def testGetMechanisms(self):
sampleInstanceFile = self.testDirectory + '/test_files/valkyrie_A.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
mechanisms = instanceFileHandler.getMechanisms()
mechanism_ids = ['leftHipYaw',
'leftHipRoll',
'leftHipPitch',
'leftKneePitch',
'leftAnkle',
'rightHipYaw',
'rightHipRoll',
'rightHipPitch',
'rightKneePitch',
'rightAnkle',
'leftShoulderPitch',
'leftShoulderRoll',
'leftShoulderYaw',
'leftElbowPitch',
'leftForearmYaw',
'leftWrist',
'rightShoulderPitch',
'rightShoulderRoll',
'rightShoulderYaw',
'rightElbowPitch',
'rightForearmYaw',
'rightWrist',
'lowerNeckPitch',
'neckYaw',
'upperNeckPitch',
'torso_yaw',
'waist']
for mechanism in mechanisms:
assert mechanism.tag == 'Mechanism'
assert mechanism.get('id') in mechanism_ids
def testGetMechanisms(self):
sampleInstanceFile = self.testDirectory + '/test_files/valkyrie_A.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
mechanisms = instanceFileHandler.getMechanisms()
mechanism_ids = [
'leftHipYaw', 'leftHipRoll', 'leftHipPitch', 'leftKneePitch',
'leftAnkle', 'rightHipYaw', 'rightHipRoll', 'rightHipPitch',
'rightKneePitch', 'rightAnkle', 'leftShoulderPitch',
'leftShoulderRoll', 'leftShoulderYaw', 'leftElbowPitch',
'leftForearmYaw', 'leftWrist', 'rightShoulderPitch',
'rightShoulderRoll', 'rightShoulderYaw', 'rightElbowPitch',
'rightForearmYaw', 'rightWrist', 'lowerNeckPitch', 'neckYaw',
'upperNeckPitch', 'torso_yaw', 'waist'
]
for mechanism in mechanisms:
assert mechanism.tag == 'Mechanism'
assert mechanism.get('id') in mechanism_ids
