Public Member Functions | |
def | __init__ |
def | run_tests_ros |
def | run_tests_rtm |
Public Attributes | |
ros | |
rtm | |
Private Member Functions | |
def | _move_armbyarm_jointangles |
def | _move_armbyarm_pose |
def | _move_head |
def | _move_torso |
def | _movearms_together |
def | _overwrite_arm |
def | _overwrite_torso |
def | _run_tests |
def | _set_pose_relative |
def | _show_workspace |
def | _wait_input |
Private Attributes | |
_acceptance_ros_client | |
_acceptance_rtm_client | |
_rtm_robotname | |
_rtm_url | |
Static Private Attributes | |
float | _DURATION_EACH_SMALLINCREMENT = 0.1 |
int | _DURATON_TOTAL_SMALLINCREMENT = 30 |
list | _POS_L_X_FAR_Y_FAR = [0.47548142379781055, 0.17430276793604782, 1.0376878025614884] |
list | _POS_L_X_NEAR_Y_FAR = [0.326, 0.474, 1.038] |
list | _POS_R_X_FAR_Y_FAR = [0.4755337947019357, -0.17242322190721648, 1.0476395479774052] |
list | _POS_R_X_NEAR_Y_FAR = [0.326, -0.472, 1.048] |
list | _POSITIONS_LARM_DEG_DOWN = [6.196, -5.311, -73.086, -15.287, -12.906, -2.957] |
list | _POSITIONS_LARM_DEG_UP = [-4.697, -2.012, -117.108, -17.180, 29.146, -3.739] |
list | _POSITIONS_LARM_DEG_UP_SYNC = [-4.695, -2.009, -117.103, -17.178, 29.138, -3.738] |
list | _POSITIONS_RARM_DEG_DOWN = [-4.949, -3.372, -80.050, 15.067, -7.734, 3.086] |
list | _POSITIONS_RARM_DEG_UP_SYNC = [4.695, -2.009, -117.103, 17.178, 29.138, 3.738] |
list | _POSITIONS_TORSO_DEG = [[130.0], [-130.0]] |
float | _R_Z_SMALLINCREMENT = 0.0001 |
list | _ROTATION_ANGLES_HEAD_1 = [[0.1, 0.0], [50.0, 10.0]] |
list | _ROTATION_ANGLES_HEAD_2 = [[50, 10], [-50, -10], [0, 0]] |
tuple | _RPY_L_X_FAR_Y_FAR = (-3.075954857224205, -1.5690261926181046, 3.0757659493049574) |
tuple | _RPY_L_X_NEAR_Y_FAR = (-3.075, -1.569, 3.074) |
tuple | _RPY_R_X_FAR_Y_FAR = (3.0715850722714944, -1.5690204449882248, -3.071395243174742) |
tuple | _RPY_R_X_NEAR_Y_FAR = (3.073, -1.569, -3.072) |
float | _TASK_DURATION_DEFAULT = 5.0 |
float | _TASK_DURATION_HEAD = 2.5 |
float | _TASK_DURATION_TORSO = 4.0 |
This class holds methods that can be used for verification of the robot Kawada Industries' dual-arm robot Hiro (and the same model of other robots e.g. NEXTAGE OPEN). This test class is: - Intended to be run as nosetests, ie. roscore isn't available by itself. - Almost all the testcases don't run without an access to a robot running. Above said, combined with a rostest that launches roscore and robot (either simulation or real) hopefully these testcases can be run, both in batch manner by rostest and in nosetest manner. Prefix for methods 'at' means 'acceptance test'. All time arguments are second.
Definition at line 45 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro.__init__ | ( | self, | |
rtm_robotname = 'HiroNX(Robot)0' , |
|||
url = '' |
|||
) |
Initiate both ROS and RTM robot clients, keep them public so that they are callable from script. e.g. On ipython, In [1]: acceptance.ros.go_init() In [2]: acceptance.rtm.goOffPose()
Definition at line 91 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._move_armbyarm_jointangles | ( | self, | |
test_client | |||
) | [private] |
@type test_client: hironx_ros_robotics.abst_acceptancetest.AbstAcceptanceTest
Definition at line 216 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._move_armbyarm_pose | ( | self, | |
test_client | |||
) | [private] |
Definition at line 230 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._move_head | ( | self, | |
test_client | |||
) | [private] |
Definition at line 268 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._move_torso | ( | self, | |
test_client | |||
) | [private] |
Definition at line 281 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._movearms_together | ( | self, | |
test_client | |||
) | [private] |
@type test_client: hironx_ros_robotics.abst_acceptancetest.AbstAcceptanceTest
Definition at line 234 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._overwrite_arm | ( | self, | |
test_client | |||
) | [private] |
Definition at line 298 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._overwrite_torso | ( | self, | |
test_client | |||
) | [private] |
Definition at line 287 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._run_tests | ( | self, | |
test_client, | |||
do_wait_input = False |
|||
) | [private] |
@type test_client: hironx_ros_robotics.abst_acceptancetest.AbstAcceptanceTest
Definition at line 150 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._set_pose_relative | ( | self, | |
test_client | |||
) | [private] |
Definition at line 251 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._show_workspace | ( | self, | |
test_client | |||
) | [private] |
Definition at line 315 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro._wait_input | ( | self, | |
msg, | |||
do_wait_input = False |
|||
) | [private] |
@type msg: str @param msg: To be printed on prompt. @param do_wait_input: If True python commandline waits for any input to proceed.
Definition at line 114 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro.run_tests_ros | ( | self, | |
do_wait_input = False |
|||
) |
Run by ROS exactly the same actions that run_tests_rtm performs. @param do_wait_input: If True, the user will be asked to hit any key before each task to proceed.
Definition at line 141 of file acceptancetest_hironx.py.
def acceptancetest_hironx.AcceptanceTest_Hiro.run_tests_rtm | ( | self, | |
do_wait_input = False |
|||
) |
@param do_wait_input: If True, the user will be asked to hit any key before each task to proceed.
Definition at line 134 of file acceptancetest_hironx.py.
Definition at line 97 of file acceptancetest_hironx.py.
Definition at line 97 of file acceptancetest_hironx.py.
float acceptancetest_hironx.AcceptanceTest_Hiro::_DURATION_EACH_SMALLINCREMENT = 0.1 [static, private] |
Definition at line 85 of file acceptancetest_hironx.py.
int acceptancetest_hironx.AcceptanceTest_Hiro::_DURATON_TOTAL_SMALLINCREMENT = 30 [static, private] |
Definition at line 89 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POS_L_X_FAR_Y_FAR = [0.47548142379781055, 0.17430276793604782, 1.0376878025614884] [static, private] |
Definition at line 79 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POS_L_X_NEAR_Y_FAR = [0.326, 0.474, 1.038] [static, private] |
Definition at line 74 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POS_R_X_FAR_Y_FAR = [0.4755337947019357, -0.17242322190721648, 1.0476395479774052] [static, private] |
Definition at line 81 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POS_R_X_NEAR_Y_FAR = [0.326, -0.472, 1.048] [static, private] |
Definition at line 76 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POSITIONS_LARM_DEG_DOWN = [6.196, -5.311, -73.086, -15.287, -12.906, -2.957] [static, private] |
Definition at line 65 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POSITIONS_LARM_DEG_UP = [-4.697, -2.012, -117.108, -17.180, 29.146, -3.739] [static, private] |
Definition at line 64 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POSITIONS_LARM_DEG_UP_SYNC = [-4.695, -2.009, -117.103, -17.178, 29.138, -3.738] [static, private] |
Definition at line 67 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POSITIONS_RARM_DEG_DOWN = [-4.949, -3.372, -80.050, 15.067, -7.734, 3.086] [static, private] |
Definition at line 66 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POSITIONS_RARM_DEG_UP_SYNC = [4.695, -2.009, -117.103, 17.178, 29.138, 3.738] [static, private] |
Definition at line 68 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_POSITIONS_TORSO_DEG = [[130.0], [-130.0]] [static, private] |
Definition at line 71 of file acceptancetest_hironx.py.
float acceptancetest_hironx.AcceptanceTest_Hiro::_R_Z_SMALLINCREMENT = 0.0001 [static, private] |
Definition at line 72 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_ROTATION_ANGLES_HEAD_1 = [[0.1, 0.0], [50.0, 10.0]] [static, private] |
Definition at line 69 of file acceptancetest_hironx.py.
list acceptancetest_hironx.AcceptanceTest_Hiro::_ROTATION_ANGLES_HEAD_2 = [[50, 10], [-50, -10], [0, 0]] [static, private] |
Definition at line 70 of file acceptancetest_hironx.py.
tuple acceptancetest_hironx.AcceptanceTest_Hiro::_RPY_L_X_FAR_Y_FAR = (-3.075954857224205, -1.5690261926181046, 3.0757659493049574) [static, private] |
Definition at line 80 of file acceptancetest_hironx.py.
tuple acceptancetest_hironx.AcceptanceTest_Hiro::_RPY_L_X_NEAR_Y_FAR = (-3.075, -1.569, 3.074) [static, private] |
Definition at line 75 of file acceptancetest_hironx.py.
tuple acceptancetest_hironx.AcceptanceTest_Hiro::_RPY_R_X_FAR_Y_FAR = (3.0715850722714944, -1.5690204449882248, -3.071395243174742) [static, private] |
Definition at line 82 of file acceptancetest_hironx.py.
tuple acceptancetest_hironx.AcceptanceTest_Hiro::_RPY_R_X_NEAR_Y_FAR = (3.073, -1.569, -3.072) [static, private] |
Definition at line 77 of file acceptancetest_hironx.py.
Definition at line 97 of file acceptancetest_hironx.py.
Definition at line 97 of file acceptancetest_hironx.py.
float acceptancetest_hironx.AcceptanceTest_Hiro::_TASK_DURATION_DEFAULT = 5.0 [static, private] |
Definition at line 84 of file acceptancetest_hironx.py.
float acceptancetest_hironx.AcceptanceTest_Hiro::_TASK_DURATION_HEAD = 2.5 [static, private] |
Definition at line 87 of file acceptancetest_hironx.py.
float acceptancetest_hironx.AcceptanceTest_Hiro::_TASK_DURATION_TORSO = 4.0 [static, private] |
Definition at line 86 of file acceptancetest_hironx.py.
Definition at line 97 of file acceptancetest_hironx.py.
Definition at line 97 of file acceptancetest_hironx.py.