Classes
class	AcceptanceTestJointLimits

Variables
int	_ACTION_SERVER_TIMEOUT_SEC = 5

list	_COLLISION_JOINT_NAMES

string	_CONTROLLER_ACTION_NAME = '/prbt/manipulator_joint_trajectory_controller/follow_joint_trajectory'

float	_JOINT_LIMIT_OVERSTEP = 0.1

dictionary	_JOINT_LIMITS_DEGREE

list	_JOINT_NAMES = ['prbt_joint_1', 'prbt_joint_2', 'prbt_joint_3', 'prbt_joint_4', 'prbt_joint_5', 'prbt_joint_6']

float	_JOINT_POSITIONS_TOLERANCE = 0.001

string	_JOINT_STATES_TOPIC_NAME = '/joint_states'

float	_VELOCITY_SCALE = 0.2

int	_WAIT_FOR_MESSAGE_TIMEOUT_SEC = 1

Variable Documentation

◆ _ACTION_SERVER_TIMEOUT_SEC

int acceptance_test_joint_limits._ACTION_SERVER_TIMEOUT_SEC = 5

private

Definition at line 29 of file acceptance_test_joint_limits.py.

◆ _COLLISION_JOINT_NAMES

list acceptance_test_joint_limits._COLLISION_JOINT_NAMES

private

Initial value:

 =  [
                           # Collision if mounted on a table
                           'prbt_joint_2', \
                           # Self-Collision if gripper is mounted
                           'prbt_joint_5'  \
                           ]

Definition at line 46 of file acceptance_test_joint_limits.py.

◆ _CONTROLLER_ACTION_NAME

string acceptance_test_joint_limits._CONTROLLER_ACTION_NAME = '/prbt/manipulator_joint_trajectory_controller/follow_joint_trajectory'

private

Definition at line 28 of file acceptance_test_joint_limits.py.

◆ _JOINT_LIMIT_OVERSTEP

float acceptance_test_joint_limits._JOINT_LIMIT_OVERSTEP = 0.1

private

Definition at line 45 of file acceptance_test_joint_limits.py.

◆ _JOINT_LIMITS_DEGREE

dictionary acceptance_test_joint_limits._JOINT_LIMITS_DEGREE

private

Initial value:

 =  {
     'prbt_joint_1': 170,
     'prbt_joint_2': 145,
     'prbt_joint_3': 135,
     'prbt_joint_4': 170,
     'prbt_joint_5': 170,
     'prbt_joint_6': 179
 }