def test_from_files_interpolated_correct(self):
base_subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait='left_close',
version='MV_walk_leftclose_v1')
other_subgait_path = '{rsc}/{gait}/{subgait}/{version}.subgait'.format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait='left_close',
version='MV_walk_leftclose_v2')
subgait = Subgait.from_files_interpolated(self.robot,
base_subgait_path,
other_subgait_path, 0.5)
self.assertIsInstance(subgait, Subgait)
def test_from_files_interpolated_correct_ik(self):
base_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name_ik,
subgait=self.base_subgait_name,
version=self.base_version,
)
other_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name_ik,
subgait=self.other_subgait_name,
version=self.other_version,
)
subgait = Subgait.from_files_interpolated(
self.robot,
base_subgait_path,
other_subgait_path,
0.5,
use_foot_position=True,
)
self.assertIsInstance(subgait, Subgait)
def test_from_files_interpolated_correct(self):
base_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait="left_close",
version="MV_walk_leftclose_v1",
)
other_subgait_path = "{rsc}/{gait}/{subgait}/{version}.subgait".format(
rsc=self.resources_folder,
gait=self.gait_name,
subgait="left_close",
version="MV_walk_leftclose_v2",
)
subgait = Subgait.from_files_interpolated(
self.robot,
base_subgait_path,
other_subgait_path,
0.5,
use_foot_position=False,
)
self.assertIsInstance(subgait, Subgait)