def test_get_linear_path_visualize(self): arm = Panda() waypoint = Dummy('Panda_waypoint') path = arm.get_linear_path( waypoint.get_position(), waypoint.get_orientation()) # Check that it does not error path.visualize()
def test_get_linear_path_and_get_end(self): arm = Panda() waypoint = Dummy('Panda_waypoint') path = arm.get_linear_path( waypoint.get_position(), waypoint.get_orientation()) path.set_to_end() self.assertTrue(np.allclose( arm.get_tip().get_position(), waypoint.get_position(), atol=0.001))
def test_get_linear_path_and_step(self): arm = Panda() waypoint = Dummy('Panda_waypoint') path = arm.get_linear_path( waypoint.get_position(), waypoint.get_orientation()) self.assertIsNotNone(path) done = False while not done: done = path.step() self.pyrep.step() self.assertTrue(np.allclose( arm.get_tip().get_position(), waypoint.get_position(), atol=0.01))
def test_get_linear_path(self): arm = Panda() waypoint = Dummy('Panda_waypoint') path = arm.get_linear_path( waypoint.get_position(), waypoint.get_orientation()) self.assertIsNotNone(path)
def test_get_linear_path_out_of_reach(self): arm = Panda() with self.assertRaises(ConfigurationPathError): arm.get_linear_path([99, 99, 99], [0.] * 3)
def test_get_linear_path_relative(self): arm = Panda() path = arm.get_linear_path([0, 0, 0.01], [0, 0, 0], relative_to=arm.get_tip()) self.assertIsNotNone(path)