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mimic joints are not configurable #771

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Merged
merged 2 commits into from
Feb 16, 2021
Merged

mimic joints are not configurable #771

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52e13ec
mimic joints are not configurable
beverlylytle Feb 16, 2021
8774b3f
better test
beverlylytle Feb 16, 2021
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2 changes: 2 additions & 0 deletions CHANGELOG.md
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Expand Up @@ -12,6 +12,8 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0

### Changed

* Fixed bug where mimic joints were considered configurable.

### Removed


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2 changes: 1 addition & 1 deletion src/compas/robots/model/joint.py
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Expand Up @@ -835,7 +835,7 @@ def calculate_transformation(self, position):

def is_configurable(self):
"""Returns ``True`` if the joint can be configured, otherwise ``False``."""
return self.type != Joint.FIXED
return self.type != Joint.FIXED and self.mimic is None

def is_scalable(self):
"""Returns ``True`` if the joint can be scaled, otherwise ``False``."""
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5 changes: 5 additions & 0 deletions tests/compas/robots/test_model.py
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Expand Up @@ -604,6 +604,11 @@ def test_unknown_axis_attribute_data(urdf_with_unknown_attr):
assert r.joints[0].axis.attr['rpy'] == '0 0 0'


def test_get_configurable_joint_names(urdf_file):
model = RobotModel.from_urdf_file(urdf_file)
assert 'panda_finger_joint2' not in model.get_configurable_joint_names()


def test_ensure_geometry(urdf_file, urdf_file_with_shapes_only):
robot = RobotModel.from_urdf_file(urdf_file)
with pytest.raises(Exception):
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