test.franka_robot_urdf.FrankaRobotUrdfTest Class Reference

Inheritance diagram for test.franka_robot_urdf.FrankaRobotUrdfTest:

Public Member Functions
def	file (self)
def	test_custom_arm_id_renames_joints (self)
def	test_custom_arm_id_renames_links (self)
def	test_custom_arm_id_with_hand_renames_hand_joints_and_links (self)
def	test_gazebo_arg_and_hand_will_insert_effort_interfaces_for_fingers (self)
def	test_gazebo_arg_will_add_top_level_world_link (self)
def	test_gazebo_arg_will_insert_effort_interfaces (self)
def	test_gazebo_arg_will_insert_franka_model_interface (self)
def	test_gazebo_arg_will_insert_franka_state_interface (self)
def	test_gazebo_arg_will_insert_gazebo_ros_control_plugin (self)
def	test_gazebo_arg_will_insert_position_interfaces (self)
def	test_gazebo_arg_will_insert_velocity_interfaces (self)
def	test_generate_urdf_with_hand_but_not_gazebo_doesnt_insert_inertial_tags_for_any_link (self)
def	test_generate_urdf_with_hand_puts_franka_gripper_into_urdf (self)
def	test_generate_urdf_without_tcp_args_uses_default_10_34_cm_hand_tcp_offset (self)
def	test_generate_urdf_without_xacro_args_contains_joint1_up_to_joint8 (self)
def	test_generate_urdf_without_xacro_args_contains_link0_up_to_link8 (self)
def	test_generate_urdf_without_xacro_args_doesnt_insert_inertial_tags_for_any_link (self)
def	test_generate_urdf_without_xacro_args_dont_use_gripper (self)
def	test_generate_urdf_without_xacro_args_is_possible (self)
def	test_generate_urdf_without_xacro_args_uses_coarse_collision_models_for_sc_links (self)
def	test_generate_urdf_without_xacro_args_uses_fine_collision_models (self)
def	test_setting_gazebo_arg_forces_to_have_no_geometries_inside_sc_links (self)
def	test_setting_gazebo_arg_with_hand_forces_to_have_no_geometries_inside_sc_links (self)
def	test_setting_tcp_rpy_arg_rotates_the_hand_tcp_link (self)
def	test_setting_tcp_xyz_arg_moves_the_hand_tcp_link (self)
Public Member Functions inherited from test.urdf_test_case.UrdfTestCase
def	assertContainsJoint (self, urdf, joint)
def	assertContainsLink (self, urdf, link)
def	assertJointBetween (self, urdf, parent, child, type=None)
def	assertJointHasTransmission (self, urdf, joint, type)
def	collision_geometries (self, urdf, link)
def	joints_with (self, urdf, predicate)
def	links_with (self, urdf, predicate)
def	xacro (self, file, args='')

Detailed Description

Definition at line 11 of file franka_robot_urdf.py.

Member Function Documentation

file()

def test.franka_robot_urdf.FrankaRobotUrdfTest.file

(

self

)

Definition at line 14 of file franka_robot_urdf.py.

test_custom_arm_id_renames_joints()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_custom_arm_id_renames_joints

(

self

)

Definition at line 89 of file franka_robot_urdf.py.

test_custom_arm_id_renames_links()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_custom_arm_id_renames_links

(

self

)

Definition at line 83 of file franka_robot_urdf.py.

test_custom_arm_id_with_hand_renames_hand_joints_and_links()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_custom_arm_id_with_hand_renames_hand_joints_and_links

(

self

)

Definition at line 106 of file franka_robot_urdf.py.

test_gazebo_arg_and_hand_will_insert_effort_interfaces_for_fingers()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_and_hand_will_insert_effort_interfaces_for_fingers

(

self

)

Definition at line 196 of file franka_robot_urdf.py.

test_gazebo_arg_will_add_top_level_world_link()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_add_top_level_world_link

(

self

)

Definition at line 117 of file franka_robot_urdf.py.

test_gazebo_arg_will_insert_effort_interfaces()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_insert_effort_interfaces

(

self

)

Definition at line 158 of file franka_robot_urdf.py.

test_gazebo_arg_will_insert_franka_model_interface()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_insert_franka_model_interface

(

self

)

Definition at line 178 of file franka_robot_urdf.py.

test_gazebo_arg_will_insert_franka_state_interface()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_insert_franka_state_interface

(

self

)

Definition at line 164 of file franka_robot_urdf.py.

test_gazebo_arg_will_insert_gazebo_ros_control_plugin()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_insert_gazebo_ros_control_plugin

(

self

)

Definition at line 127 of file franka_robot_urdf.py.

test_gazebo_arg_will_insert_position_interfaces()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_insert_position_interfaces

(

self

)

Definition at line 146 of file franka_robot_urdf.py.

test_gazebo_arg_will_insert_velocity_interfaces()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_gazebo_arg_will_insert_velocity_interfaces

(

self

)

Definition at line 152 of file franka_robot_urdf.py.

test_generate_urdf_with_hand_but_not_gazebo_doesnt_insert_inertial_tags_for_any_link()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_with_hand_but_not_gazebo_doesnt_insert_inertial_tags_for_any_link

(

self

)

Definition at line 75 of file franka_robot_urdf.py.

test_generate_urdf_with_hand_puts_franka_gripper_into_urdf()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_with_hand_puts_franka_gripper_into_urdf

(

self

)

Definition at line 95 of file franka_robot_urdf.py.

test_generate_urdf_without_tcp_args_uses_default_10_34_cm_hand_tcp_offset()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_tcp_args_uses_default_10_34_cm_hand_tcp_offset

(

self

)

Definition at line 220 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_contains_joint1_up_to_joint8()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_contains_joint1_up_to_joint8

(

self

)

Definition at line 26 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_contains_link0_up_to_link8()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_contains_link0_up_to_link8

(

self

)

Definition at line 20 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_doesnt_insert_inertial_tags_for_any_link()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_doesnt_insert_inertial_tags_for_any_link

(

self

)

Definition at line 67 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_dont_use_gripper()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_dont_use_gripper

(

self

)

Definition at line 33 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_is_possible()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_is_possible

(

self

)

Definition at line 17 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_uses_coarse_collision_models_for_sc_links()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_uses_coarse_collision_models_for_sc_links

(

self

)

Definition at line 56 of file franka_robot_urdf.py.

test_generate_urdf_without_xacro_args_uses_fine_collision_models()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_generate_urdf_without_xacro_args_uses_fine_collision_models

(

self

)

Definition at line 44 of file franka_robot_urdf.py.

test_setting_gazebo_arg_forces_to_have_no_geometries_inside_sc_links()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_setting_gazebo_arg_forces_to_have_no_geometries_inside_sc_links

(

self

)

Definition at line 202 of file franka_robot_urdf.py.

test_setting_gazebo_arg_with_hand_forces_to_have_no_geometries_inside_sc_links()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_setting_gazebo_arg_with_hand_forces_to_have_no_geometries_inside_sc_links

(

self

)

Definition at line 211 of file franka_robot_urdf.py.

test_setting_tcp_rpy_arg_rotates_the_hand_tcp_link()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_setting_tcp_rpy_arg_rotates_the_hand_tcp_link

(

self

)

Definition at line 233 of file franka_robot_urdf.py.

test_setting_tcp_xyz_arg_moves_the_hand_tcp_link()

def test.franka_robot_urdf.FrankaRobotUrdfTest.test_setting_tcp_xyz_arg_moves_the_hand_tcp_link

(

self

)

Definition at line 227 of file franka_robot_urdf.py.

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The documentation for this class was generated from the following file:

• franka_robot_urdf.py