acceptancetest_rtm.py
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1 # -*- coding: utf-8 -*-
2 
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34 
35 import time
36 
37 from hironx_ros_bridge.constant import Constant
38 from hironx_ros_bridge.testutil.abst_acceptancetest import AbstAcceptanceTest
39 
40 
42 
43  def __init__(self, robot_client):
44  '''
45  @type robot_client: hironx_ros_bridge.hironx_client.HIRONX
46  '''
47  self._robotclient = robot_client
48 
49  def go_initpos(self):
50  self._robotclient.goInitial()
51 
52  def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None,
53  task_duration=7.0, do_wait=True):
54  '''
55  @see: AbstAcceptanceTest.set_joint_angles
56  '''
57  print("== RTM; {} ==".format(msg_tasktitle))
58  self._robotclient.setJointAnglesOfGroup(
59  joint_group, joint_angles, task_duration, do_wait)
60 
61  def set_pose(self, joint_group, position, rpy, msg_tasktitle,
62  task_duration=7.0, do_wait=True, ref_frame_name=None):
63 
64  print("== RTM; {} ==".format(msg_tasktitle))
65  self._robotclient.setTargetPose(joint_group, position, rpy,
66  task_duration, ref_frame_name)
67  if do_wait:
68  self._robotclient.waitInterpolationOfGroup(joint_group)
69 
71  self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0,
72  msg_tasktitle=None, task_duration=7.0, do_wait=True):
73  if joint_group == Constant.GRNAME_LEFT_ARM:
74  eef = 'LARM_JOINT5'
75  elif joint_group == Constant.GRNAME_RIGHT_ARM:
76  eef = 'RARM_JOINT5'
77 
78  print("== RTM; {} ==".format(msg_tasktitle))
79  self._robotclient.setTargetPoseRelative(
80  joint_group, eef, dx, dy, dz, dr, dp, dw,
81  task_duration, do_wait)
def set_pose_relative(self, joint_group, dx=0, dy=0, dz=0, dr=0, dp=0, dw=0, msg_tasktitle=None, task_duration=7.0, do_wait=True)
def setTargetPose(self, gname, pos, rpy, tm, frame_name=None)
Move the end-effector to the given absolute pose.
def set_joint_angles(self, joint_group, joint_angles, msg_tasktitle=None, task_duration=7.0, do_wait=True)
def set_pose(self, joint_group, position, rpy, msg_tasktitle, task_duration=7.0, do_wait=True, ref_frame_name=None)


hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Mon Feb 28 2022 23:45:15