def test_params_to_config(self): robot_params = RobotParams() robot_params.configure(loadConfigDict()) config = robot_params.params_to_config(loadParamVec()) self.assertAlmostEqual(config["dh_chains"]["chain2"]['dh'][1][1], 10, 6) self.assertAlmostEqual(config["rectified_cams"]["camA"]["baseline_shift"], 4, 6) # self.assertAlmostEqual(config["tilting_lasers"]["laserA"]["before_joint"][1], 20, 6) self.assertAlmostEqual(config["checkerboards"]["boardA"]["spacing_y"], 40)
def test_params_to_config(self): robot_params = RobotParams() robot_params.configure(loadConfigDict()) config = robot_params.params_to_config(loadParamVec()) self.assertAlmostEqual(config["dh_chains"]["chain2"]['dh'][1][1], 10, 6) self.assertAlmostEqual( config["rectified_cams"]["camA"]["baseline_shift"], 4, 6) # self.assertAlmostEqual(config["tilting_lasers"]["laserA"]["before_joint"][1], 20, 6) self.assertAlmostEqual(config["checkerboards"]["boardA"]["spacing_y"], 40)