def test_no_hand_one_arm_finder(self): if rospy.has_param("arm"): rospy.delete_param("arm") if rospy.has_param("hand"): rospy.delete_param("hand") if rospy.has_param("robot_description"): rospy.delete_param("robot_description") rospy.set_param("robot_description", rospy.get_param("no_hand_one_arm_description")) rospy.set_param("arm/joint_prefix/1", "la_") rospy.set_param("arm/mapping/1", "la") arm_finder = ArmFinder() self.assertIsNotNone(arm_finder.get_arm_parameters(), "Parameters extracted.") self.assertIsNotNone(arm_finder.get_arm_joints(), "Joints extracted.") self.assertEqual(len(arm_finder.get_arm_parameters().mapping), 1, "It should be one mapping") self.assertEqual(len(arm_finder.get_arm_parameters().joint_prefix), 1, "It should be one joint_prefix") self.assertEqual(len(list(arm_finder.get_arm_joints().keys())), 1, "It should be one arm joints") self.assertIn("la", list(arm_finder.get_arm_parameters().mapping.values()), "It should be la mapping") self.assertIn( "la_", list(arm_finder.get_arm_parameters().joint_prefix.values()), "It should be la_ prefix") self.assertIn("la", arm_finder.get_arm_joints(), "Maping should be in the joints result")
def test_two_hands_one_arm_finder(self): if rospy.has_param("arm"): rospy.delete_param("arm") if rospy.has_param("hand"): rospy.delete_param("hand") if rospy.has_param("robot_description"): rospy.delete_param("robot_description") rospy.set_param("robot_description", rospy.get_param("two_hands_left_arm")) rospy.set_param("hand/joint_prefix/1", "rh_") rospy.set_param("hand/mapping/1", "rh") rospy.set_param("hand/joint_prefix/2", "lh_") rospy.set_param("hand/mapping/2", "lh") rospy.set_param("arm/joint_prefix/1", "la_") rospy.set_param("arm/mapping/1", "la") arm_finder = ArmFinder() self.assertEqual(len(arm_finder.get_arm_parameters().mapping), 1, "It should be one mapping") self.assertEqual(len(arm_finder.get_arm_parameters().joint_prefix), 1, "It should be one joint_prefix") self.assertEqual(len(arm_finder.get_arm_joints().keys()), 1, "It should be one arm joints") self.assertIn("la", arm_finder.get_arm_parameters().mapping.values(), "It should be la mapping") self.assertIn("la_", arm_finder.get_arm_parameters().joint_prefix.values(), "It should be la_ prefix") self.assertIn("la", arm_finder.get_arm_joints(), "Maping should be in the joints result")
def test_one_hand_no_arm_finder(self): if rospy.has_param("arm"): rospy.delete_param("arm") if rospy.has_param("hand"): rospy.delete_param("hand") if rospy.has_param("robot_description"): rospy.delete_param("robot_description") arm_finder = ArmFinder() self.assertIsNotNone(arm_finder.get_arm_parameters(), "Parameters extracted.") self.assertIsNotNone(arm_finder.get_arm_joints(), "Joints extracted.") self.assertEqual(len(arm_finder.get_arm_parameters().mapping), 0, "It should be zero mapping") self.assertEqual(len(arm_finder.get_arm_parameters().joint_prefix), 0, "It should be zero joint_prefix") self.assertEqual(len(list(arm_finder.get_arm_joints().keys())), 0, "It should be zero arm joints")
def test_one_hand_two_arms_finder(self): if rospy.has_param("arm"): rospy.delete_param("arm") if rospy.has_param("hand"): rospy.delete_param("hand") if rospy.has_param("robot_description"): rospy.delete_param("robot_description") rospy.set_param("robot_description", rospy.get_param("right_hand_two_arms")) rospy.set_param("hand/joint_prefix/1", "rh_") rospy.set_param("hand/mapping/1", "rh") rospy.set_param("arm/joint_prefix/1", "la_") rospy.set_param("arm/mapping/1", "la") rospy.set_param("arm/joint_prefix/2", "ra_") rospy.set_param("arm/mapping/2", "ra") arm_finder = ArmFinder() self.assertIsNotNone(arm_finder.get_arm_parameters(), "Parameters extracted.") self.assertIsNotNone(arm_finder.get_arm_joints(), "Joints extracted.") self.assertEqual(len(arm_finder.get_arm_parameters().mapping), 2, "It should be two mappings") self.assertEqual(len(arm_finder.get_arm_parameters().joint_prefix), 2, "It should be two joint_prefixes") self.assertEqual(len(list(arm_finder.get_arm_joints().keys())), 2, "It should be two arm joints mappings") self.assertIn("ra", list(arm_finder.get_arm_parameters().mapping.values()), "It should be ra mapping") self.assertIn( "ra_", list(arm_finder.get_arm_parameters().joint_prefix.values()), "It should be ra_ prefix") self.assertIn("ra", arm_finder.get_arm_joints(), "Maping should be in the joints result") self.assertEqual(len(arm_finder.get_arm_joints()["ra"]), 1, "It should be one arm joint for mapping") self.assertIn("la", list(arm_finder.get_arm_parameters().mapping.values()), "It should be la mapping") self.assertIn( "la_", list(arm_finder.get_arm_parameters().joint_prefix.values()), "It should be la_ prefix") self.assertIn("la", arm_finder.get_arm_joints(), "Maping should be in the joints result") self.assertEqual(len(arm_finder.get_arm_joints()["la"]), 1, "It should be one arm joint for mapping")