def testSubclassFiles(self):
sampleInstanceFile = self.testDirectory + '/test_files/sample_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
ankleLinearCoeffs = instanceFileHandler.gatherCoeffs(
'/left_leg/ankle/actuator0')
torsoLinearCoeffs = instanceFileHandler.gatherCoeffs(
'/trunk/left_actuator')
assert (torsoLinearCoeffs['ForceControl_SensorFeedback'] == 0)
assert (ankleLinearCoeffs['ForceControl_SensorFeedback'] == 1)
assert (torsoLinearCoeffs['ForceControl_Kp'] == 1)
assert (torsoLinearCoeffs['ForceControl_Kd'] == 2)
assert (ankleLinearCoeffs['ForceControl_Kp'] == 3)
assert (ankleLinearCoeffs['ForceControl_Kd'] == 4)
assert (torsoLinearCoeffs['EffortControl_Alpha'] == 0.99)
assert (torsoLinearCoeffs['EffortControl_AlphaDot'] == 0.9)
assert (ankleLinearCoeffs['EffortControl_Alpha'] == 0.93)
assert (ankleLinearCoeffs['EffortControl_AlphaDot'] == 0.45)
assert (torsoLinearCoeffs['SpringStiffness'] == 714000.0)
assert (ankleLinearCoeffs['SpringStiffness'] == 1.6085e6)
def testSubclassFiles(self):
sampleInstanceFile = self.testDirectory + '/test_files/sample_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
ankleLinearCoeffs = instanceFileHandler.gatherCoeffs('/left_leg/ankle/actuator0')
torsoLinearCoeffs = instanceFileHandler.gatherCoeffs('/trunk/left_actuator')
assert(torsoLinearCoeffs['ForceControl_SensorFeedback'] == 0)
assert(ankleLinearCoeffs['ForceControl_SensorFeedback'] == 1)
assert(torsoLinearCoeffs['ForceControl_Kp'] == 1)
assert(torsoLinearCoeffs['ForceControl_Kd'] == 2)
assert(ankleLinearCoeffs['ForceControl_Kp'] == 3)
assert(ankleLinearCoeffs['ForceControl_Kd'] == 4)
assert(torsoLinearCoeffs['EffortControl_Alpha'] == 0.99)
assert(torsoLinearCoeffs['EffortControl_AlphaDot'] == 0.9)
assert(ankleLinearCoeffs['EffortControl_Alpha'] == 0.93)
assert(ankleLinearCoeffs['EffortControl_AlphaDot'] == 0.45)
assert(torsoLinearCoeffs['SpringStiffness'] == 714000.0)
assert(ankleLinearCoeffs['SpringStiffness'] == 1.6085e6)
def testGatherCoeffsHandleKeyError(self):
sampleInstanceFile = self.testDirectory + \
'/test_files/sample_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
# This next line should NOT raise a key error!
coeffs = instanceFileHandler.gatherCoeffs("/bum_leg/j1")
def testGatherCoeffsHandleKeyError(self):
sampleInstanceFile = self.testDirectory + \
'/test_files/sample_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
# This next line should NOT raise a key error!
coeffs = instanceFileHandler.gatherCoeffs("/bum_leg/j1")
def testGatherCoeffs(self):
sampleInstanceFile = self.testDirectory + \
'/test_files/sample_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
coeffs = instanceFileHandler.gatherCoeffs("/left_leg/j1")
expectedCoeffs = {'TemperatureSensor_SensorLoc2': 2.0, 'TemperatureSensor_SensorLoc1': 1.0, 'JointSensors_OutputPosition': 2.0,
'IGainAmpsPerBit': 0.018928, 'DeltaAPSSafeLimit': 9999.0, 'TorqueControl_enablePID': 1.0,
'TorqueControl_FFd_fc_Hz': 25.0, 'APS1DriftSafeLimit': 9999.0, 'PositionControl_MotorTorqueDirection': 1.0,
'TorqueControl_Kd_fc_Hz': 50.0, 'VelocitySafeLimit': 9999.0, 'WindingResistance': 2.112, 'JointOutputAPS_MountingGain': 1.0,
'JointSafety_LowerLimit_Rad': -3.15, 'CommTimeoutMs': 80.0, 'PhaseACurOffset': 2048.0, 'JerkSafeLimit': 9999.0,
'BusVoltage_SensorGain': 0.163412, 'PositionOffset_Rad': -1.6651, 'EncMountingDir': 1.0, 'TorqueControl_TdobWindupLimit_Nm': 80.0,
'MotorAccFilter_fc_Hz': 50.0, 'JointOutputAPS_CountsToRad': 0.00076699038, 'PhaseCCurOffset': 2045.0, 'SpaceVector_MaxNormVoltage': 0.666,
'MotorWindingType': 0.0, 'TorqueControl_Tdob_fc_Hz': 50.0, 'JointSensors_OutputVelocity': 1.0, 'Renishaw_CountsToRad': 5.8516723e-09,
'TorqueControl_m': 1.2, 'EncoderIndexOffset': 1.16973095726, 'BusVoltage_BitOffset': 2048.0, 'SpringStiffness': 2750.0,
'Inductance_DAxis': 0.0009, 'MotorVelFilter_fc_Hz': 800.0, 'JointKinematicDir': -1.0, 'TorqueOffset_Nm': -9.39, 'TemperatureSensor_MaxTemp1': 125.0,
'TorqueControl_MotorTorqueDirection': 1.0, 'TemperatureSensor_MaxTemp2': 110.0, 'PositionControl_Kd': 1.0, 'TorqueControl_Current2MotorTorque': 0.0375,
'PhaseBCurOffset': 2048.0, 'TorqueControl_PD_damp': 0.95, 'EncDriftSafeLimit': 9999.0, 'DeadTimeCompensation': 0.02, 'TorqueControl_b': 70.0, 'TorqueControl_enableDOB': 0.0,
'SpringAPS_MountingGain': -1.0, 'PositionControl_Kd_fc_Hz': 50.0, 'Inductance_QAxis': 0.00139, 'JointVelFilter_fc_Hz': 30.0,
'PositionControl_Kp': 500.0, 'TorqueControl_enableFF': 1.0, 'JointGearRatio': 160.0, 'NumberOfPoles': 8.0, 'PositionControl_SensorFeedback': 4.0,
'PositionControl_Input_fc_Hz': 30.0, 'JointMinValue': -3.14159265359, 'FluxLinkage': 0.0444, 'TorqueControl_Kd': 0.03, 'JointTorqueLimit_Nm': 10.0,
'TorqueControl_Kp': 3.351, 'SpringAPS_BitOffset': 115108200.0, 'JointSensors_MotorPosition': 1.0, 'JointSafety_LimitZone_Rad': 0.07,
'TorqueControl_enableDynFF': 0.0, 'TorqueControl_autoKd': 0.0, 'JointSensors_OutputForce': 2.0, 'PositionControl_enableInLPF': 1.0,
'Commutation_Select': 2.0, 'JointMaxValue': 3.14159265359, 'CurrVelFilter_fc_Hz': 200.0, 'TorqueControl_ParallelDamping': 0.0, 'JointSafety_UpperLimit_Rad': 3.15,
'EncoderCPR': 544.0, 'SpaceVector_CurrentToSV': 1.0, 'CurrentSafeLimit': 13.0, 'EffortControl_Alpha': 0.0, 'EffortControl_AlphaDot': 0.5}
import difflib
a = '\n'.join(['%s:%s' % (key, value) for (key, value) in sorted(coeffs.items())])
b = '\n'.join(['%s:%s' % (key, value) for (key, value) in sorted(expectedCoeffs.items())])
for coeff in coeffs:
assert not coeff==None
def testGatherCoeffs(self):
sampleInstanceFile = self.testDirectory + \
'/test_files/sample_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
coeffs = instanceFileHandler.gatherCoeffs("/left_leg/j1")
expectedCoeffs = {
'TemperatureSensor_SensorLoc2': 2.0,
'TemperatureSensor_SensorLoc1': 1.0,
'JointSensors_OutputPosition': 2.0,
'IGainAmpsPerBit': 0.018928,
'DeltaAPSSafeLimit': 9999.0,
'TorqueControl_enablePID': 1.0,
'TorqueControl_FFd_fc_Hz': 25.0,
'APS1DriftSafeLimit': 9999.0,
'PositionControl_MotorTorqueDirection': 1.0,
'TorqueControl_Kd_fc_Hz': 50.0,
'VelocitySafeLimit': 9999.0,
'WindingResistance': 2.112,
'JointOutputAPS_MountingGain': 1.0,
'JointSafety_LowerLimit_Rad': -3.15,
'CommTimeoutMs': 80.0,
'PhaseACurOffset': 2048.0,
'JerkSafeLimit': 9999.0,
'BusVoltage_SensorGain': 0.163412,
'PositionOffset_Rad': -1.6651,
'EncMountingDir': 1.0,
'TorqueControl_TdobWindupLimit_Nm': 80.0,
'MotorAccFilter_fc_Hz': 50.0,
'JointOutputAPS_CountsToRad': 0.00076699038,
'PhaseCCurOffset': 2045.0,
'SpaceVector_MaxNormVoltage': 0.666,
'MotorWindingType': 0.0,
'TorqueControl_Tdob_fc_Hz': 50.0,
'JointSensors_OutputVelocity': 1.0,
'Renishaw_CountsToRad': 5.8516723e-09,
'TorqueControl_m': 1.2,
'EncoderIndexOffset': 1.16973095726,
'BusVoltage_BitOffset': 2048.0,
'SpringStiffness': 2750.0,
'Inductance_DAxis': 0.0009,
'MotorVelFilter_fc_Hz': 800.0,
'JointKinematicDir': -1.0,
'TorqueOffset_Nm': -9.39,
'TemperatureSensor_MaxTemp1': 125.0,
'TorqueControl_MotorTorqueDirection': 1.0,
'TemperatureSensor_MaxTemp2': 110.0,
'PositionControl_Kd': 1.0,
'TorqueControl_Current2MotorTorque': 0.0375,
'PhaseBCurOffset': 2048.0,
'TorqueControl_PD_damp': 0.95,
'EncDriftSafeLimit': 9999.0,
'DeadTimeCompensation': 0.02,
'TorqueControl_b': 70.0,
'TorqueControl_enableDOB': 0.0,
'SpringAPS_MountingGain': -1.0,
'PositionControl_Kd_fc_Hz': 50.0,
'Inductance_QAxis': 0.00139,
'JointVelFilter_fc_Hz': 30.0,
'PositionControl_Kp': 500.0,
'TorqueControl_enableFF': 1.0,
'JointGearRatio': 160.0,
'NumberOfPoles': 8.0,
'PositionControl_SensorFeedback': 4.0,
'PositionControl_Input_fc_Hz': 30.0,
'JointMinValue': -3.14159265359,
'FluxLinkage': 0.0444,
'TorqueControl_Kd': 0.03,
'JointTorqueLimit_Nm': 10.0,
'TorqueControl_Kp': 3.351,
'SpringAPS_BitOffset': 115108200.0,
'JointSensors_MotorPosition': 1.0,
'JointSafety_LimitZone_Rad': 0.07,
'TorqueControl_enableDynFF': 0.0,
'TorqueControl_autoKd': 0.0,
'JointSensors_OutputForce': 2.0,
'PositionControl_enableInLPF': 1.0,
'Commutation_Select': 2.0,
'JointMaxValue': 3.14159265359,
'CurrVelFilter_fc_Hz': 200.0,
'TorqueControl_ParallelDamping': 0.0,
'JointSafety_UpperLimit_Rad': 3.15,
'EncoderCPR': 544.0,
'SpaceVector_CurrentToSV': 1.0,
'CurrentSafeLimit': 13.0,
'EffortControl_Alpha': 0.0,
'EffortControl_AlphaDot': 0.5
}
import difflib
a = '\n'.join([
'%s:%s' % (key, value) for (key, value) in sorted(coeffs.items())
])
b = '\n'.join([
'%s:%s' % (key, value)
for (key, value) in sorted(expectedCoeffs.items())
])
for diffs in difflib.unified_diff(a.splitlines(), b.splitlines()):
print diffs
assert cmp(coeffs, expectedCoeffs) == 0
