def test_allegro_client(self):
client = AllegroClient(hand_topic_prefix='/allegroHand_test')
cmd = np.zeros((16, 1))
ret = client.command_joint_position(cmd)
self.assertTrue(ret)
def setUp(self):
self.client = AllegroClient()
self.client.pub_grasp = MockPublisher()
self.client.pub_joint = MockPublisher()
self.client.pub_envelop_torque = MockPublisher()
def test_topic_prefix_trailing_slash(self):
client = AllegroClient(hand_topic_prefix='/Prefix/')
self.assertEqual('/Prefix/lib_cmd', client.pub_grasp.name)
