40 from nextage_ros_bridge
import nextage_client
42 from hrpsys
import rtm
45 _ARMGROUP_TESTED =
'rarm' 46 _LINK_TESTED =
'RARM_JOINT5' 51 Test NextageClient without relying on rostest. 52 This can be upgraded to rostest version that is more ideal/almost required 58 @type nc: NextageClient 65 self._nxc.seq_svc.setMaxIKError(0.00001, 0.01)
66 posi_prev = self._nxc.getCurrentPosition(_LINK_TESTED)
68 self._nxc.setTargetPoseRelative(_ARMGROUP_TESTED, _LINK_TESTED,
71 posi_post = self._nxc.getCurrentPosition(_LINK_TESTED)
74 if __name__ ==
'__main__':
75 parser = argparse.ArgumentParser(description=
'hiro command line interpreters')
76 parser.add_argument(
'--host', help=
'corba name server hostname')
77 parser.add_argument(
'--port', help=
'corba name server port number')
78 parser.add_argument(
'--modelfile', help=
'robot model file nmae')
79 parser.add_argument(
'--robot', help=
'robot modlule name (RobotHardware0 for real robot, Robot()')
80 args, unknown = parser.parse_known_args()
83 rtm.nshost = args.host
85 rtm.nsport = args.port
87 args.robot =
"RobotHardware0" if args.host
else "HiroNX(Robot)0" 88 if not args.modelfile:
93 args.robot = unknown[0]
94 args.modelfile = unknown[1]
95 nxc = nextage_client.NextageClient()
96 nxc.init(robotname=args.robot, url=args.modelfile)
100 tnn.test_set_relative(dx=0.0001)
101 tnn.test_set_relative(dy=0.0001)
102 tnn.test_set_relative(dz=0.0001)
def test_set_relative(self, dx=0, dy=0, dz=0)