test_hironx_target.py
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1 #!/usr/bin/env python
2 # -*- coding: utf-8 -*-
3 
4 import math
5 import numpy
6 import re
7 
8 from tf.transformations import quaternion_from_euler
9 
10 from test_hironx import euler_from_matrix, TestHiro
11 
12 PKG = 'hironx_ros_bridge'
13 RTM_JOINTGRP_LEFT_ARM = 'larm'
14 RTM_JOINTGRP_RIGHT_ARM = 'rarm'
15 
16 
17 class TestHiroTarget(TestHiro):
18 
19  def testSetTargetPoseBothArm(self):
20  tm = 10
21  self.robot.goInitial()
22  posl1 = self.robot.getCurrentPosition('LARM_JOINT5')
23  posl2 = self.robot.getCurrentPosition('LARM_JOINT5')
24  posr1 = self.robot.getCurrentPosition('RARM_JOINT5')
25  posr2 = self.robot.getCurrentPosition('RARM_JOINT5')
26  rpyl1 = self.robot.getCurrentRPY('LARM_JOINT5')
27  rpyr1 = self.robot.getCurrentRPY('RARM_JOINT5')
28  posr1[0] += 0.05
29  posr2[2] += 0.08
30  posl1[0] -= 0.09
31  posl2[2] -= 0.07
32  # Til here initializing.
33 
34  if not self.robot.setTargetPose(RTM_JOINTGRP_LEFT_ARM, posl1, rpyl1, tm):
35  assert(False)
36  if not self.robot.setTargetPose(RTM_JOINTGRP_RIGHT_ARM, posr1, rpyr1, tm):
37  assert(False)
38  print('Before waitInterpolationOfGroup(larm) begins.')
39  self.robot.waitInterpolationOfGroup(RTM_JOINTGRP_LEFT_ARM)
40  print('waitInterpolationOfGroup(larm) returned.')
41  self.robot.waitInterpolationOfGroup(RTM_JOINTGRP_RIGHT_ARM) # just to make sure
42  print('waitInterpolationOfGroup(rarm) returned.')
43  if not self.robot.setTargetPose(RTM_JOINTGRP_LEFT_ARM, posl2, rpyl1, tm):
44  assert(False)
45  if not self.robot.setTargetPose(RTM_JOINTGRP_RIGHT_ARM, posr2, rpyr1, tm):
46  assert(False)
47 
48  # Making sure if reached here. If any error occurred. If not reached
49  # assert false should be returned earlier.
50  assert(True)
51 
52  def testGetReferencePose(self):
53  def print_pose(msg, pose):
54  print msg, (pose[3], pose[7], pose[11]), euler_from_matrix([pose[0:3], pose[4:7], pose[8:11]], 'sxyz')
55  self.robot.goInitial()
56  posel1 = self.robot.getReferencePose('LARM_JOINT5')
57  poser1 = self.robot.getReferencePose('RARM_JOINT5')
58  try:
59  posel2 = self.robot.getReferencePose('LARM_JOINT5:WAIST')
60  poser2 = self.robot.getReferencePose('RARM_JOINT5:WAIST')
61  except RuntimeError as e:
62  if re.match(r'frame_name \(.+\) is not supported', e.message):
63  print(e.message + "...this is expected so pass the test")
64  return True
65  elif self.robot.fk.ref.get_component_profile().version <= '315.2.4':
66  print("target version is " + self.robot.fk.ref.get_component_profile().version)
67  print(e.message + "...this is expected so pass the test")
68  return True
69  else:
70  raise RuntimeError(e.message)
71  print_pose("robot.getReferencePose('LARM_JOINT5')", posel1);
72  print_pose("robot.getReferencePose('RARM_JOINT5')", poser1);
73  print_pose("robot.getReferencePose('LARM_JOINT5:WAIST')", posel2);
74  print_pose("robot.getReferencePose('RARM_JOINT5:WAIST')", poser2);
75  numpy.testing.assert_array_almost_equal(numpy.array(posel1), numpy.array(posel2), decimal=2)
76  numpy.testing.assert_array_almost_equal(numpy.array(poser1), numpy.array(poser2), decimal=2)
77 
78  posel1 = self.robot.getReferencePose('LARM_JOINT5:CHEST_JOINT0')
79  poser1 = self.robot.getReferencePose('RARM_JOINT5:CHEST_JOINT0')
80  print_pose("robot.getReferencePose('LARM_JOINT5:CHEST_JOINT0')", posel1);
81  print_pose("robot.getReferencePose('RARM_JOINT5:CHEST_JOINT0')", poser1);
82  self.robot.setJointAnglesOfGroup('torso', [45], 1)
83  self.robot.waitInterpolationOfGroup('torso')
84  posel2 = self.robot.getReferencePose('LARM_JOINT5:CHEST_JOINT0')
85  poser2 = self.robot.getReferencePose('RARM_JOINT5:CHEST_JOINT0')
86  print_pose("robot.getReferencePose('LARM_JOINT5:CHEST_JOINT0')", posel2);
87  print_pose("robot.getReferencePose('RARM_JOINT5:CHEST_JOINT0')", poser2);
88  numpy.testing.assert_array_almost_equal(numpy.array(posel1), numpy.array(posel2), decimal=2)
89  numpy.testing.assert_array_almost_equal(numpy.array(poser1), numpy.array(poser2), decimal=2)
90 
91  self.robot.setJointAnglesOfGroup('torso', [0], 1)
92  self.robot.waitInterpolationOfGroup('torso')
93  pos1 = self.robot.getReferencePosition('LARM_JOINT5')
94  rot1 = self.robot.getReferenceRotation('LARM_JOINT5')
95  rpy1 = self.robot.getReferenceRPY('LARM_JOINT5')
96 
97  self.robot.setJointAnglesOfGroup('torso', [0], 1)
98  self.robot.waitInterpolationOfGroup('torso')
99  pos2 = self.robot.getReferencePosition('LARM_JOINT5', 'CHEST_JOINT0')
100  rot2 = self.robot.getReferenceRotation('LARM_JOINT5', 'CHEST_JOINT0')
101  rpy2 = self.robot.getReferenceRPY('LARM_JOINT5', 'CHEST_JOINT0')
102  numpy.testing.assert_array_almost_equal(numpy.array(pos1), numpy.array(pos2), decimal=2)
103  numpy.testing.assert_array_almost_equal(numpy.array(rot1), numpy.array(rot2), decimal=2)
104  numpy.testing.assert_array_almost_equal(numpy.array(rpy1), numpy.array(rpy2), decimal=2)
105 
106  def testGetCurrentPose(self):
107  def print_pose(msg, pose):
108  print msg, (pose[3], pose[7], pose[11]), euler_from_matrix([pose[0:3], pose[4:7], pose[8:11]], 'sxyz')
109  self.robot.goInitial()
110  posel1 = self.robot.getCurrentPose('LARM_JOINT5')
111  poser1 = self.robot.getCurrentPose('RARM_JOINT5')
112  try:
113  posel2 = self.robot.getCurrentPose('LARM_JOINT5:WAIST')
114  poser2 = self.robot.getCurrentPose('RARM_JOINT5:WAIST')
115  except RuntimeError as e:
116  if re.match(r'frame_name \(.+\) is not supported', e.message):
117  print(e.message + "...this is expected so pass the test")
118  return True
119  elif self.robot.fk.ref.get_component_profile().version <= '315.2.4':
120  print("target version is " + self.robot.fk.ref.get_component_profile().version)
121  print(e.message + "...this is expected so pass the test")
122  return True
123  else:
124  raise RuntimeError(e.message)
125  print_pose("robot.getCurrentPose('LARM_JOINT5')", posel1);
126  print_pose("robot.getCurrentPose('RARM_JOINT5')", poser1);
127  print_pose("robot.getCurrentPose('LARM_JOINT5:WAIST')", posel2);
128  print_pose("robot.getCurrentPose('RARM_JOINT5:WAIST')", poser2);
129  numpy.testing.assert_array_almost_equal(numpy.array(posel1), numpy.array(posel2), decimal=2)
130  numpy.testing.assert_array_almost_equal(numpy.array(poser1), numpy.array(poser2), decimal=2)
131 
132  posel1 = self.robot.getCurrentPose('LARM_JOINT5:CHEST_JOINT0')
133  poser1 = self.robot.getCurrentPose('RARM_JOINT5:CHEST_JOINT0')
134  print_pose("robot.getCurrentPose('LARM_JOINT5:CHEST_JOINT0')", posel1);
135  print_pose("robot.getCurrentPose('RARM_JOINT5:CHEST_JOINT0')", poser1);
136  self.robot.setJointAnglesOfGroup('torso', [45], 1)
137  self.robot.waitInterpolationOfGroup('torso')
138  posel2 = self.robot.getCurrentPose('LARM_JOINT5:CHEST_JOINT0')
139  poser2 = self.robot.getCurrentPose('RARM_JOINT5:CHEST_JOINT0')
140  print_pose("robot.getCurrentPose('LARM_JOINT5:CHEST_JOINT0')", posel2);
141  print_pose("robot.getCurrentPose('RARM_JOINT5:CHEST_JOINT0')", poser2);
142  numpy.testing.assert_array_almost_equal(numpy.array(posel1), numpy.array(posel2), decimal=2)
143  numpy.testing.assert_array_almost_equal(numpy.array(poser1), numpy.array(poser2), decimal=2)
144 
145  self.robot.setJointAnglesOfGroup('torso', [0], 1)
146  self.robot.waitInterpolationOfGroup('torso')
147  pos1 = self.robot.getCurrentPosition('LARM_JOINT5')
148  rot1 = self.robot.getCurrentRotation('LARM_JOINT5')
149  rpy1 = self.robot.getCurrentRPY('LARM_JOINT5')
150 
151  self.robot.setJointAnglesOfGroup('torso', [0], 1)
152  self.robot.waitInterpolationOfGroup('torso')
153  pos2 = self.robot.getCurrentPosition('LARM_JOINT5', 'CHEST_JOINT0')
154  rot2 = self.robot.getCurrentRotation('LARM_JOINT5', 'CHEST_JOINT0')
155  try:
156  rpy2 = self.robot.getCurrentRPY('LARM_JOINT5', 'CHEST_JOINT0')
157  except RuntimeError as e:
158  if re.match(r'frame_name \(.+\) is not supported', e.message):
159  print(e.message + "...this is expected so pass the test")
160  elif self.robot.fk.ref.get_component_profile().version <= '315.2.4':
161  print("target hrpsys version is " + self.robot.fk.ref.get_component_profile().version)
162  print(e.message + "...this is expected so pass the test")
163  return True
164  else:
165  raise RuntimeError(e.message)
166  numpy.testing.assert_array_almost_equal(numpy.array(pos1), numpy.array(pos2), decimal=2)
167  numpy.testing.assert_array_almost_equal(numpy.array(rot1), numpy.array(rot2), decimal=2)
168  numpy.testing.assert_array_almost_equal(numpy.array(rpy1), numpy.array(rpy2), decimal=2)
169 
170  def testGetterByFrame(self):
171  def print_pose(msg, pose):
172  print msg, (pose[3], pose[7], pose[11]), euler_from_matrix([pose[0:3], pose[4:7], pose[8:11]], 'sxyz')
173 
174  self.robot.goInitial()
175 
176  posel1 = self.robot.getCurrentPose('LARM_JOINT5')
177  try:
178  posel2 = self.robot.getCurrentPose('LARM_JOINT5', 'WAIST')
179  except RuntimeError as e:
180  if re.match(r'frame_name \(.+\) is not supported', e.message):
181  print(e.message + "...this is expected so pass the test")
182  elif self.robot.fk.ref.get_component_profile().version <= '315.2.4':
183  print("target hrpsys version is " + self.robot.fk.ref.get_component_profile().version)
184  print(e.message + "...this is expected so pass the test")
185  return True
186  else:
187  raise RuntimeError(e.message)
188  numpy.testing.assert_array_almost_equal(numpy.array(posel1), numpy.array(posel2), decimal=2)
189 
190  print_pose("robot.getCurrentPose(LARM_JOINT5:DEFAULT)", posel1)
191  print_pose("robot.getCurrentPose(LARM_JOINT5:WAIST)", posel2)
192 
193  posl1 = self.robot.getCurrentPosition('LARM_JOINT5')
194  posl2 = self.robot.getCurrentPosition('LARM_JOINT5', 'WAIST')
195  numpy.testing.assert_array_almost_equal(numpy.array(posl1), numpy.array(posl2), decimal=2)
196 
197  print "robot.getCurrentPosition(LARM_JOINT5:DEFAULT)", posl1
198  print "robot.getCurrentPosition(LARM_JOINT5:WAIST)", posl2
199 
200  rotl1 = self.robot.getCurrentRotation('LARM_JOINT5')
201  rotl2 = self.robot.getCurrentRotation('LARM_JOINT5', 'WAIST')
202  numpy.testing.assert_array_almost_equal(numpy.array(rotl1), numpy.array(rotl2), decimal=2)
203 
204  print "robot.getCurrentRotation(LARM_JOINT5:DEFAULT)", rotl1
205  print "robot.getCurrentRotation(LARM_JOINT5:WAIST)", rotl2
206 
207  rpyl1 = self.robot.getCurrentRPY('LARM_JOINT5')
208  try:
209  rpyl2 = self.robot.getCurrentRPY('LARM_JOINT5', 'WAIST')
210  except RuntimeError as e:
211  if re.match(r'frame_name \(.+\) is not supported', e.message):
212  print(e.message + "...this is expected so pass the test")
213  elif self.robot.fk.ref.get_component_profile().version <= '315.2.4':
214  print("target hrpsys version is " + self.robot.fk.ref.get_component_profile().version)
215  print(e.message + "...this is expected so pass the test")
216  return True
217  else:
218  raise RuntimeError(e.message)
219  numpy.testing.assert_array_almost_equal(numpy.array(rpyl1), numpy.array(rpyl2), decimal=2)
220 
221  print "robot.getCurrentRPY(LARM_JOINT5:DEFAULT)", rpyl1
222  print "robot.getCurrentRPY(LARM_JOINT5:WAIST)", rpyl2
223 
224  ref_posel1 = self.robot.getReferencePose('LARM_JOINT5')
225  ref_posel2 = self.robot.getReferencePose('LARM_JOINT5', 'WAIST')
226  numpy.testing.assert_array_almost_equal(numpy.array(ref_posel1), numpy.array(ref_posel2), decimal=2)
227 
228  print "robot.getReferencePose(LARM_JOINT5:DEFAULT)", ref_posel1
229  print "robot.getReferencePose(LARM_JOINT5:WAIST)", ref_posel2
230 
231  ref_posl1 = self.robot.getReferencePosition('LARM_JOINT5')
232  ref_posl2 = self.robot.getReferencePosition('LARM_JOINT5', 'WAIST')
233  numpy.testing.assert_array_almost_equal(numpy.array(ref_posl1), numpy.array(ref_posl2), decimal=2)
234 
235  print "robot.getReferencePosition(LARM_JOINT5:DEFAULT)", ref_posl1
236  print "robot.getReferencePosition(LARM_JOINT5:WAIST)", ref_posl2
237 
238  ref_rotl1 = self.robot.getReferenceRotation('LARM_JOINT5')
239  ref_rotl2 = self.robot.getReferenceRotation('LARM_JOINT5', 'WAIST')
240  numpy.testing.assert_array_almost_equal(numpy.array(ref_rotl1), numpy.array(ref_rotl2), decimal=2)
241 
242  print "robot.getReferenceRotation(LARM_JOINT5:DEFAULT)", ref_rotl1
243  print "robot.getReferenceRotation(LARM_JOINT5:WAIST)", ref_rotl2
244 
245  ref_rpyl1 = self.robot.getReferenceRPY('LARM_JOINT5')
246  ref_rpyl2 = self.robot.getReferenceRPY('LARM_JOINT5', 'WAIST')
247  numpy.testing.assert_array_almost_equal(numpy.array(ref_rpyl1), numpy.array(ref_rpyl2), decimal=2)
248 
249  print "robot.getReferenceRPY(LARM_JOINT5:DEFAULT)", ref_rpyl1
250  print "robot.getReferenceRPY(LARM_JOINT5:WAIST)", ref_rpyl2
251 
252  def test_setTargetPoseRelative_rpy(self):
253  '''
254  Test if with setTargetPoseRelative with RPY values the arm pose becomes as intended.
255  Contributed by Naoki Fuse (Daido Steel).
256  '''
257 
258  print "goInitial", self.robot.getCurrentRPY('RARM_JOINT5'), self.robot.getCurrentRPY('LARM_JOINT5')
259  l_eef = 'LARM_JOINT5'
260  r_eef = 'RARM_JOINT5'
261 
262  init_l = quaternion_from_euler(-3.073, -1.57002, 3.073) # goInit (not factory setting) pose
263  init_r = quaternion_from_euler(3.073, -1.57002, -3.073) # goInit (not factory setting) pose
264  roll_l_post = quaternion_from_euler(-1.502, -1.5700, 3.073) # dr=math.pi / 2 from init pose
265  roll_r_post = quaternion_from_euler(-1.639, -1.5700, -3.073) # dr=math.pi / 2 from init pose
266  pitch_l_post = quaternion_from_euler(-0.000, -0.787, -4.924e-05) # dp=math.pi / 4 from init pose
267  pitch_r_post = quaternion_from_euler(0.000, -0.787, 4.827e-05) # dp=math.pi / 4 from init pose
268  yaw_l_post = quaternion_from_euler(-1.573, -4.205e-05, 1.571) # dw=math.pi / 2 from init pose
269  yaw_r_post = quaternion_from_euler(-1.573, -0.000, 1.571) # dw=math.pi / 2 from init pose
270 
271  # roll motion
272  self.robot.goInitial(2)
273  for i in range(0, 5): # Repeat the same movement 5 times
274  self.robot.setTargetPoseRelative(RTM_JOINTGRP_LEFT_ARM, l_eef, dr=math.pi / 2, tm=0.5, wait=False)
275  self.robot.setTargetPoseRelative(RTM_JOINTGRP_RIGHT_ARM, r_eef, dr=math.pi / 2, tm=0.5, wait=True)
276  roll_l_post_now_rpy = self.robot.getCurrentRPY(l_eef)
277  roll_l_post_now = quaternion_from_euler(roll_l_post_now_rpy[0], roll_l_post_now_rpy[1], roll_l_post_now_rpy[2])
278  roll_r_post_now_rpy = self.robot.getCurrentRPY(r_eef)
279  roll_r_post_now = quaternion_from_euler(roll_r_post_now_rpy[0], roll_r_post_now_rpy[1], roll_r_post_now_rpy[2])
280  numpy.testing.assert_array_almost_equal(roll_l_post, roll_l_post_now, decimal=2)
281  numpy.testing.assert_array_almost_equal(roll_r_post, roll_r_post_now, decimal=2)
282  self.robot.setTargetPoseRelative(RTM_JOINTGRP_LEFT_ARM, l_eef, dr=-math.pi / 2, dw=0, tm=0.5, wait=False)
283  self.robot.setTargetPoseRelative(RTM_JOINTGRP_RIGHT_ARM, r_eef, dr=-math.pi / 2, dw=0, tm=0.5, wait=True)
284  init_l_now_rpy = self.robot.getCurrentRPY(l_eef)
285  init_l_now = quaternion_from_euler(init_l_now_rpy[0], init_l_now_rpy[1], init_l_now_rpy[2])
286  init_r_now_rpy = self.robot.getCurrentRPY(r_eef)
287  init_r_now = quaternion_from_euler(init_r_now_rpy[0], init_r_now_rpy[1], init_r_now_rpy[2])
288  numpy.testing.assert_array_almost_equal(init_l, init_l_now, decimal=2)
289  numpy.testing.assert_array_almost_equal(init_r, init_r_now, decimal=2)
290 
291  # pitch motion
292  self.robot.goInitial(2)
293  for i in range(0, 5):
294  self.robot.setTargetPoseRelative(RTM_JOINTGRP_LEFT_ARM, l_eef, dp=math.pi / 4, tm=0.5, wait=False)
295  self.robot.setTargetPoseRelative(RTM_JOINTGRP_RIGHT_ARM, r_eef, dp=math.pi / 4, tm=0.5, wait=True)
296  pitch_l_post_now_rpy = self.robot.getCurrentRPY(l_eef)
297  pitch_l_post_now = quaternion_from_euler(pitch_l_post_now_rpy[0], pitch_l_post_now_rpy[1], pitch_l_post_now_rpy[2])
298  pitch_r_post_now_rpy = self.robot.getCurrentRPY(r_eef)
299  pitch_r_post_now = quaternion_from_euler(pitch_r_post_now_rpy[0], pitch_r_post_now_rpy[1], pitch_r_post_now_rpy[2])
300  numpy.testing.assert_array_almost_equal(pitch_l_post, pitch_l_post_now, decimal=2)
301  numpy.testing.assert_array_almost_equal(pitch_r_post, pitch_r_post_now, decimal=2)
302  self.robot.setTargetPoseRelative(RTM_JOINTGRP_LEFT_ARM, l_eef, dp=-math.pi / 4, dw=0, tm=0.5, wait=False)
303  self.robot.setTargetPoseRelative(RTM_JOINTGRP_RIGHT_ARM, r_eef, dp=-math.pi / 4, dw=0, tm=0.5, wait=True)
304  init_l_now_rpy = self.robot.getCurrentRPY(l_eef)
305  init_l_now = quaternion_from_euler(init_l_now_rpy[0], init_l_now_rpy[1], init_l_now_rpy[2])
306  init_r_now_rpy = self.robot.getCurrentRPY(r_eef)
307  init_r_now = quaternion_from_euler(init_r_now_rpy[0], init_r_now_rpy[1], init_r_now_rpy[2])
308  numpy.testing.assert_array_almost_equal(init_l, init_l_now, decimal=2)
309  numpy.testing.assert_array_almost_equal(init_r, init_r_now, decimal=2)
310 
311  # yaw motion
312  self.robot.goInitial(2)
313  for i in range(0, 5):
314  self.robot.setTargetPoseRelative(RTM_JOINTGRP_LEFT_ARM, l_eef, dw=math.pi / 2, tm=0.5, wait=False)
315  self.robot.setTargetPoseRelative(RTM_JOINTGRP_RIGHT_ARM, r_eef, dw=math.pi / 2, tm=0.5, wait=True)
316  yaw_l_post_now_rpy = self.robot.getCurrentRPY(l_eef)
317  yaw_l_post_now = quaternion_from_euler(yaw_l_post_now_rpy[0], yaw_l_post_now_rpy[1], yaw_l_post_now_rpy[2])
318  yaw_r_post_now_rpy = self.robot.getCurrentRPY(r_eef)
319  yaw_r_post_now = quaternion_from_euler(yaw_r_post_now_rpy[0], yaw_r_post_now_rpy[1], yaw_r_post_now_rpy[2])
320  numpy.testing.assert_array_almost_equal(yaw_l_post, yaw_l_post_now, decimal=2)
321  numpy.testing.assert_array_almost_equal(yaw_r_post, yaw_r_post_now, decimal=2)
322  self.robot.setTargetPoseRelative(RTM_JOINTGRP_LEFT_ARM, l_eef, dw=-math.pi / 2, tm=0.5, wait=False)
323  self.robot.setTargetPoseRelative(RTM_JOINTGRP_RIGHT_ARM, r_eef, dw=-math.pi / 2, tm=0.5, wait=True)
324  init_l_now_rpy = self.robot.getCurrentRPY(l_eef)
325  init_l_now = quaternion_from_euler(init_l_now_rpy[0], init_l_now_rpy[1], init_l_now_rpy[2])
326  init_r_now_rpy = self.robot.getCurrentRPY(r_eef)
327  init_r_now = quaternion_from_euler(init_r_now_rpy[0], init_r_now_rpy[1], init_r_now_rpy[2])
328  numpy.testing.assert_array_almost_equal(init_l, init_l_now, decimal=2)
329  numpy.testing.assert_array_almost_equal(init_r, init_r_now, decimal=2)
330 
331  def test_get_geometry_methods_noarg(self):
332  '''
333  @summary: What we call "geometry_methods" are supposed to raise
334  RuntimeError in a normal condition.
335 
336  geometry_methods are [
337  'getCurrentPose', 'getCurrentPosition',
338  'getCurrentRPY', 'getCurrentRPYRotation',
339  'getReferencePose', 'getReferencePosition',
340  'getReferenceRotation', 'getReferenceRPY']
341  '''
342  self.assertRaises(RuntimeError, lambda: self.robot.getCurrentPose())
343  self.assertRaises(RuntimeError, lambda: self.robot.getReferencePose())
344 
345 if __name__ == '__main__':
346  import rostest
347  rostest.rosrun(PKG, 'test_hronx_target', TestHiroTarget)
test_hironx_target.TestHiroTarget.test_setTargetPoseRelative_rpy
def test_setTargetPoseRelative_rpy(self)
Definition: test_hironx_target.py:252
test_hironx_target.TestHiroTarget.testGetCurrentPose
def testGetCurrentPose(self)
Definition: test_hironx_target.py:106
test_hironx_target.TestHiroTarget.test_get_geometry_methods_noarg
def test_get_geometry_methods_noarg(self)
Definition: test_hironx_target.py:331
test_hironx_target.TestHiroTarget.testSetTargetPoseBothArm
def testSetTargetPoseBothArm(self)
Definition: test_hironx_target.py:19
test_hironx.TestHiro
Definition: test_hironx.py:29
test_hironx_target.TestHiroTarget.testGetReferencePose
def testGetReferencePose(self)
Definition: test_hironx_target.py:52
test_hironx_target.TestHiroTarget
Definition: test_hironx_target.py:17
test_hironx_target.TestHiroTarget.testGetterByFrame
def testGetterByFrame(self)
Definition: test_hironx_target.py:170

hironx_ros_bridge
Author(s): Kei Okada , Isaac I.Y. Saito
autogenerated on Thu May 14 2020 03:52:05