Inheritance diagram for test.urdf_test_case.UrdfTestCase:

Public Member Functions
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 8 of file urdf_test_case.py.

Member Function Documentation

◆ assertContainsJoint()

def test.urdf_test_case.UrdfTestCase.assertContainsJoint	(	self,
		urdf,
		joint
	)

Check that the URDF contains a certain joint
@param urdf: The URDF to test
@param joint: The name of the joint to find
@return: True if 'joint' is present in 'urdf', False otherwise

Definition at line 34 of file urdf_test_case.py.

◆ assertContainsLink()

def test.urdf_test_case.UrdfTestCase.assertContainsLink	(	self,
		urdf,
		link
	)

Check that the URDF contains a certain link
@param urdf: The URDF to test
@param link: The name of the link to find
@return: True if 'link' is present in 'urdf', False otherwise

Definition at line 25 of file urdf_test_case.py.

◆ assertJointBetween()

def test.urdf_test_case.UrdfTestCase.assertJointBetween	(	self,
		urdf,
		parent,
		child,
		type = `None`
	)

Assert that there exists a <joint> between two links
@param urdf: The URDF in which to look for such a joint
@param parent: The name of the parent link of the joint to look for
@param child:  The name of the child link of the joint to look for
@param type:   None, to search for any joint, or one of ['unknown', 'revolute',
       'continuous', 'prismatic', 'floating', 'planar', 'fixed'] to check
       for a specific type only.

Definition at line 74 of file urdf_test_case.py.

◆ assertJointHasTransmission()

def test.urdf_test_case.UrdfTestCase.assertJointHasTransmission	(	self,
		urdf,
		joint,
		type
	)

Assert that there exists a <transmission> to a joint with a certain type
@param urdf: The URDF in which to look for the transmission
@param joint: The name of the joint for which the transmission is for
@param type: The type of the hw interface, e.g. 'hardware_interface/PositionJointInterface'

Definition at line 94 of file urdf_test_case.py.

◆ collision_geometries()

def test.urdf_test_case.UrdfTestCase.collision_geometries	(	self,
		urdf,
		link
	)

Find all <collision> geometries of a certain link in a URDF.
Fail the test if the link does not exist.
@param urdf: The URDF to search for
@param link: The name of the link to get its collision geometries for
@return: A list of urdf_parser_py.urdf.Geometry

Definition at line 63 of file urdf_test_case.py.

◆ joints_with()

def test.urdf_test_case.UrdfTestCase.joints_with	(	self,
		urdf,
		predicate
	)

Iterate all joints in the URDF and filter with a predicate
@param urdf: The URDF with the joints to filter
@param predicate: A function, which gets the joint name as argument and which
          should return true if the joint should be in the list or not
@return: A list of joint names matching the predicate

Definition at line 53 of file urdf_test_case.py.

◆ links_with()

def test.urdf_test_case.UrdfTestCase.links_with	(	self,
		urdf,
		predicate
	)

Iterate all links in the URDF and filter with a predicate
@param urdf: The URDF with the links to filter
@param predicate: A function, which gets the link name as argument and which
          should return true if the link should be in the list or not
@return: A list of link names matching the predicate

Definition at line 43 of file urdf_test_case.py.

◆ xacro()

def test.urdf_test_case.UrdfTestCase.xacro	(	self,
		file,
		args = `''`
	)

Generates a URDF from a XACRO file. If the URDF is invalid the test is
automatically failed.
@param file: The name of the xacro input file within `franka_description/robots/`
@param args: A optional string of xacro args to append, e.g. ("foo:=1 bar:=true")
@return: The generated URDF, as urdf_parser_py.urdf.URDF type

Definition at line 9 of file urdf_test_case.py.

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

urdf_test_case.py

Public Member Functions