def testForearmCoeffs(self):
sampleInstanceFile = self.testDirectory + "/test_files/test_forearm.xml"
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
node1 = '/forearm/forearm_driver1'
node2 = '/forearm/forearm_driver2'
nodeNames = instanceFileHandler.getNodeNames()
assert (node1 in nodeNames)
assert (node2 in nodeNames)
forearmCoeffDictionary = instanceFileHandler.getForearmCoeffDictionary(
)
expectedAthenaDictionary = {}
expectedAthenaDictionary[node1] = {
'Pitch_offset': -2331,
'Yaw_offset': 1596,
'Pitch_hilmt': 1500,
'Pitch-lolmt': -1500,
'Pitch_cnvtrad': -0.000767
}
expectedAthenaDictionary[node2] = {
'Fing1_elecoffset': 0.0,
'Fing1_locmdlmt': 100.0,
'Fing1_hicmdlmt': 5214.0,
'Fing1_posKP': 1.0,
'Fing1_posKD': 0.0
}
assert cmp(forearmCoeffDictionary[node1],
expectedAthenaDictionary[node1])
for key, value in forearmCoeffDictionary[node2].iteritems():
assert (forearmCoeffDictionary[node2][key] - value == 0)
def testLoadAnkleInstanceFile(self):
sampleInstanceFile = self.testDirectory + '/test_files/ankle_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
nodesToCheck = instanceFileHandler.getNodeNames()
assert '/left_leg/ankle/left_actuator' in nodesToCheck
assert '/left_leg/ankle/right_actuator' in nodesToCheck
def testLoadAnkleInstanceFile(self):
sampleInstanceFile = self.testDirectory + '/test_files/ankle_instance.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
nodesToCheck = instanceFileHandler.getNodeNames()
assert '/left_leg/ankle/left_actuator' in nodesToCheck
assert '/left_leg/ankle/right_actuator' in nodesToCheck
def testGetNodes(self):
sampleInstanceFile = self.testDirectory + '/test_files/valkyrie_A.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
nodes = instanceFileHandler.getNodeNames()
nodesToCheck = [
'/left_leg/j1', '/left_leg/j2', '/left_leg/j3', '/left_leg/j4',
'/left_leg/ankle/left_actuator', '/left_leg/ankle/right_actuator',
'/right_leg/j1', '/right_leg/j2', '/right_leg/j3', '/right_leg/j4',
'/right_leg/ankle/left_actuator',
'/right_leg/ankle/right_actuator', '/left_arm/j3', '/left_arm/j2',
'/left_arm/j3', '/left_arm/j4', '/left_arm/j5',
'/left_arm/wrist/top_actautor', '/left_arm/wrist/bottom_actuator',
'/right_arm/j3', '/right_arm/j2', '/right_arm/j3', '/right_arm/j4',
'/right_arm/j5', '/right_arm/wrist/top_actautor',
'/right_arm/wrist/bottom_actuator', '/neck/j1', '/neck/j2',
'/neck/j3', '/trunk/j1', '/trunk/waist/left_actuator',
'/trunk/waist/right_actuator'
]
for node in nodes:
assert node in nodesToCheck
def testForearmCoeffs(self):
sampleInstanceFile = self.testDirectory + "/test_files/test_forearm.xml"
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
node1 = '/forearm/forearm_driver1'
node2 = '/forearm/forearm_driver2'
nodeNames = instanceFileHandler.getNodeNames()
assert(node1 in nodeNames)
assert(node2 in nodeNames)
forearmCoeffDictionary = instanceFileHandler.getForearmCoeffDictionary()
expectedAthenaDictionary = {}
expectedAthenaDictionary[node1] = {'Pitch_offset': -2331, 'Yaw_offset': 1596, 'Pitch_hilmt': 1500, 'Pitch-lolmt': -1500, 'Pitch_cnvtrad': -0.000767}
expectedAthenaDictionary[node2] = {'Fing1_elecoffset': 0.0, 'Fing1_locmdlmt': 100.0, 'Fing1_hicmdlmt': 5214.0, 'Fing1_posKP': 1.0, 'Fing1_posKD': 0.0}
assert cmp(forearmCoeffDictionary[node1], expectedAthenaDictionary[node1])
for key, value in forearmCoeffDictionary[node2].iteritems():
assert(forearmCoeffDictionary[node2][key] - value == 0)
def testGetNodes(self):
sampleInstanceFile = self.testDirectory + '/test_files/valkyrie_A.xml'
instanceFileHandler = InstanceFileHandler(sampleInstanceFile)
nodes = instanceFileHandler.getNodeNames()
nodesToCheck = ['/left_leg/j1',
'/left_leg/j2',
'/left_leg/j3',
'/left_leg/j4',
'/left_leg/ankle/left_actuator',
'/left_leg/ankle/right_actuator',
'/right_leg/j1',
'/right_leg/j2',
'/right_leg/j3',
'/right_leg/j4',
'/right_leg/ankle/left_actuator',
'/right_leg/ankle/right_actuator',
'/left_arm/j3',
'/left_arm/j2',
'/left_arm/j3',
'/left_arm/j4',
'/left_arm/j5',
'/left_arm/wrist/top_actautor',
'/left_arm/wrist/bottom_actuator',
'/right_arm/j3',
'/right_arm/j2',
'/right_arm/j3',
'/right_arm/j4',
'/right_arm/j5',
'/right_arm/wrist/top_actautor',
'/right_arm/wrist/bottom_actuator',
'/neck/j1',
'/neck/j2',
'/neck/j3',
'/trunk/j1',
'/trunk/waist/left_actuator',
'/trunk/waist/right_actuator']
for node in nodes:
assert node in nodesToCheck
