def testFindInitialContact(self):
        # Test equivalence of FindInitialContact and ApproachContact
        #  on the plannerMug world.
        GraspitCommander.loadWorld("plannerMug")
        GraspitCommander.findInitialContact()
        robot = GraspitCommander.getRobots().ids[0]
        pose_test = GraspitCommander.getRobot(robot).robot.pose
        GraspitCommander.clearWorld()

        GraspitCommander.loadWorld("plannerMug")
        GraspitCommander.approachToContact()
        robot = GraspitCommander.getRobots().ids[0]
        pose_target = GraspitCommander.getRobot(robot).robot.pose

        self.assertTrue(pose_test == pose_target)
Exemple #2
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 def testImportRobot(self):
     GraspitCommander.importRobot("Barrett")
     assert len(GraspitCommander.getRobots().ids) == 1