old_contents: import pytest
  import json
  
  # IKPy imports
  from ikpy.chain import Chain
  
  
  @pytest.fixture
  def resources_path():
      return "../resources"
  
  
  def pytest_addoption(parser):
      parser.addoption(
          "--interactive", action="store_true", help="activate interactive mode"
      )
  
  
  @pytest.fixture
  def interactive(request):
      return request.config.getoption("--interactive")
  
  
  @pytest.fixture
  def baxter_urdf():
      return "../resources/baxter/baxter.urdf"
  
  
  @pytest.fixture
  def baxter_left_arm():
      with open("../resources/baxter/baxter_left_arm_elements.json", "r") as fd:
          baxter_left_arm_elements = json.load(fd)
  
      baxter_left_arm_chain = Chain.from_urdf_file(
          "../resources/baxter/baxter.urdf",
          base_elements=baxter_left_arm_elements,
          last_link_vector=[0, 0.18, 0],
          active_links_mask=3 * [False] + 10 * [True],
          symbolic=False)
      return baxter_left_arm_chain
  
  
  @pytest.fixture
  def torso_right_arm():
      chain1 = Chain.from_urdf_file(
          "../resources/poppy_torso/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
          ],
          name="poppy_torso_right_arm"
      )
      return chain1
  
  
  @pytest.fixture
  def torso_left_arm():
      return Chain.from_urdf_file(
          "../resources/poppy_torso/poppy_torso.URDF",
          base_elements=[
              "base", "abs_z", "spine", "bust_y", "bust_motors", "bust_x",
              "chest", "l_shoulder_y"
          ],
          last_link_vector=[0, 0.18, 0],
          active_links_mask=[
              False, False, False, False, True, True, True, True, True
          ],
          name="poppy_torso_left_arm"
      )
  
new_contents: import pytest
  import json
  
  # IKPy imports
  from ikpy.chain import Chain
  
  
  @pytest.fixture
  def resources_path():
      return "../resources"
  
  
  def pytest_addoption(parser):
      parser.addoption(
          "--interactive", action="store_true", help="activate interactive mode"
      )
  
  
  @pytest.fixture
  def interactive(request):
      return request.config.getoption("--interactive")
  
  
  @pytest.fixture
  def baxter_urdf():
      return "../resources/baxter/baxter.urdf"
  
  
  @pytest.fixture
  def baxter_left_arm():
      with open("../resources/baxter/baxter_left_arm.json", "r") as fd:
          baxter_left_arm_elements = json.load(fd)
  
      baxter_left_arm_chain = Chain.from_urdf_file(
          "../resources/baxter/baxter.urdf",
          base_elements=baxter_left_arm_elements,
          last_link_vector=[0, 0.18, 0],
          active_links_mask=3 * [False] + 10 * [True],
          symbolic=False)
      return baxter_left_arm_chain
  
  
  @pytest.fixture
  def torso_right_arm():
      chain1 = Chain.from_urdf_file(
          "../resources/poppy_torso/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
          ],
          name="poppy_torso_right_arm"
      )
      return chain1
  
  
  @pytest.fixture
  def torso_left_arm():
      return Chain.from_urdf_file(
          "../resources/poppy_torso/poppy_torso.URDF",
          base_elements=[
              "base", "abs_z", "spine", "bust_y", "bust_motors", "bust_x",
              "chest", "l_shoulder_y"
          ],
          last_link_vector=[0, 0.18, 0],
          active_links_mask=[
              False, False, False, False, True, True, True, True, True
          ],
          name="poppy_torso_left_arm"
      )
  
subject: Fix tests