def test_Place(self): generator_stage = stages.GeneratePose("generator") stage = stages.Place(generator_stage, "place") self._check(stage, "object", "object") self._check(stage, "eef", "eef") self._check(stage, "eef_frame", "eef_frame") self._check(stage, "eef_group", "eef_group") self._check(stage, "eef_parent_group", "eef_parent_group")
def test_ComputeIK(self): generator_stage = stages.GeneratePose("generator") stage = stages.ComputeIK("IK", generator_stage) self._check(stage, "timeout", 0.5) self._check(stage, "eef", "eef") self._check(stage, "group", "group") self._check(stage, "default_pose", "default_pose") self._check(stage, "max_ik_solutions", 1) self.assertRaises(OverflowError, self._check_assign, stage, "max_ik_solutions", -1) self._check(stage, "ignore_collisisons", False) self._check(stage, "ignore_collisisons", True) self._check(stage, "ik_frame", PoseStamped()) self._check(stage, "target_pose", PoseStamped()) self._check(stage, "forwarded_properties", ["name1", "name2", "name3"])
def test_GeneratePose(self): stage = stages.GeneratePose("generate_pose") self._check(stage, "pose", PoseStamped())