TRex v0.2

This version of TRex is capable of simulation hardware steps and checking for various test constrains. It offers:

• Dynamic addition of parts, including automatic spawning of child parts
• Dynamic texture association for parts which have a QR code
• Multiple implementations of the interface between HAL and ROS
• Integration of product step testing in HAL
• Dynamic retrieval of parts for testing of product steps
• Dynamic adding of various test constrains
• Dynamic retrieval of test constrains for models

The supported test constrains are:

• Checking for contacts between collisions and, if so, checking whether or not the force and torque are within specifications specified for that collision.
• Checkong whether or not the acceleration exposed on a link is within specifications specified for that link
• Checkong whether or not the error pose of a joint is within specifications specified for that joint