def test_programatic_robot_model(): robot = RobotModel("robot") link0 = robot.add_link("link0") link1 = robot.add_link("link1") robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1) assert(['link0', 'joint1', 'link1'] == list(robot.iter_chain())) link2 = robot.add_link("link2") robot.add_joint("joint2", Joint.CONTINUOUS, link1, link2) assert(['link0', 'joint1', 'link1', 'joint2', 'link2'] == list(robot.iter_chain()))
def test_programmatic_robot_model(): robot = RobotModel("robot") link0 = robot.add_link("link0") link1 = robot.add_link("link1") robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1) assert (['link0', 'joint1', 'link1'] == list(robot.iter_chain())) link2 = robot.add_link("link2") robot.add_joint("joint2", Joint.CONTINUOUS, link1, link2) assert (['link0', 'joint1', 'link1', 'joint2', 'link2'] == list(robot.iter_chain())) urdf = URDF.from_robot(robot) robot_reincarnated = RobotModel.from_urdf_string(urdf.to_string()) assert (['link0', 'joint1', 'link1', 'joint2', 'link2'] == list(robot_reincarnated.iter_chain()))