def test_get_linear_path_visualize(self):
arm = Panda()
waypoint = Dummy('Panda_waypoint')
path = arm.get_linear_path(
waypoint.get_position(), waypoint.get_orientation())
# Check that it does not error
path.visualize()
def test_get_linear_path_and_get_end(self):
arm = Panda()
waypoint = Dummy('Panda_waypoint')
path = arm.get_linear_path(
waypoint.get_position(), waypoint.get_orientation())
path.set_to_end()
self.assertTrue(np.allclose(
arm.get_tip().get_position(), waypoint.get_position(), atol=0.001))
def test_get_linear_path_and_step(self):
arm = Panda()
waypoint = Dummy('Panda_waypoint')
path = arm.get_linear_path(
waypoint.get_position(), waypoint.get_orientation())
self.assertIsNotNone(path)
done = False
while not done:
done = path.step()
self.pyrep.step()
self.assertTrue(np.allclose(
arm.get_tip().get_position(), waypoint.get_position(), atol=0.01))
def test_get_linear_path(self):
arm = Panda()
waypoint = Dummy('Panda_waypoint')
path = arm.get_linear_path(
waypoint.get_position(), waypoint.get_orientation())
self.assertIsNotNone(path)
def test_get_linear_path_out_of_reach(self):
arm = Panda()
with self.assertRaises(ConfigurationPathError):
arm.get_linear_path([99, 99, 99], [0.] * 3)
def test_get_linear_path_relative(self):
arm = Panda()
path = arm.get_linear_path([0, 0, 0.01], [0, 0, 0],
relative_to=arm.get_tip())
self.assertIsNotNone(path)
