def test_load_subgait_unexisting_version_error(self):
self.gait_version_map['walk'][
'right_open'] = 'MV_walk_rightopen_non_existing_banana_version'
with self.assertRaises(FileNotFoundError):
Gait.load_subgait(self.robot, self.resources_folder,
self.gait_name, 'right_open',
self.gait_version_map)
def test_load_subgait_unexisting_gait_error(self):
with self.assertRaises(GaitNameNotFoundError):
Gait.load_subgait(
self.robot,
self.resources_folder,
"walk_small",
"left_swing",
self.gait_version_map,
)
def test_load_subgait_unexisting_subgait_error(self):
with self.assertRaises(SubgaitNameNotFoundError):
Gait.load_subgait(
self.robot,
self.resources_folder,
self.gait_name,
"left_open",
self.gait_version_map,
)
def test_load_subgait_unexisting_version_error(self):
self.gait_version_map["walk"][
"right_open"] = "MV_walk_rightopen_non_existing_banana_version"
with self.assertRaises(FileNotFoundError):
Gait.load_subgait(
self.robot,
self.resources_folder,
self.gait_name,
"right_open",
self.gait_version_map,
)
def test_load_existing_subgait(self):
subgait = Gait.load_subgait(
self.robot,
self.resources_folder,
self.gait_name,
"left_swing",
self.gait_version_map,
)
self.assertIsInstance(subgait, Subgait)