def test_GenerateGraspPose(self):
stage = stages.GenerateGraspPose("generate_grasp_pose")
self._check(stage, "eef", "eef")
self._check(stage, "pregrasp", "pregrasp")
self._check(stage, "object", "object")
self._check(stage, "angle_delta", 0.5)
def test_SimpleUnGrasp(self):
stage = stages.SimpleUnGrasp(stages.GenerateGraspPose("ungrasp"))
self._check(stage, "eef", "eef")
self._check(stage, "object", "object")