def testLinksCreation(self):
w = World()
bulb = RyRxJoint(name='bulb')
stem = Body(name='stem', mass=eye(6)*0.1)
w.add_link(w.ground, bulb, stem)
stem_top = SubFrame(stem, bpose=transl(0, 0, 1), name='stem_top')
flowerR = RyJoint(gpos=.5, name='flowerR')
leafR = Body('leafR', mass=eye(6)*0.01)
w.add_link(stem_top, flowerR, leafR)
flowerL = RyJoint(gpos=(-.5), name='flowerL')
leafL = Body('leafL', mass=eye(6)*.01)
w.add_link(stem_top, flowerL, leafL)
frames = [ w.ground, stem, leafR, leafL, stem_top ]
for frame1, frame2 in zip(w.iterframes(), frames):
self.assertEqual(frame1, frame2)
joints = [ bulb, flowerR, flowerL ]
for joint1, joint2 in zip(w.iterjoints(), joints):
self.assertEqual(joint1, joint2)
