def test_urdf_load(self):
rp.models.wx250s()
rp.models.UR5()
rp.models.Panda()
try:
xacro.main("")
except BaseException:
pass
def test_urdf_dynamics(self):
urdf_string = xacro.main(
"roboticstoolbox/models/xacro/franka_description/robots/panda_arm_hand.urdf.xacro"
)
urdf = URDF.loadstr(
urdf_string,
"roboticstoolbox/models/xacro/franka_description/robots/panda_arm_hand.urdf.xacro"
)
self.assertEqual(urdf.joints[0].limit.effort, 87.0)
self.assertEqual(urdf.joints[0].limit.velocity, 2.175)
try:
xacro.main("")
except BaseException:
pass
def urdf_to_ets_args(file_path):
name, ext = splitext(file_path)
if ext == '.xacro':
urdf_string = xacro.main(file_path)
urdf = URDF.loadstr(urdf_string, file_path)
return urdf.elinks, urdf.name
def test_urdf_visuals(self):
urdf_string = xacro.main(
"roboticstoolbox/models/xacro/franka_description/robots/panda_arm_hand.urdf.xacro"
)
urdf = URDF.loadstr(
urdf_string,
"roboticstoolbox/models/xacro/franka_description/robots/panda_arm_hand.urdf.xacro"
)
urdf.links[0].visuals[0].name = "Lonk"
self.assertTrue(urdf.links[0].visuals[0].name == "Lonk")
self.assertTrue(isinstance(urdf.links[0].visuals[0].origin,
np.ndarray))
urdf.links[0].visuals[0].geometry.box = rp.backend.urdf.Box([1, 2, 3])
self.assertTrue(
isinstance(urdf.links[0].visuals[0].geometry.geometry,
rp.backend.urdf.Box))
urdf.links[0].visuals[0].geometry.cylinder = \
rp.backend.urdf.Cylinder(1, 2)
urdf.links[0].visuals[0].geometry.sphere = \
rp.backend.urdf.Sphere(2)
nt.assert_array_almost_equal(
urdf.links[0].visuals[0].geometry.box.size, [1, 2, 3])
self.assertEqual(urdf.links[0].visuals[0].geometry.cylinder.radius, 1)
self.assertEqual(urdf.links[0].visuals[0].geometry.sphere.radius, 2)
self.assertTrue(
isinstance(urdf.links[0].visuals[0].geometry.mesh,
rp.backend.urdf.Mesh))
try:
xacro.main("")
except BaseException:
pass
def test_urdf_collisions(self):
urdf_string = xacro.main(
"roboticstoolbox/models/xacro/franka_description/robots/panda_arm_hand.urdf.xacro"
)
urdf = URDF.loadstr(
urdf_string,
"roboticstoolbox/models/xacro/franka_description/robots/panda_arm_hand.urdf.xacro"
)
urdf.links[0].collisions[0].name = "Lonk"
self.assertTrue(urdf.links[0].collisions[0].name == "Lonk")
self.assertTrue(
isinstance(urdf.links[0].collisions[0].origin, np.ndarray))
try:
xacro.main("")
except BaseException:
pass