def test_detach_object(self, function_setup):
"""
:type parsed_base_bot: self.cls
"""
parsed_base_bot = self.cls(base_bot_urdf())
parsed_base_bot.detach_sub_tree(u'rot_z')
assert len(parsed_base_bot.get_link_names()) == 3
assert len(parsed_base_bot.get_joint_names()) == 2
assert u'rot_z' not in parsed_base_bot.get_joint_names()
assert u'eef' not in parsed_base_bot.get_link_names()
def test_attach_obj_with_link_name(self, function_setup):
parsed_base_bot = self.cls(base_bot_urdf())
box = self.cls.from_world_body(make_world_body_box(u'eef'))
p = Pose()
p.position = Point(0, 0, 0)
p.orientation = Quaternion(0, 0, 0, 1)
try:
parsed_base_bot.attach_urdf_object(box, u'eef', p)
assert False, u'didnt get expected exception'
except DuplicateNameException as e:
assert True
def test_attach_to_non_existing_link(self, function_setup):
parsed_base_bot = self.cls(base_bot_urdf())
box = self.cls.from_world_body(make_world_body_box())
p = Pose()
p.position = Point(0, 0, 0)
p.orientation = Quaternion(0, 0, 0, 1)
try:
parsed_base_bot.attach_urdf_object(box, u'muh', p)
assert False, u'didnt get expected exception'
except UnknownBodyException:
assert True
def test_attach_urdf_object2(self, function_setup):
parsed_base_bot = self.cls(base_bot_urdf())
links_before = set(parsed_base_bot.get_link_names())
joints_before = set(parsed_base_bot.get_joint_names())
donbot = make_urdf_world_body(u'mustafa', donbot_urdf())
donbot_obj = self.cls.from_world_body(donbot)
p = Pose()
p.position = Point(0, 0, 0)
p.orientation = Quaternion(0, 0, 0, 1)
parsed_base_bot.attach_urdf_object(donbot_obj, u'eef', p)
assert donbot_obj.get_root() in parsed_base_bot.get_link_names()
assert set(parsed_base_bot.get_link_names()).difference(
links_before.union(set(donbot_obj.get_link_names()))) == set()
assert set(parsed_base_bot.get_joint_names()).difference(
joints_before.union(set(
donbot_obj.get_joint_names()))) == {u'mustafa'}
links = [l.name for l in parsed_base_bot.get_urdf_robot().links]
assert len(links) == len(set(links))
joints = [j.name for j in parsed_base_bot.get_urdf_robot().joints]
assert len(joints) == len(set(joints))
def test_get_joint_limits4(self, function_setup):
parsed_base_bot = self.cls(base_bot_urdf())
lower_limit, upper_limit = parsed_base_bot.get_joint_limits(u'joint_x')
assert lower_limit == -3
assert upper_limit == 3
def parsed_base_bot(function_setup):
"""
:rtype: Robot
"""
return Robot(base_bot_urdf())
def test_create_object(self, function_setup):
parsed_base_bot = self.cls(base_bot_urdf())
assert_num_pybullet_objects(1)
assert u'pointy' in pbw.get_body_names()