more tests

Author: gonzalocasas

tests/robots/obsolete_test_robot.py

@@ -160,59 +160,13 @@ def test_root_name(ur5_robot_instance):
 
 
 
-def test_get_base_link_name(ur5_robot_instance):
-    robot = ur5_robot_instance
-
-    assert robot.get_base_link_name(group=None) == "base_link"
-    assert robot.get_base_link_name(group="endeffector") == "tool0"
-
-
-def test_get_base_link_name_wo_semantics(panda_robot_instance_wo_semantics):
-    robot = panda_robot_instance_wo_semantics
-
-    assert robot.get_base_link_name(group=None) == "panda_link0"
-    assert robot.get_base_link_name(group="endeffector") == "panda_link0"
-
-
-def test_get_base_link(panda_robot_instance):
-    robot = panda_robot_instance
-
-    link = robot.get_base_link(group=None)
-    assert link.name == "panda_link0"
-
-    link = robot.get_base_link(group="panda_arm")
-    assert link.name == "panda_link0"
-
-    link = robot.get_base_link(group="hand")
-    assert link.name == "panda_hand"
-
-
-def test_get_base_link_wo_semantics(panda_robot_instance_wo_semantics):
-    robot = panda_robot_instance_wo_semantics
-
-    link = robot.get_base_link(group=None)
-    assert link.name == "panda_link0"
-
-    link = robot.get_base_link(group="panda_arm")
-    assert link.name == "panda_link0"
-
-    link = robot.get_base_link(group="hand")
-    assert link.name == "panda_link0"
-
-
 def test_get_base_frame(panda_robot_instance):
     robot = panda_robot_instance
 
     assert robot.get_base_frame(group=None) == Frame.worldXY()
     assert robot.get_base_frame(group="panda_arm") == Frame.worldXY()
 
 
-def test_get_base_frame_w_artist(panda_robot_instance):
-    robot = panda_robot_instance
-
-    assert robot.get_base_frame(group=None) == Frame.worldXY()
-    assert robot.get_base_frame(group="panda_arm") == Frame.worldXY()
-
 
 def test_get_base_frame_when_link_has_parent(ur5_robot_instance):
     robot = ur5_robot_instance
@@ -223,22 +177,7 @@ def test_get_base_frame_when_link_has_parent(ur5_robot_instance):
     assert [round(v) for v in base_frame.__data__["yaxis"]] == [0, 0, 1]
 
 
-def test_get_configurable_joints(ur5_robot_instance):
-    robot = ur5_robot_instance
-    joints = robot.get_configurable_joints()
-
-    pattern = re.compile(r"(shoulder|wrist|elbow).*_joint")
-    matches = [pattern.match(joint.name) for joint in joints]
-    assert all(matches)
-
-
-def test_get_configurable_joints_wo_semantics(panda_robot_instance_wo_semantics):
-    robot = panda_robot_instance_wo_semantics
-    joints = robot.get_configurable_joints()
 
-    pattern = re.compile(r"panda_.*joint\d")
-    matches = [pattern.match(joint.name) for joint in joints]
-    assert all(matches)
 
 
 def test_semantics_serialization(panda_srdf, panda_urdf):

tests/robots/test_robot_cell.py

@@ -440,3 +440,26 @@ def test_get_end_effector_link(ur10e_gripper_one_beam : tuple[RobotCell, RobotCe
     assert robot_cell.get_end_effector_link(group="endeffector").name == "tool0"
 
 
+def test_get_base_link_name(ur10e_gripper_one_beam : tuple[RobotCell, RobotCellState]):
+    robot_cell = ur10e_gripper_one_beam[0]
+
+    assert robot_cell.get_base_link_name(group=None) == "base_link"
+    assert robot_cell.get_base_link_name(group="endeffector") == "tool0"
+
+
+def test_get_base_link(panda : tuple[RobotCell, RobotCellState]):
+    robot_cell = panda[0]
+
+    link = robot_cell.get_base_link(group=None)
+    assert link.name == "panda_link0"
+
+    link = robot_cell.get_base_link(group="panda_arm")
+    assert link.name == "panda_link0"
+
+
+def test_get_configurable_joints(ur10e_gripper_one_beam : tuple[RobotCell, RobotCellState]):
+    robot_cell = ur10e_gripper_one_beam[0]
+    joints = robot_cell.get_configurable_joints()
+    joint_names = ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]
+    assert set([j.name for j in joints]) == set(joint_names)
+    assert len(joints) == 6

tests/robots/test_semantics.py

@@ -65,7 +65,7 @@ def test_panda_srdf_file(panda_srdf, panda_urdf):
 def test_ur5_semantics():
     robot_cell, robot_cell_state = RobotCellLibrary.ur5(load_geometry=False)
     semantics = robot_cell.robot_semantics
-    assert semantics.group_names == ["manipulator"]
+    assert semantics.group_names == ["manipulator", "endeffector"]
     assert semantics.main_group_name == "manipulator"
     assert semantics.get_base_link_name() == "base_link"
     assert semantics.get_end_effector_link_name() == "tool0"