def test_ur5_semantics():
robot = Ur5Robot()
semantics = robot.semantics
assert semantics.group_names == ['manipulator', 'endeffector']
assert semantics.main_group_name == 'manipulator'
assert semantics.get_base_link_name() == 'base_link'
assert semantics.get_end_effector_link_name() == 'ee_link'
assert semantics.get_configurable_joint_names() == [
'shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint',
'wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint'
]
def ur5_links():
robot = Ur5Robot()
return robot.model.links
def ur5_joints():
robot = Ur5Robot()
return robot.model.joints
def ur5_robot_instance():
return Ur5Robot()