def test_load_subgait_unexisting_version_error(self):
self.gait_version_map['walk'][
'right_open'] = 'MV_walk_rightopen_non_existing_banana_version'
with self.assertRaises(FileNotFoundError):
Gait.load_subgait(self.robot, self.resources_folder,
self.gait_name, 'right_open',
self.gait_version_map)
def test_from_file_invalid_path(self):
with self.assertRaises(FileNotFoundError):
Gait.from_file(
self.gait_name,
self.resources_folder + "/gaits",
self.robot,
self.gait_version_map,
)
def test_load_subgait_unexisting_subgait_error(self):
with self.assertRaises(SubgaitNameNotFoundError):
Gait.load_subgait(
self.robot,
self.resources_folder,
self.gait_name,
"left_open",
self.gait_version_map,
)
def test_load_subgait_unexisting_gait_error(self):
with self.assertRaises(GaitNameNotFoundError):
Gait.load_subgait(
self.robot,
self.resources_folder,
"walk_small",
"left_swing",
self.gait_version_map,
)
def test_load_subgait_unexisting_version_error(self):
self.gait_version_map["walk"][
"right_open"] = "MV_walk_rightopen_non_existing_banana_version"
with self.assertRaises(FileNotFoundError):
Gait.load_subgait(
self.robot,
self.resources_folder,
self.gait_name,
"right_open",
self.gait_version_map,
)
def load_gaits(self):
"""Load the gaits in the specified gait directory."""
self.loaded_gaits = list()
for gait in self._gait_version_map:
loaded_gait = Gait.from_file(gait, self.gait_directory, self.robot,
self._gait_version_map)
self.loaded_gaits.append(loaded_gait)
def test_load_existing_subgait(self):
subgait = Gait.load_subgait(
self.robot,
self.resources_folder,
self.gait_name,
"left_swing",
self.gait_version_map,
)
self.assertIsInstance(subgait, Subgait)
def _load_gaits(self):
"""Loads the gaits in the specified gait directory.
:returns dict: A dictionary mapping gait name to gait instance
"""
gaits = {self._balance_gait.gait_name: self._balance_gait}
for gait in self._gait_version_map:
gaits[gait] = Gait.from_file(gait, self._gait_directory,
self._robot, self._gait_version_map)
if self._balance_gait.move_group:
self._balance_gait.default_walk = gaits['balance_walk']
return gaits
def setUp(self):
self.gait_name = 'walk'
self.resources_folder = rospkg.RosPack().get_path(
'march_shared_classes') + '/test/resources'
self.robot = urdf.Robot.from_xml_file(
rospkg.RosPack().get_path('march_description') +
'/urdf/march4.urdf')
self.default_yaml = self.resources_folder + '/default.yaml'
with open(self.default_yaml, 'r') as default_yaml_file:
default_config = yaml.load(default_yaml_file,
Loader=yaml.SafeLoader)
self.gait_version_map = default_config['gaits']
self.gait = Gait.from_file(self.gait_name, self.resources_folder,
self.robot, self.gait_version_map)
def setUp(self):
self.gait_name = "walk"
self.resources_folder = (
rospkg.RosPack().get_path("march_shared_classes") +
"/test/resources")
self.robot = urdf.Robot.from_xml_file(
rospkg.RosPack().get_path("march_description") +
"/urdf/march4.urdf")
self.default_yaml = self.resources_folder + "/default.yaml"
with open(self.default_yaml, "r") as default_yaml_file:
default_config = yaml.load(default_yaml_file,
Loader=yaml.SafeLoader)
self.gait_version_map = default_config["gaits"]
self.gait = Gait.from_file(self.gait_name, self.resources_folder,
self.robot, self.gait_version_map)
def test_init_invalid_joint_trajectory_transition(self):
self.gait.subgaits['left_swing'].joints[0].setpoints[-1].position = 124
with self.assertRaises(NonValidGaitContent):
Gait(self.gait_name, self.gait.subgaits, self.gait.graph)