def test_basic_attr():
robot = Robot.basic('testbot', location="rfl")
assert robot.model.attr['location'] == "rfl"
def test_basic_name_links(ur5_links):
robot = Robot.basic('testbot', links=ur5_links)
assert len(robot.model.links) == 11
def test_basic_name_joints_links(ur5_joints, ur5_links):
robot = Robot.basic('testbot', joints=ur5_joints, links=ur5_links)
assert len(robot.model.links) == 11
assert len(robot.get_configurable_joint_names()) == 6
def test_basic_name_joints(ur5_joints):
robot = Robot.basic('testbot', joints=ur5_joints)
assert len(robot.model.joints) == 10
def test_basic_name_only():
robot = Robot.basic('testbot')
assert robot.artist is None