def test_str(self):
r0 = rp.models.DH.Puma560()
r1 = rp.models.DH.Panda()
str(r0)
str(r1)
l0 = rp.PrismaticDH(offset=1.0, qlim=[-1, 1])
l1 = rp.RevoluteDH(flip=True, offset=1.0, qlim=[-1, 1])
r2 = rp.DHRobot([l0, l1])
str(r2)
l0 = rp.PrismaticMDH(offset=1.0, qlim=[-1, 1])
l1 = rp.RevoluteMDH(flip=True, offset=1.0, qlim=[-1, 1])
r3 = rp.DHRobot([l0, l1])
str(r3)
l0 = rp.PrismaticDH(offset=1.0)
l1 = rp.RevoluteDH(flip=True, offset=1.0)
r4 = rp.DHRobot([l0, l1])
str(r4)
l0 = rp.PrismaticMDH(offset=1.0)
l1 = rp.RevoluteMDH(flip=True, offset=1.0)
r5 = rp.DHRobot([l0, l1], base=sm.SE3.Tx(0.1), tool=sm.SE3.Tx(0.1))
str(r5)
def test_ikine6s_fail(self):
l0 = rp.RevoluteDH(alpha=np.pi / 2)
l1 = rp.RevoluteDH(d=1.0)
l2 = rp.RevoluteDH(alpha=np.pi / 2)
l3 = rp.RevoluteDH(alpha=-np.pi / 2)
l4a = rp.RevoluteDH(alpha=np.pi / 2)
l4b = rp.RevoluteDH()
l5 = rp.RevoluteDH()
l6 = rp.RevoluteMDH()
r0 = rp.DHRobot([l0, l1, l2, l3, l4a, l5])
r1 = rp.DHRobot([l0, l1, l2, l3, l4b, l5])
r2 = rp.DHRobot([l1, l2, l3])
r3 = rp.DHRobot([l6, l6, l6, l6, l6, l6])
puma = rp.models.DH.Puma560()
T = sm.SE3(0, 10, 10)
puma.ikine6s(T)
q = [1, 1, 1, 1, 1, 1]
T = r0.fkine(q)
with self.assertRaises(ValueError):
r0.ikine6s(T)
with self.assertRaises(ValueError):
r1.ikine6s(T)
with self.assertRaises(ValueError):
r2.ikine6s(T)
with self.assertRaises(ValueError):
r3.ikine6s(T)