def test_prismatic_calculate_transformation():
limit = Limit(lower=0, upper=1000)
j1 = Joint('j1', 'prismatic', None, None, axis=Axis('1 0 0'), limit=limit)
t = j1.calculate_transformation(550)
assert t == Translation([550, 0, 0])
def test_revolute_calculate_transformation():
limit = Limit(lower=-2 * pi, upper=2 * pi)
j1 = Joint('j1', 'revolute', None, None, limit=limit)
transformation = j1.calculate_transformation(2*pi)
assert transformation == Transformation()