Public Member Functions | Public Attributes | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
acceptancetest_hironx.AcceptanceTest_Hiro Class Reference

Public Member Functions

def __init__ (self, rtm_robotname='HiroNX(Robot) 0', url='')
 
def run_tests_ros (self, do_wait_input=False)
 
def run_tests_rtm (self, do_wait_input=False)
 

Public Attributes

 ros
 
 rtm
 

Private Member Functions

def _move_armbyarm_jointangles (self, test_client)
 
def _move_armbyarm_pose (self, test_client)
 
def _move_head (self, test_client)
 
def _move_torso (self, test_client)
 
def _movearms_together (self, test_client)
 
def _overwrite_arm (self, test_client)
 
def _overwrite_torso (self, test_client)
 
def _run_tests (self, test_client, do_wait_input=False)
 
def _set_pose_relative (self, test_client)
 
def _show_workspace (self, test_client)
 
def _wait_input (self, msg, do_wait_input=False)
 

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
 

Detailed Description

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.

Constructor & Destructor Documentation

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.

Member Function Documentation

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.

Member Data Documentation

acceptancetest_hironx.AcceptanceTest_Hiro._acceptance_ros_client
private

Definition at line 104 of file acceptancetest_hironx.py.

acceptancetest_hironx.AcceptanceTest_Hiro._acceptance_rtm_client
private

Definition at line 111 of file acceptancetest_hironx.py.

float acceptancetest_hironx.AcceptanceTest_Hiro._DURATION_EACH_SMALLINCREMENT = 0.1
staticprivate

Definition at line 85 of file acceptancetest_hironx.py.

int acceptancetest_hironx.AcceptanceTest_Hiro._DURATON_TOTAL_SMALLINCREMENT = 30
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

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]
staticprivate

Definition at line 68 of file acceptancetest_hironx.py.

list acceptancetest_hironx.AcceptanceTest_Hiro._POSITIONS_TORSO_DEG = [[130.0], [-130.0]]
staticprivate

Definition at line 71 of file acceptancetest_hironx.py.

float acceptancetest_hironx.AcceptanceTest_Hiro._R_Z_SMALLINCREMENT = 0.0001
staticprivate

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]]
staticprivate

Definition at line 69 of file acceptancetest_hironx.py.

list acceptancetest_hironx.AcceptanceTest_Hiro._ROTATION_ANGLES_HEAD_2 = [[50, 10], [-50, -10], [0, 0]]
staticprivate

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)
staticprivate

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)
staticprivate

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)
staticprivate

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)
staticprivate

Definition at line 77 of file acceptancetest_hironx.py.

acceptancetest_hironx.AcceptanceTest_Hiro._rtm_robotname
private

Definition at line 99 of file acceptancetest_hironx.py.

acceptancetest_hironx.AcceptanceTest_Hiro._rtm_url
private

Definition at line 100 of file acceptancetest_hironx.py.

float acceptancetest_hironx.AcceptanceTest_Hiro._TASK_DURATION_DEFAULT = 5.0
staticprivate

Definition at line 84 of file acceptancetest_hironx.py.

float acceptancetest_hironx.AcceptanceTest_Hiro._TASK_DURATION_HEAD = 2.5
staticprivate

Definition at line 87 of file acceptancetest_hironx.py.

float acceptancetest_hironx.AcceptanceTest_Hiro._TASK_DURATION_TORSO = 4.0
staticprivate

Definition at line 86 of file acceptancetest_hironx.py.

acceptancetest_hironx.AcceptanceTest_Hiro.ros

Definition at line 103 of file acceptancetest_hironx.py.

acceptancetest_hironx.AcceptanceTest_Hiro.rtm

Definition at line 109 of file acceptancetest_hironx.py.

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

hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Thu May 14 2020 03:52:06