| import unittest |
| from tests.core import TestCore |
| from pyrep.const import JointType |
| from pyrep.robots.arms.panda import Panda |
| import numpy as np |
|
|
|
|
| |
| |
| class TestJointGroups(TestCore): |
|
|
| def setUp(self): |
| super().setUp() |
| self.robot = Panda() |
| self.num_joints = len(self.robot.joints) |
|
|
| def test_get_joint_types(self): |
| self.assertEqual(self.robot.get_joint_types(), |
| [JointType.REVOLUTE] * self.num_joints) |
|
|
| def test_get_set_joint_positions(self): |
| self.robot.set_joint_positions([0.1] * self.num_joints) |
| self.assertEqual(len(self.robot.get_joint_positions()), self.num_joints) |
|
|
| def test_get_set_joint_target_positions(self): |
| self.robot.set_joint_target_positions([0.1] * self.num_joints) |
| self.assertEqual( |
| len(self.robot.get_joint_target_positions()), self.num_joints) |
|
|
| def test_get_set_joint_target_velocities(self): |
| self.robot.set_joint_target_velocities([0.1] * self.num_joints) |
| self.assertEqual( |
| len(self.robot.get_joint_target_velocities()), self.num_joints) |
|
|
| def test_get_set_joint_forces(self): |
| self.robot.set_joint_target_velocities([-999] * self.num_joints) |
| self.robot.set_joint_forces([0.6] * self.num_joints) |
| self.pyrep.step() |
| self.assertEqual(len(self.robot.get_joint_forces()), self.num_joints) |
|
|
| def test_get_velocities(self): |
| self.assertEqual( |
| len(self.robot.get_joint_velocities()), self.num_joints) |
|
|
| def test_get_set_joint_intervals(self): |
| self.robot.set_joint_intervals( |
| [False] * self.num_joints, [[-2.0, 2.0]] * self.num_joints) |
| cyclics, intervals = self.robot.get_joint_intervals() |
| self.assertEqual(len(cyclics), self.num_joints) |
| self.assertEqual(len(intervals), self.num_joints) |
|
|
| def test_get_joint_upper_velocity_limits(self): |
| self.assertEqual( |
| len(self.robot.get_joint_upper_velocity_limits()), self.num_joints) |
|
|
| def test_get_visuals(self): |
| self.assertEqual(len(self.robot.get_visuals()), 10) |
|
|
|
|
| if __name__ == '__main__': |
| unittest.main() |
|
|
