def test_urdf_load(self):
rp.models.wx250s()
rp.models.UR5()
rp.models.Panda()
try:
xacro.main("")
except BaseException: # lgtm [py/catch-base-exception]
pass
def test_urdf_visuals(self):
urdf_string = xacro.main(
"roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
urdf = URDF.loadstr(
urdf_string,
"roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
urdf.links[0].visuals[0].name = "Lonk"
self.assertTrue(urdf.links[0].visuals[0].name == "Lonk")
self.assertTrue(
isinstance(
urdf.links[0].visuals[0].origin,
np.ndarray))
urdf.links[0].visuals[0].geometry.box = rp.tools.urdf.Box([1, 2, 3])
self.assertTrue(
isinstance(
urdf.links[0].visuals[0].geometry.geometry,
rp.tools.urdf.Box))
urdf.links[0].visuals[0].geometry.cylinder = \
rp.tools.urdf.Cylinder(1, 2)
urdf.links[0].visuals[0].geometry.sphere = \
rp.tools.urdf.Sphere(2)
nt.assert_array_almost_equal(
urdf.links[0].visuals[0].geometry.box.size,
[1, 2, 3])
self.assertEqual(
urdf.links[0].visuals[0].geometry.cylinder.radius,
1)
self.assertEqual(
urdf.links[0].visuals[0].geometry.sphere.radius,
2)
self.assertTrue(
isinstance(
urdf.links[0].visuals[0].geometry.mesh,
rp.tools.urdf.Mesh))
try:
xacro.main("")
except BaseException: # lgtm [py/catch-base-exception]
pass
def test_urdf_dynamics(self):
urdf_string = xacro.main(
"roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
urdf = URDF.loadstr(
urdf_string,
"roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
self.assertEqual(urdf.joints[0].limit.effort, 87.0)
self.assertEqual(urdf.joints[0].limit.velocity, 2.175)
try:
xacro.main("")
except BaseException: # lgtm [py/catch-base-exception]
pass
def urdf_to_ets_args(self, file_path, tld=None):
"""
[summary]
:param file_path: File path relative to the xacro folder
:type file_path: str, in Posix file path fprmat
:param tld: top-level directory, defaults to None
:type tld: str, optional
:return: Links and robot name
:rtype: tuple(ELink list, str)
"""
# get the path to the class that defines the robot
classpath = sys.modules[self.__module__].__file__
# add on relative path to get to the URDF or xacro file
base_path = PurePath(classpath).parent.parent / 'URDF' / 'xacro'
file_path = base_path / PurePosixPath(file_path)
name, ext = splitext(file_path)
if ext == '.xacro':
# it's a xacro file, preprocess it
if tld is not None:
tld = base_path / PurePosixPath(tld)
urdf_string = xacro.main(file_path, tld)
urdf = URDF.loadstr(urdf_string, file_path)
else:
urdf = URDF.loadstr(open(file_path).read(), file_path)
return urdf.elinks, urdf.name
def test_urdf_dynamics(self):
urdf_string = xacro.main(
path_to_datafile(
"xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
) # noqa
urdf = URDF.loadstr(
urdf_string,
path_to_datafile(
"xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
) # noqa
self.assertEqual(urdf.joints[0].limit.effort, 87.0)
self.assertEqual(urdf.joints[0].limit.velocity, 2.175)
try:
xacro.main("")
except BaseException: # lgtm [py/catch-base-exception]
pass
def test_urdf_collisions(self):
urdf_string = xacro.main(
"roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
urdf = URDF.loadstr(
urdf_string,
"roboticstoolbox/models/URDF/xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
urdf.links[0].collisions[0].name = "Lonk"
self.assertTrue(urdf.links[0].collisions[0].name == "Lonk")
self.assertTrue(
isinstance(
urdf.links[0].collisions[0].origin,
np.ndarray))
try:
xacro.main("")
except BaseException: # lgtm [py/catch-base-exception]
pass
def test_urdf_collisions(self):
urdf_string = xacro.main(
path_to_datafile(
"xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
) # noqa
urdf = URDF.loadstr(
urdf_string,
path_to_datafile(
"xacro/franka_description/robots/panda_arm_hand.urdf.xacro")
) # noqa
urdf.links[0].collisions[0].name = "Lonk"
self.assertTrue(urdf.links[0].collisions[0].name == "Lonk")
self.assertTrue(
isinstance(urdf.links[0].collisions[0].origin, np.ndarray))
try:
xacro.main("")
except BaseException: # lgtm [py/catch-base-exception]
pass
