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| _JOINTNAMES_BOTHARMS = _JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM |
| _JOINTNAMES_BOTHARMS = _JOINTNAMES_TORSO +_JOINTNAMES_LEFTARM + _JOINTNAMES_RIGHTARM More...
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list | _JOINTNAMES_HEAD = ['HEAD_JOINT0', 'HEAD_JOINT1'] |
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list | _JOINTNAMES_LEFTARM = ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5'] |
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| _JOINTNAMES_LEFTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_LEFTARM |
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list | _JOINTNAMES_LEFTHAND = ['LARM_JOINT5'] |
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list | _JOINTNAMES_RIGHTARM = ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] |
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| _JOINTNAMES_RIGHTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_RIGHTARM |
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list | _JOINTNAMES_RIGHTHAND = ['RARM_JOINT5'] |
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list | _JOINTNAMES_TORSO = ['CHEST_JOINT0'] |
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| _JOINTNAMES_UPPERBODY = _JOINTNAMES_TORSO+_JOINTNAMES_HEAD+_JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM |
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string | _KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault' |
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list | _MOVEGROUP_ATTR_BOTHARMS = [_MOVEGROUP_NAME_BOTHARMS, _JOINTNAMES_BOTHARMS] |
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list | _MOVEGROUP_ATTR_HEAD = [_MOVEGROUP_NAME_HEAD, _JOINTNAMES_HEAD] |
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list | _MOVEGROUP_ATTR_LEFTARM = [_MOVEGROUP_NAME_LEFTARM, _JOINTNAMES_LEFTARM] |
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list | _MOVEGROUP_ATTR_LEFTARM_TORSO = [_MOVEGROUP_NAME_LEFTARM_TORSO, _JOINTNAMES_LEFTARM_TORSO] |
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list | _MOVEGROUP_ATTR_LEFTHAND = [_MOVEGROUP_NAME_LEFTHAND, _JOINTNAMES_LEFTHAND] |
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list | _MOVEGROUP_ATTR_RIGHTARM = [_MOVEGROUP_NAME_RIGHTARM, _JOINTNAMES_RIGHTARM] |
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list | _MOVEGROUP_ATTR_RIGHTARM_TORSO = [_MOVEGROUP_NAME_RIGHTARM_TORSO, _JOINTNAMES_RIGHTARM_TORSO] |
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list | _MOVEGROUP_ATTR_RIGHTHAND = [_MOVEGROUP_NAME_RIGHTHAND, _JOINTNAMES_RIGHTHAND] |
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list | _MOVEGROUP_ATTR_TORSO = [_MOVEGROUP_NAME_TORSO, _JOINTNAMES_TORSO] |
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list | _MOVEGROUP_ATTR_UPPERBODY = [_MOVEGROUP_NAME_UPPERBODY, _JOINTNAMES_UPPERBODY] |
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list | _MOVEGROUP_ATTRS |
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string | _MOVEGROUP_NAME_BOTHARMS = 'botharms' |
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string | _MOVEGROUP_NAME_HEAD = 'head' |
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string | _MOVEGROUP_NAME_LEFTARM = 'left_arm' |
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string | _MOVEGROUP_NAME_LEFTARM_TORSO = 'left_arm_torso' |
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string | _MOVEGROUP_NAME_LEFTHAND = 'left_hand' |
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string | _MOVEGROUP_NAME_RIGHTARM = 'right_arm' |
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string | _MOVEGROUP_NAME_RIGHTARM_TORSO = 'right_arm_torso' |
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string | _MOVEGROUP_NAME_RIGHTHAND = 'right_hand' |
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string | _MOVEGROUP_NAME_TORSO = 'torso' |
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string | _MOVEGROUP_NAME_UPPERBODY = 'upperbody' |
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| _MOVEGROUP_NAMES |
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list | _TARGETPOSE_LEFT = [] |
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Definition at line 49 of file test_moveit.py.
def test_moveit.TestDualarmMoveit._plan |
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self | ) |
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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 |
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self, |
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movegroup |
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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 |
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self | ) |
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private |
@return: Pose() with some values populated in.
Definition at line 140 of file test_moveit.py.
def test_moveit.TestDualarmMoveit.setUpClass |
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self | ) |
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def test_moveit.TestDualarmMoveit.tearDownClass |
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self | ) |
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def test_moveit.TestDualarmMoveit.test_botharms_plan |
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self | ) |
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def test_moveit.TestDualarmMoveit.test_left_and_right_plan |
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self | ) |
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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 |
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self | ) |
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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 |
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self | ) |
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Check if the defined move groups are loaded.
Definition at line 167 of file test_moveit.py.
def test_moveit.TestDualarmMoveit.test_plan_success |
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self | ) |
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def test_moveit.TestDualarmMoveit.test_planandexecute |
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self | ) |
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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.
_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'] |
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staticprivate |
list test_moveit.TestDualarmMoveit._JOINTNAMES_LEFTARM = ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5'] |
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staticprivate |
list test_moveit.TestDualarmMoveit._JOINTNAMES_LEFTHAND = ['LARM_JOINT5'] |
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staticprivate |
list test_moveit.TestDualarmMoveit._JOINTNAMES_RIGHTARM = ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] |
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staticprivate |
list test_moveit.TestDualarmMoveit._JOINTNAMES_RIGHTHAND = ['RARM_JOINT5'] |
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staticprivate |
list test_moveit.TestDualarmMoveit._JOINTNAMES_TORSO = ['CHEST_JOINT0'] |
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staticprivate |
string test_moveit.TestDualarmMoveit._KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault' |
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staticprivate |
list test_moveit.TestDualarmMoveit._MOVEGROUP_ATTRS |
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staticprivate |
Initial value: 1 = [_MOVEGROUP_ATTR_TORSO, _MOVEGROUP_ATTR_HEAD,
2 _MOVEGROUP_ATTR_LEFTARM, _MOVEGROUP_ATTR_RIGHTARM,
3 _MOVEGROUP_ATTR_LEFTARM_TORSO, _MOVEGROUP_ATTR_RIGHTARM_TORSO,
4 _MOVEGROUP_ATTR_LEFTHAND, _MOVEGROUP_ATTR_RIGHTHAND,
5 _MOVEGROUP_ATTR_BOTHARMS, _MOVEGROUP_ATTR_UPPERBODY]
Definition at line 100 of file test_moveit.py.
string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_BOTHARMS = 'botharms' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_HEAD = 'head' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_LEFTARM = 'left_arm' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_LEFTARM_TORSO = 'left_arm_torso' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_LEFTHAND = 'left_hand' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_RIGHTARM = 'right_arm' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_RIGHTARM_TORSO = 'right_arm_torso' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_RIGHTHAND = 'right_hand' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_TORSO = 'torso' |
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string test_moveit.TestDualarmMoveit._MOVEGROUP_NAME_UPPERBODY = 'upperbody' |
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test_moveit.TestDualarmMoveit._MOVEGROUP_NAMES |
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staticprivate |
Initial value: 1 = sorted([_MOVEGROUP_NAME_TORSO, _MOVEGROUP_NAME_HEAD,
2 _MOVEGROUP_NAME_LEFTARM, _MOVEGROUP_NAME_RIGHTARM,
3 _MOVEGROUP_NAME_LEFTARM_TORSO, _MOVEGROUP_NAME_RIGHTARM_TORSO,
4 _MOVEGROUP_NAME_LEFTHAND, _MOVEGROUP_NAME_RIGHTHAND,
5 _MOVEGROUP_NAME_BOTHARMS, _MOVEGROUP_NAME_UPPERBODY])
Definition at line 95 of file test_moveit.py.
list test_moveit.TestDualarmMoveit._TARGETPOSE_LEFT = [] |
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staticprivate |
test_moveit.TestDualarmMoveit.robot |
The documentation for this class was generated from the following file: