Inheritance diagram for test_moveit.TestDualarmMoveit:

Public Member Functions
def	setUpClass (self)

def	tearDownClass (self)

def	test_botharms_plan (self)

def	test_left_and_right_plan (self)

def	test_list_activejoints (self)

def	test_list_movegroups (self)

def	test_plan_success (self)

def	test_planandexecute (self)

Public Attributes
	robot

Private Member Functions
def	_plan (self)

def	_plan_leftarm (self, movegroup)

def	_set_sample_pose (self)

Static Private Attributes
	_JOINTNAMES_BOTHARMS = _JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM
	_JOINTNAMES_BOTHARMS = _JOINTNAMES_TORSO +_JOINTNAMES_LEFTARM + _JOINTNAMES_RIGHTARM More...

list	_JOINTNAMES_HEAD = ['HEAD_JOINT0', 'HEAD_JOINT1']

list	_JOINTNAMES_LEFTARM = ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']

	_JOINTNAMES_LEFTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_LEFTARM

list	_JOINTNAMES_LEFTHAND = ['LARM_JOINT5']

list	_JOINTNAMES_RIGHTARM = ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']

	_JOINTNAMES_RIGHTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_RIGHTARM

list	_JOINTNAMES_RIGHTHAND = ['RARM_JOINT5']

list	_JOINTNAMES_TORSO = ['CHEST_JOINT0']

	_JOINTNAMES_UPPERBODY = _JOINTNAMES_TORSO+_JOINTNAMES_HEAD+_JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM

string	_KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault'

list	_MOVEGROUP_ATTR_BOTHARMS = [_MOVEGROUP_NAME_BOTHARMS, _JOINTNAMES_BOTHARMS]

list	_MOVEGROUP_ATTR_HEAD = [_MOVEGROUP_NAME_HEAD, _JOINTNAMES_HEAD]

list	_MOVEGROUP_ATTR_LEFTARM = [_MOVEGROUP_NAME_LEFTARM, _JOINTNAMES_LEFTARM]

list	_MOVEGROUP_ATTR_LEFTARM_TORSO = [_MOVEGROUP_NAME_LEFTARM_TORSO, _JOINTNAMES_LEFTARM_TORSO]

list	_MOVEGROUP_ATTR_LEFTHAND = [_MOVEGROUP_NAME_LEFTHAND, _JOINTNAMES_LEFTHAND]

list	_MOVEGROUP_ATTR_RIGHTARM = [_MOVEGROUP_NAME_RIGHTARM, _JOINTNAMES_RIGHTARM]

list	_MOVEGROUP_ATTR_RIGHTARM_TORSO = [_MOVEGROUP_NAME_RIGHTARM_TORSO, _JOINTNAMES_RIGHTARM_TORSO]

list	_MOVEGROUP_ATTR_RIGHTHAND = [_MOVEGROUP_NAME_RIGHTHAND, _JOINTNAMES_RIGHTHAND]

list	_MOVEGROUP_ATTR_TORSO = [_MOVEGROUP_NAME_TORSO, _JOINTNAMES_TORSO]

list	_MOVEGROUP_ATTR_UPPERBODY = [_MOVEGROUP_NAME_UPPERBODY, _JOINTNAMES_UPPERBODY]

list	_MOVEGROUP_ATTRS

string	_MOVEGROUP_NAME_BOTHARMS = 'botharms'

string	_MOVEGROUP_NAME_HEAD = 'head'

string	_MOVEGROUP_NAME_LEFTARM = 'left_arm'

string	_MOVEGROUP_NAME_LEFTARM_TORSO = 'left_arm_torso'

string	_MOVEGROUP_NAME_LEFTHAND = 'left_hand'

string	_MOVEGROUP_NAME_RIGHTARM = 'right_arm'

string	_MOVEGROUP_NAME_RIGHTARM_TORSO = 'right_arm_torso'

string	_MOVEGROUP_NAME_RIGHTHAND = 'right_hand'

string	_MOVEGROUP_NAME_TORSO = 'torso'

string	_MOVEGROUP_NAME_UPPERBODY = 'upperbody'

	_MOVEGROUP_NAMES

list	_TARGETPOSE_LEFT = []

Detailed Description

Definition at line 49 of file test_moveit.py.

Member Function Documentation

def test_moveit.TestDualarmMoveit._plan ( self )

private

Run `clear_pose_targets` at the beginning.
@rtype: RobotTrajectory http://docs.ros.org/api/moveit_msgs/html/msg/RobotTrajectory.html

Definition at line 154 of file test_moveit.py.

def test_moveit.TestDualarmMoveit._plan_leftarm	(	self,
		movegroup
	)

private

@type movegroup: MoveGroupCommander
@rtype: RobotTrajectory http://docs.ros.org/api/moveit_msgs/html/msg/RobotTrajectory.html

Definition at line 177 of file test_moveit.py.

def test_moveit.TestDualarmMoveit._set_sample_pose ( self )

private

@return: Pose() with some values populated in.

Definition at line 140 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.setUpClass ( self )

Definition at line 116 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.tearDownClass ( self )

Definition at line 137 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_botharms_plan ( self )

Definition at line 294 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_left_and_right_plan ( self )

Check if http://wiki.ros.org/rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_MOVEIT works

Definition at line 225 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_list_activejoints ( self )

Check if the defined joints in a move group are loaded.

Definition at line 171 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_list_movegroups ( self )

Check if the defined move groups are loaded.

Definition at line 167 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_plan_success ( self )

Evaluate plan (RobotTrajectory)

Definition at line 206 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_planandexecute ( self )

Evaluate Plan and Execute works.
Currently no value checking is done (, which is better to be implemented)

Definition at line 214 of file test_moveit.py.

Member Data Documentation

test_moveit.TestDualarmMoveit._JOINTNAMES_BOTHARMS = _JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM

staticprivate

_JOINTNAMES_BOTHARMS = _JOINTNAMES_TORSO +_JOINTNAMES_LEFTARM + _JOINTNAMES_RIGHTARM

Definition at line 87 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._JOINTNAMES_HEAD = ['HEAD_JOINT0', 'HEAD_JOINT1']

staticprivate

Definition at line 82 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._JOINTNAMES_LEFTARM = ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']

staticprivate

Definition at line 58 of file test_moveit.py.

test_moveit.TestDualarmMoveit._JOINTNAMES_LEFTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_LEFTARM

staticprivate

Definition at line 66 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._JOINTNAMES_LEFTHAND = ['LARM_JOINT5']

staticprivate

Definition at line 74 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._JOINTNAMES_RIGHTARM = ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']

staticprivate

Definition at line 62 of file test_moveit.py.

test_moveit.TestDualarmMoveit._JOINTNAMES_RIGHTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_RIGHTARM

staticprivate

Definition at line 70 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._JOINTNAMES_RIGHTHAND = ['RARM_JOINT5']

staticprivate

Definition at line 78 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._JOINTNAMES_TORSO = ['CHEST_JOINT0']

staticprivate

Definition at line 53 of file test_moveit.py.

test_moveit.TestDualarmMoveit._JOINTNAMES_UPPERBODY = _JOINTNAMES_TORSO+_JOINTNAMES_HEAD+_JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM

staticprivate

Definition at line 91 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault'

staticprivate

Definition at line 50 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_BOTHARMS = [_MOVEGROUP_NAME_BOTHARMS, _JOINTNAMES_BOTHARMS]

staticprivate

Definition at line 88 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_HEAD = [_MOVEGROUP_NAME_HEAD, _JOINTNAMES_HEAD]

staticprivate

Definition at line 83 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_LEFTARM = [_MOVEGROUP_NAME_LEFTARM, _JOINTNAMES_LEFTARM]

staticprivate

Definition at line 59 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_LEFTARM_TORSO = [_MOVEGROUP_NAME_LEFTARM_TORSO, _JOINTNAMES_LEFTARM_TORSO]

staticprivate

Definition at line 67 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_LEFTHAND = [_MOVEGROUP_NAME_LEFTHAND, _JOINTNAMES_LEFTHAND]

staticprivate

Definition at line 75 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_RIGHTARM = [_MOVEGROUP_NAME_RIGHTARM, _JOINTNAMES_RIGHTARM]

staticprivate

Definition at line 63 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_RIGHTARM_TORSO = [_MOVEGROUP_NAME_RIGHTARM_TORSO, _JOINTNAMES_RIGHTARM_TORSO]

staticprivate

Definition at line 71 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_RIGHTHAND = [_MOVEGROUP_NAME_RIGHTHAND, _JOINTNAMES_RIGHTHAND]

staticprivate

Definition at line 79 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_TORSO = [_MOVEGROUP_NAME_TORSO, _JOINTNAMES_TORSO]

staticprivate

Definition at line 55 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTR_UPPERBODY = [_MOVEGROUP_NAME_UPPERBODY, _JOINTNAMES_UPPERBODY]

staticprivate

Definition at line 92 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTRS

staticprivate

Initial value:

 = [_MOVEGROUP_ATTR_TORSO, _MOVEGROUP_ATTR_HEAD,
                         _MOVEGROUP_ATTR_LEFTARM, _MOVEGROUP_ATTR_RIGHTARM,
                         _MOVEGROUP_ATTR_LEFTARM_TORSO, _MOVEGROUP_ATTR_RIGHTARM_TORSO,
                         _MOVEGROUP_ATTR_LEFTHAND, _MOVEGROUP_ATTR_RIGHTHAND,
                         _MOVEGROUP_ATTR_BOTHARMS, _MOVEGROUP_ATTR_UPPERBODY]

Definition at line 100 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_BOTHARMS = 'botharms'

staticprivate

Definition at line 85 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_HEAD = 'head'

staticprivate

Definition at line 81 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_LEFTARM = 'left_arm'

staticprivate

Definition at line 57 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_LEFTARM_TORSO = 'left_arm_torso'

staticprivate

Definition at line 65 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_LEFTHAND = 'left_hand'

staticprivate

Definition at line 73 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_RIGHTARM = 'right_arm'

staticprivate

Definition at line 61 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_RIGHTARM_TORSO = 'right_arm_torso'

staticprivate

Definition at line 69 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_RIGHTHAND = 'right_hand'

staticprivate

Definition at line 77 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_TORSO = 'torso'

staticprivate

Definition at line 52 of file test_moveit.py.

string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_UPPERBODY = 'upperbody'

staticprivate

Definition at line 90 of file test_moveit.py.

test_moveit.TestDualarmMoveit._MOVEGROUP_NAMES

staticprivate

Initial value:

 = sorted([_MOVEGROUP_NAME_TORSO, _MOVEGROUP_NAME_HEAD,
                                _MOVEGROUP_NAME_LEFTARM, _MOVEGROUP_NAME_RIGHTARM,
                                _MOVEGROUP_NAME_LEFTARM_TORSO, _MOVEGROUP_NAME_RIGHTARM_TORSO,
                                _MOVEGROUP_NAME_LEFTHAND, _MOVEGROUP_NAME_RIGHTHAND,
                                _MOVEGROUP_NAME_BOTHARMS, _MOVEGROUP_NAME_UPPERBODY])

Definition at line 95 of file test_moveit.py.

list test_moveit.TestDualarmMoveit._TARGETPOSE_LEFT = []

staticprivate

Definition at line 106 of file test_moveit.py.

test_moveit.TestDualarmMoveit.robot

Definition at line 121 of file test_moveit.py.

The documentation for this class was generated from the following file:

test_moveit.py

Public Member Functions

Public Attributes

Private Member Functions

Static Private Attributes

Detailed Description

Member Function Documentation

Member Data Documentation