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cf8614b | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 | import unittest
from tests.core import TestCore
from pyrep.const import JointType
from pyrep.robots.arms.panda import Panda
import numpy as np
# Pick one arm to test all of the joint group functionality.
# Simply checks for wiring mistakes between the joints.
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()
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