def test_get_nonlinear_path_out_of_reach(self):
arm = Panda()
with self.assertRaises(ConfigurationPathError):
arm.get_nonlinear_path([99, 99, 99], [0.] * 3)
def test_get_nonlinear_path(self):
arm = Panda()
waypoint = Dummy('Panda_waypoint')
path = arm.get_nonlinear_path(
waypoint.get_position(), waypoint.get_orientation())
self.assertIsNotNone(path)
