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())