def test_puma560_angle_change():
"""
This test loads in the Puma560 model and changes its angles over time.
Joint angles are printed for validation.
"""
puma560 = gph.import_puma_560(g_canvas.scene)
print("Prior Poses")
puma560.print_joint_poses()
# Get the poses for a ready-position
puma = Puma560()
poses = puma.fkine(puma.config('qr'), alltout=True)
sleep(2)
puma560.set_joint_poses([
SE3(), # 0 (Base doesn't change)
poses[0], # 1
poses[1], # 2
poses[2], # 3
poses[3], # 4
poses[4], # 5
poses[5] # 6
])
print("Final Poses")
puma560.print_joint_poses()
def test_clear_scene_with_grid_updating():
"""
This test will import the Puma560 model, then after 2 seconds, clear the canvas of all models.
"""
puma560 = gph.import_puma_560(g_canvas.scene)
# Get the poses for a ready-position
puma = Puma560()
poses = puma.fkine(puma.config('qr'), alltout=True)
sleep(2)
puma560.set_joint_poses([
SE3(), # 0 (Base doesn't change)
poses[0], # 1
poses[1], # 2
poses[2], # 3
poses[3], # 4
poses[4], # 5
poses[5] # 6
])
sleep(2)
clear()
del puma560
def test_clear_scene():
"""
This test will import the Puma560 model, then after 2 seconds, clear the canvas of all models.
"""
puma560 = gph.import_puma_560(g_canvas.scene)
puma560.set_reference_visibility(True)
sleep(2)
clear()
del puma560
def test_import_stl():
"""
This test will create a canvas with the Puma560 model loaded in.
"""
puma560 = gph.import_puma_560(g_canvas.scene)
puma560.print_joint_poses()