Python RobotModel.iter_chain 예제들

예제 #1

def test_programatic_robot_model():
    robot = RobotModel("robot")
    link0 = robot.add_link("link0")
    link1 = robot.add_link("link1")
    robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1)
    assert(['link0', 'joint1', 'link1'] == list(robot.iter_chain()))
    link2 = robot.add_link("link2")
    robot.add_joint("joint2", Joint.CONTINUOUS, link1, link2)
    assert(['link0', 'joint1', 'link1', 'joint2', 'link2'] == list(robot.iter_chain()))

예제 #2

파일: test_model.py 프로젝트: import-Steixner/compas

def test_programmatic_robot_model():
    robot = RobotModel("robot")
    link0 = robot.add_link("link0")
    link1 = robot.add_link("link1")
    robot.add_joint("joint1", Joint.CONTINUOUS, link0, link1)
    assert (['link0', 'joint1', 'link1'] == list(robot.iter_chain()))
    link2 = robot.add_link("link2")
    robot.add_joint("joint2", Joint.CONTINUOUS, link1, link2)
    assert (['link0', 'joint1', 'link1', 'joint2',
             'link2'] == list(robot.iter_chain()))
    urdf = URDF.from_robot(robot)
    robot_reincarnated = RobotModel.from_urdf_string(urdf.to_string())
    assert (['link0', 'joint1', 'link1', 'joint2',
             'link2'] == list(robot_reincarnated.iter_chain()))