def print_joint_bounds(robot=None):
if not robot:
robot = RobotCommander()
print 'NAME'.center(16), 'MIN'.center(10), 'MAX'.center(10)
for name in robot.get_joint_names():
joint = robot.get_joint(name)
bounds = joint.bounds()
if bounds:
print '%15s % 10.3f % 10.3f' % (name, bounds[0], bounds[1])
class TestLimits(unittest.TestCase):
def setUp(self):
self.robot = RobotCommander()
self.bounds = list()
for name in self.robot.get_joint_names():
joint = self.robot.get_joint(name)
bounds = joint.bounds()
if bounds:
self.bounds.append((name, bounds))
def test_min_max(self):
"""Test whether the min is actually lower than max."""
failed = list()
for name, bounds in self.bounds:
if bounds[0] > bounds[1]:
failed.append(name)
self.assertFalse(failed, "Bounds are not valid for: %s" % " ".join(failed))
