def test_get_nonlinear_path_out_of_reach(self): arm = Panda() with self.assertRaises(ConfigurationPathError): arm.get_nonlinear_path([99, 99, 99], [0.] * 3)
def test_get_nonlinear_path(self): arm = Panda() waypoint = Dummy('Panda_waypoint') path = arm.get_nonlinear_path( waypoint.get_position(), waypoint.get_orientation()) self.assertIsNotNone(path)