64 lines
2.1 KiB
Python
64 lines
2.1 KiB
Python
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# Copyright (c) 2021 Franka Emika GmbH
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from os import path
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from ament_index_python.packages import get_package_share_directory
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import xacro
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panda_xacro_file_name = path.join(get_package_share_directory('franka_description'), 'robots',
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'panda_arm.urdf.xacro')
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def test_load():
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urdf = xacro.process_file(panda_xacro_file_name).toxml()
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assert urdf.find('panda_finger_joint') == -1
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def test_load_with_gripper():
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urdf = xacro.process_file(panda_xacro_file_name,
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mappings={'hand': 'true'}).toxml()
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assert urdf.find('panda_finger_joint') != -1
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def test_load_with_fake_hardware():
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urdf = xacro.process_file(panda_xacro_file_name,
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mappings={'use_fake_hardware': 'true'}).toxml()
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assert urdf.find('fake_components/GenericSystem') != -1
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def test_load_with_robot_ip():
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urdf = xacro.process_file(panda_xacro_file_name,
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mappings={'robot_ip': 'franka_ip_address'}).toxml()
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assert urdf.find('franka_ip_address') != -1
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def test_load_with_arm_id():
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urdf = xacro.process_file(panda_xacro_file_name,
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mappings={'arm_id': 'totally_different_arm'}).toxml()
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assert urdf.find('totally_different_arm_joint1') != -1
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def test_check_interfaces():
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urdf = xacro.process_file(panda_xacro_file_name).toxml()
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assert urdf.find('state_interface') != -1
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assert urdf.find('command_interface') != -1
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assert urdf.find('position') != -1
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assert urdf.find('velocity') != -1
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assert urdf.find('effort') != -1
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if __name__ == '__main__':
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pass
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