From 506fb4d04641ff02f242df17245ef8a01e001cf4 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Wed, 29 Jul 2020 19:48:19 +0200
Subject: [PATCH] [Tests] use load
Which lead to find that __main__ was missing the variations of icub &
ur5
---
python/example_robot_data/robots_loader.py | 13 ++++++-
unittest/test_load.py | 42 ++++++++++++----------
2 files changed, 35 insertions(+), 20 deletions(-)
diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index 59294e2..1df545a 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -237,7 +237,12 @@ ROBOTS = {
'double_pendulum': (loadDoublePendulum, {}),
'hector': (loadHector, {}),
'hyq': (loadHyQ, {}),
- 'icub': (loadICub, {}),
+ 'icub': (loadICub, {
+ 'reduced': False
+ }),
+ 'icub_reduced': (loadICub, {
+ 'reduced': True
+ }),
'iris': (loadIris, {}),
'kinova': (loadKinova, {}),
'panda': (loadPanda, {}),
@@ -258,6 +263,12 @@ ROBOTS = {
'hand': False
}),
'ur5': (loadUR, {}),
+ 'ur5_gripper': (loadUR, {
+ 'gripper': True
+ }),
+ 'ur5_limited': (loadUR, {
+ 'limited': True
+ }),
}
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 0fa6b95..70abac2 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -2,66 +2,70 @@
import unittest
-import example_robot_data as erd
+from example_robot_data import load
class RobotTestCase(unittest.TestCase):
- def check(self, robot, expected_nq, expected_nv):
+ def check(self, name, expected_nq, expected_nv):
"""Helper function for the real tests"""
+ robot = load(name, display=False)
self.assertEqual(robot.model.nq, expected_nq)
self.assertEqual(robot.model.nv, expected_nv)
self.assertTrue(hasattr(robot, "q0"))
def test_anymal(self):
- self.check(erd.loadANYmal(), 19, 18)
+ self.check('anymal', 19, 18)
def test_anymal_kinova(self):
- self.check(erd.loadANYmal(withArm="kinova"), 25, 24)
+ self.check('anymal_kinova', 25, 24)
def test_hyq(self):
- self.check(erd.loadHyQ(), 19, 18)
+ self.check('hyq', 19, 18)
def test_talos(self):
- self.check(erd.loadTalos(), 39, 38)
+ self.check('talos', 39, 38)
def test_talos_arm(self):
- self.check(erd.loadTalos(arm=True), 7, 7)
+ self.check('talos_arm', 7, 7)
def test_talos_legs(self):
- self.check(erd.loadTalos(legs=True), 19, 18)
+ self.check('talos_legs', 19, 18)
def test_icub(self):
- self.check(erd.loadICub(reduced=False), 39, 38)
+ self.check('icub', 39, 38)
+
+ def test_icub_reduced(self):
+ self.check('icub_reduced', 36, 35)
def test_solo(self):
- self.check(erd.loadSolo(), 15, 14)
+ self.check('solo', 15, 14)
def test_solo12(self):
- self.check(erd.loadSolo(False), 19, 18)
+ self.check('solo12', 19, 18)
def test_tiago(self):
- self.check(erd.loadTiago(), 50, 48)
+ self.check('tiago', 50, 48)
def test_tiago_no_hand(self):
- self.check(erd.loadTiago(hand=False), 14, 12)
+ self.check('tiago_no_hand', 14, 12)
def test_ur5(self):
- self.check(erd.loadUR(), 6, 6)
+ self.check('ur5', 6, 6)
def test_ur5_limited(self):
- self.check(erd.loadUR(limited=True), 6, 6)
+ self.check('ur5_limited', 6, 6)
def test_ur5_gripper(self):
- self.check(erd.loadUR(gripper=True), 6, 6)
+ self.check('ur5_gripper', 6, 6)
def test_kinova(self):
- self.check(erd.loadKinova(), 9, 6)
+ self.check('kinova', 9, 6)
def test_romeo(self):
- self.check(erd.loadRomeo(), 62, 61)
+ self.check('romeo', 62, 61)
def test_panda(self):
- self.check(erd.loadPanda(), 9, 9)
+ self.check('panda', 9, 9)
if __name__ == '__main__':
--
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