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robotology / icub-tests

Contains tests for iCub robot Tests are written using the robot-testing framework
http://robotology.github.io/icub-tests/
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IMU test – Add libYARP_manager functionalities to handle different configurations #72

Closed martinaxgloria closed 7 months ago

martinaxgloria commented 7 months ago

As per title, this PR aims to better handle the movements of the robot during the test. In particular, with these changes, no robot-testing-framework fixtures are launched when running the test, but it will open one ctpService for each of the parts of the robot named remoteControlBoards in the test_imu.ini file, checking if the legs are included or not in the test. For example, using this configuration file:

robot                   ${robotname}
model                   model.urdf
port                    /${robotname}/alljoints/inertials
remoteControlBoards     ("torso", "head", "left_arm", "right_arm")
axesNames               ("torso_pitch", "torso_roll", "torso_yaw", "neck_pitch", "neck_roll", "neck_yaw", "l_shoulder_pitch", "l_shoulder_roll", "l_shoulder_yaw", "r_shoulder_pitch", "r_shoulder_roll", "r_shoulder_yaw")
sensorsList             ("all")
maxError                0.1

the test sees that no left_leg and/or right_leg are included in the parts, and this is the output:

test.webm

cc @pattacini