From 503309b9c7006e255985683c1df46fd8d18dbd61 Mon Sep 17 00:00:00 2001
From: Valenza Florian <fvalenza@laas.fr>
Date: Fri, 5 Aug 2016 12:54:20 +0200
Subject: [PATCH] [Python] Updating Python tests to corresponds to the API (
e.g we add frames for every link and joint we encounter in urdf )
---
python/bindings_frame.py | 8 ++++----
python/bindings_geometry_object.py | 2 +-
2 files changed, 5 insertions(+), 5 deletions(-)
diff --git a/python/bindings_frame.py b/python/bindings_frame.py
index d7e79fd2b..2643ced00 100644
--- a/python/bindings_frame.py
+++ b/python/bindings_frame.py
@@ -24,19 +24,19 @@ class TestFrameBindings(unittest.TestCase):
robot = RobotWrapper(romeo_model_path, hint_list, se3.JointModelFreeFlyer())
def test_type_get_set(self):
- f = self.robot.model.frames[1]
+ f = self.robot.model.frames[2]
self.assertTrue(f.type == se3.FrameType.JOINT)
f.type = se3.FrameType.BODY
self.assertTrue(f.type == se3.FrameType.BODY)
def test_name_get_set(self):
- f = self.robot.model.frames[1]
+ f = self.robot.model.frames[2]
self.assertTrue(f.name == 'LHipYaw')
f.name = 'new_hip_frame'
self.assertTrue(f.name == 'new_hip_frame')
def test_parent_get_set(self):
- f = self.robot.model.frames[1]
+ f = self.robot.model.frames[2]
self.assertTrue(f.parent == 2)
f.parent = 5
self.assertTrue(f.parent == 5)
@@ -44,7 +44,7 @@ class TestFrameBindings(unittest.TestCase):
def test_placement_get_set(self):
m = se3.SE3(self.m3ones, np.array([0,0,0],np.double))
new_m = se3.SE3(rand([3,3]), rand(3))
- f = self.robot.model.frames[1]
+ f = self.robot.model.frames[2]
self.assertTrue(np.allclose(f.placement.homogeneous, m.homogeneous))
f.placement = new_m
self.assertTrue(np.allclose(f.placement.homogeneous, new_m.homogeneous))
diff --git a/python/bindings_geometry_object.py b/python/bindings_geometry_object.py
index 9374d7187..c9868b6dd 100644
--- a/python/bindings_geometry_object.py
+++ b/python/bindings_geometry_object.py
@@ -26,7 +26,7 @@ class TestGeometryObjectBindings(unittest.TestCase):
def test_name_get_set(self):
col = self.robot.collision_model.geometryObjects[1]
- self.assertTrue(col.name == 'LHipPitchLink')
+ self.assertTrue(col.name == 'LHipPitchLink_0')
col.name = 'new_collision_name'
self.assertTrue(col.name == 'new_collision_name')
--
GitLab