Python GraspitCommander.getRobots Examples

Example #1

File: grasping_test.py Project: xvladus1/graspit_commander

    def testFindInitialContact(self):
        # Test equivalence of FindInitialContact and ApproachContact
        #  on the plannerMug world.
        GraspitCommander.loadWorld("plannerMug")
        GraspitCommander.findInitialContact()
        robot = GraspitCommander.getRobots().ids[0]
        pose_test = GraspitCommander.getRobot(robot).robot.pose
        GraspitCommander.clearWorld()

        GraspitCommander.loadWorld("plannerMug")
        GraspitCommander.approachToContact()
        robot = GraspitCommander.getRobots().ids[0]
        pose_target = GraspitCommander.getRobot(robot).robot.pose

        self.assertTrue(pose_test == pose_target)

Example #2

 def testImportRobot(self):
     GraspitCommander.importRobot("Barrett")
     assert len(GraspitCommander.getRobots().ids) == 1