def test_basic_attr(): robot = Robot.basic('testbot', location="rfl") assert robot.model.attr['location'] == "rfl"
def test_basic_name_links(ur5_links): robot = Robot.basic('testbot', links=ur5_links) assert len(robot.model.links) == 11
def test_basic_name_joints_links(ur5_joints, ur5_links): robot = Robot.basic('testbot', joints=ur5_joints, links=ur5_links) assert len(robot.model.links) == 11 assert len(robot.get_configurable_joint_names()) == 6
def test_basic_name_joints(ur5_joints): robot = Robot.basic('testbot', joints=ur5_joints) assert len(robot.model.joints) == 10
def test_basic_name_only(): robot = Robot.basic('testbot') assert robot.artist is None