README.md

ob1_arm_control package

Author:

Yousif El-Wishahy

Email: yel.wishahy@gmail.com

Description

This package contains the ArmCommander class (located in scripts/arm_commander.py) that is called by the main robot loop for manipulation related tasks such as picking up objects. Additionally, inverse kinematics and pick and place test cases are also in this package in scripts/test_arm.py.

Usage

from arm_commander import ArmCommander

WIP

Testing

Using pytest package for testcases. The tests are in pytest_arm.py.

See pytest docs https://docs.pytest.org/en/7.1.x/contents.html.

Installing pytest

$pip install pytest

You can also install option, but very useful addons

$pip install pytest-repeat pytest-html

Running pytest test cases

Run pytest command

pytest -o log_cli=true -q <path to pytest_arm.py>

-q quiet (decreased verbosity in command line logs)

-o override configurations

-k 'test case name pattern' allows for selection of a specific test case from the file.

--count=<# of times> repeat tests multiple times

--repeat-scope={function,class,module,session} scope of test reptition

--html=<filename>.html generate an html test report in current directory

examples

This command will run all test cases with object in their name:

pytest -o log_cli=true -q src/ob1_arm_control/scripts/pytest_arm.py -k 'object' 

Run test cases with print logs:

pytest -o log_cli=true -q src/ob1_arm_control/scripts/pytest_arm.py -k 'object' -s

Run test cases multiple times (e.g. 10):

pip install pytest-repeat
pytest -o log_cli=true -q src/ob1_arm_control/scripts/pytest_arm.py -k 'object' --count=10

Putting it all together: Run go target tests with quiet and log_cli modes on, repeat each test function 10 times and generate a report named test_6dof_report.html

pytest -o log_cli=true -q src/ob1_arm_control/scripts/test/test_cases.py -k 'GoTarget' --count=10 --repeat-scope=function --html=test_6dof_report.html