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sot-tests

Sot-tests is a project mainly written in EMACS LISP and PYTHON, based on the LGPL-3.0 license.

Infrastructure tests for HRP-2

This package contains unitary tests for the sot framework.

Setup

To compile this package, it is recommended to create a separate build directory:

mkdir _build
cd _build
cmake [OPTIONS] ..

Please note that CMake produces a CMakeCache.txt file which should be deleted to reconfigure a package from scratch.

The following table describes various tests provided in this package

Test	CTest	Description	Instructions	Expected Results/Comments
Echo	YES	Test echo in a dg-shell	cd _build make test	Passed
Coshell	YES	Test coshell	cd _build make test	Passed
Lefthand	YES	Test left-hand task on robosimu	cd _build make test	Passed
Lefthand-viz	NO	Test left-hand task on robosimu with vizualization	sot-gui2.py -o dg-shell scripts-sot/left-hand.sot scripts-sot/robot-simu.sot in dg-shell: import coshell click Simulate in sot-gui2.py	Robot moves its right hand while keeping both feet in place.
SoT-OpenHRP 1	NO	Test SoT entity in OpenHRP	Open OpenHRP with HRP2JRLBush.xml $OPENHRPHOME/bin/unix/OpenHRPpy _build/scripts-openhrp/sot_minimal.py Open sot-gui2.py, click Refresh.	Two entities appear in the graph: coshell and OpenHRP. OpenHRP.state should be updated at a decent rate.
SoT-OpenHRP 2	NO	Test left-hand task in OpenHRP	Open OpenHRP with HRP2JRLBush.xml $OPENHRPHOME/bin/unix/OpenHRPpy _build/scripts-openhrp/sot_minimal.py dg-coshell in dg-coshell: scripts-sot/left-hand.sot in dg-coshell: scripts-sot/robot-openhrp.sot	HRP2 moves its right hand while keeping the both feet in place.

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