def test_fkdict(self):
panda = rp.PandaURDF()
fkd = panda.fk_dict()
for i in range(len(panda.ets)):
nt.assert_array_almost_equal(panda.ets[i]._fk.t,
fkd['links'][i]['t'])
def test_urdf_load(self):
rp.wx250s()
rp.UR5()
rp.PandaURDF()
try:
xacro.main("")
except BaseException:
pass
def test_collision(self):
p = rp.PandaURDF()
link = p.ets[1]
col = link.collision[0]
self.assertIsInstance(col, rp.Shape)
self.assertIsInstance(col.base, sm.SE3)
self.assertTrue(col.primitive)
self.assertIsInstance(col.scale, np.ndarray)
col.radius = 2
self.assertEqual(col.radius, 2)
col.length = 2
self.assertEqual(col.length, 2)
def test_PandaURDF(self):
panda = rp.PandaURDF()
panda.qr
panda.qz
def test_manuf(self):
panda = rp.PandaURDF()
self.assertIsInstance(panda.manuf, str)
def test_qlim(self):
panda = rp.PandaURDF()
self.assertEqual(panda.qlim.shape[0], 2)
self.assertEqual(panda.qlim.shape[1], panda.n)
def test_dict(self):
panda = rp.PandaURDF()
panda.to_dict()
wx = rp.wx250s()
wx.to_dict()