motors", "bust_x",
              "chest", "r_shoulder_y"
          ]
      last_link_vector = [0, 0.18, 0]
  
      links = URDF_utils.get_urdf_parameters(urdf_file, base_elements=base_elements, last_link_vector=last_link_vector)
  
      assert len(links) == len(base_elements)
  
subject: Fix test_URDF test