Public Member Functions | Public Attributes | Private Member Functions | Static Private Attributes
test_moveit.TestDualarmMoveit Class Reference

List of all members.

Public Member Functions

def setUpClass
def tearDownClass
def test_botharms_plan
def test_left_and_right_plan
def test_list_activejoints
def test_list_movegroups
def test_plan_success
def test_planandexecute

Public Attributes

 robot

Private Member Functions

def _plan
def _plan_leftarm
def _set_sample_pose

Static Private Attributes

 _JOINTNAMES_BOTHARMS = _JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM
 _JOINTNAMES_BOTHARMS = _JOINTNAMES_TORSO +_JOINTNAMES_LEFTARM + _JOINTNAMES_RIGHTARM
list _JOINTNAMES_HEAD = ['HEAD_JOINT0', 'HEAD_JOINT1']
list _JOINTNAMES_LEFTARM = ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5']
 _JOINTNAMES_LEFTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_LEFTARM
list _JOINTNAMES_LEFTHAND = ['LARM_JOINT5']
list _JOINTNAMES_RIGHTARM = ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5']
 _JOINTNAMES_RIGHTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_RIGHTARM
list _JOINTNAMES_RIGHTHAND = ['RARM_JOINT5']
list _JOINTNAMES_TORSO = ['CHEST_JOINT0']
 _JOINTNAMES_UPPERBODY = _JOINTNAMES_TORSO+_JOINTNAMES_HEAD+_JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM
string _KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault'
list _MOVEGROUP_ATTR_BOTHARMS = [_MOVEGROUP_NAME_BOTHARMS, _JOINTNAMES_BOTHARMS]
list _MOVEGROUP_ATTR_HEAD = [_MOVEGROUP_NAME_HEAD, _JOINTNAMES_HEAD]
list _MOVEGROUP_ATTR_LEFTARM = [_MOVEGROUP_NAME_LEFTARM, _JOINTNAMES_LEFTARM]
list _MOVEGROUP_ATTR_LEFTARM_TORSO = [_MOVEGROUP_NAME_LEFTARM_TORSO, _JOINTNAMES_LEFTARM_TORSO]
list _MOVEGROUP_ATTR_LEFTHAND = [_MOVEGROUP_NAME_LEFTHAND, _JOINTNAMES_LEFTHAND]
list _MOVEGROUP_ATTR_RIGHTARM = [_MOVEGROUP_NAME_RIGHTARM, _JOINTNAMES_RIGHTARM]
list _MOVEGROUP_ATTR_RIGHTARM_TORSO = [_MOVEGROUP_NAME_RIGHTARM_TORSO, _JOINTNAMES_RIGHTARM_TORSO]
list _MOVEGROUP_ATTR_RIGHTHAND = [_MOVEGROUP_NAME_RIGHTHAND, _JOINTNAMES_RIGHTHAND]
list _MOVEGROUP_ATTR_TORSO = [_MOVEGROUP_NAME_TORSO, _JOINTNAMES_TORSO]
list _MOVEGROUP_ATTR_UPPERBODY = [_MOVEGROUP_NAME_UPPERBODY, _JOINTNAMES_UPPERBODY]
list _MOVEGROUP_ATTRS
string _MOVEGROUP_NAME_BOTHARMS = 'botharms'
string _MOVEGROUP_NAME_HEAD = 'head'
string _MOVEGROUP_NAME_LEFTARM = 'left_arm'
string _MOVEGROUP_NAME_LEFTARM_TORSO = 'left_arm_torso'
string _MOVEGROUP_NAME_LEFTHAND = 'left_hand'
string _MOVEGROUP_NAME_RIGHTARM = 'right_arm'
string _MOVEGROUP_NAME_RIGHTARM_TORSO = 'right_arm_torso'
string _MOVEGROUP_NAME_RIGHTHAND = 'right_hand'
string _MOVEGROUP_NAME_TORSO = 'torso'
string _MOVEGROUP_NAME_UPPERBODY = 'upperbody'
tuple _MOVEGROUP_NAMES
list _TARGETPOSE_LEFT = []

Detailed Description

Definition at line 49 of file test_moveit.py.

Member Function Documentation

def test_moveit.TestDualarmMoveit._plan (   self) [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 (   self,
  movegroup 
) [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 (   self) [private] 
@return: Pose() with some values populated in.

Definition at line 140 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.setUpClass (   self)

Definition at line 116 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.tearDownClass (   self)

Definition at line 137 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_botharms_plan (   self)

Definition at line 286 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_left_and_right_plan (   self) 
Check if http://wiki.ros.org/rtmros_nextage/Tutorials/Programming_Hiro_NEXTAGE_OPEN_MOVEIT works

Definition at line 217 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_list_activejoints (   self) 
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 (   self) 
Check if the defined move groups are loaded.

Definition at line 167 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_plan_success (   self) 
Evaluate plan (RobotTrajectory)

Definition at line 198 of file test_moveit.py.

def test_moveit.TestDualarmMoveit.test_planandexecute (   self) 
Evaluate Plan and Execute works.
Currently no value checking is done (, which is better to be implemented)

Definition at line 206 of file test_moveit.py.

Member Data Documentation

test_moveit.TestDualarmMoveit::_JOINTNAMES_BOTHARMS = _JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM [static, private]

_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'] [static, private]

Definition at line 82 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_JOINTNAMES_LEFTARM = ['LARM_JOINT0', 'LARM_JOINT1', 'LARM_JOINT2', 'LARM_JOINT3', 'LARM_JOINT4', 'LARM_JOINT5'] [static, private]

Definition at line 58 of file test_moveit.py.

test_moveit.TestDualarmMoveit::_JOINTNAMES_LEFTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_LEFTARM [static, private]

Definition at line 66 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_JOINTNAMES_LEFTHAND = ['LARM_JOINT5'] [static, private]

Definition at line 74 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_JOINTNAMES_RIGHTARM = ['RARM_JOINT0', 'RARM_JOINT1', 'RARM_JOINT2', 'RARM_JOINT3', 'RARM_JOINT4', 'RARM_JOINT5'] [static, private]

Definition at line 62 of file test_moveit.py.

test_moveit.TestDualarmMoveit::_JOINTNAMES_RIGHTARM_TORSO = _JOINTNAMES_TORSO+_JOINTNAMES_RIGHTARM [static, private]

Definition at line 70 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_JOINTNAMES_RIGHTHAND = ['RARM_JOINT5'] [static, private]

Definition at line 78 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_JOINTNAMES_TORSO = ['CHEST_JOINT0'] [static, private]

Definition at line 53 of file test_moveit.py.

test_moveit.TestDualarmMoveit::_JOINTNAMES_UPPERBODY = _JOINTNAMES_TORSO+_JOINTNAMES_HEAD+_JOINTNAMES_LEFTARM+_JOINTNAMES_RIGHTARM [static, private]

Definition at line 91 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_KINEMATICSOLVER_SAFE = 'RRTConnectkConfigDefault' [static, private]

Definition at line 50 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_BOTHARMS = [_MOVEGROUP_NAME_BOTHARMS, _JOINTNAMES_BOTHARMS] [static, private]

Definition at line 88 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_HEAD = [_MOVEGROUP_NAME_HEAD, _JOINTNAMES_HEAD] [static, private]

Definition at line 83 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_LEFTARM = [_MOVEGROUP_NAME_LEFTARM, _JOINTNAMES_LEFTARM] [static, private]

Definition at line 59 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_LEFTARM_TORSO = [_MOVEGROUP_NAME_LEFTARM_TORSO, _JOINTNAMES_LEFTARM_TORSO] [static, private]

Definition at line 67 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_LEFTHAND = [_MOVEGROUP_NAME_LEFTHAND, _JOINTNAMES_LEFTHAND] [static, private]

Definition at line 75 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_RIGHTARM = [_MOVEGROUP_NAME_RIGHTARM, _JOINTNAMES_RIGHTARM] [static, private]

Definition at line 63 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_RIGHTARM_TORSO = [_MOVEGROUP_NAME_RIGHTARM_TORSO, _JOINTNAMES_RIGHTARM_TORSO] [static, private]

Definition at line 71 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_RIGHTHAND = [_MOVEGROUP_NAME_RIGHTHAND, _JOINTNAMES_RIGHTHAND] [static, private]

Definition at line 79 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_TORSO = [_MOVEGROUP_NAME_TORSO, _JOINTNAMES_TORSO] [static, private]

Definition at line 55 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTR_UPPERBODY = [_MOVEGROUP_NAME_UPPERBODY, _JOINTNAMES_UPPERBODY] [static, private]

Definition at line 92 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_MOVEGROUP_ATTRS [static, private]
Initial value:
[_MOVEGROUP_ATTR_TORSO, _MOVEGROUP_ATTR_HEAD,
                        _MOVEGROUP_ATTR_LEFTARM, _MOVEGROUP_ATTR_RIGHTARM,
                        _MOVEGROUP_ATTR_LEFTARM_TORSO, _MOVEGROUP_ATTR_RIGHTARM_TORSO,
                        _MOVEGROUP_ATTR_LEFTHAND, _MOVEGROUP_ATTR_RIGHTHAND,
                        _MOVEGROUP_ATTR_BOTHARMS, _MOVEGROUP_ATTR_UPPERBODY]

Definition at line 100 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_BOTHARMS = 'botharms' [static, private]

Definition at line 85 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_HEAD = 'head' [static, private]

Definition at line 81 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_LEFTARM = 'left_arm' [static, private]

Definition at line 57 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_LEFTARM_TORSO = 'left_arm_torso' [static, private]

Definition at line 65 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_LEFTHAND = 'left_hand' [static, private]

Definition at line 73 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_RIGHTARM = 'right_arm' [static, private]

Definition at line 61 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_RIGHTARM_TORSO = 'right_arm_torso' [static, private]

Definition at line 69 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_RIGHTHAND = 'right_hand' [static, private]

Definition at line 77 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_TORSO = 'torso' [static, private]

Definition at line 52 of file test_moveit.py.

string test_moveit.TestDualarmMoveit::_MOVEGROUP_NAME_UPPERBODY = 'upperbody' [static, private]

Definition at line 90 of file test_moveit.py.

tuple test_moveit.TestDualarmMoveit::_MOVEGROUP_NAMES [static, private]
Initial value:
sorted([_MOVEGROUP_NAME_TORSO, _MOVEGROUP_NAME_HEAD,
                               _MOVEGROUP_NAME_LEFTARM, _MOVEGROUP_NAME_RIGHTARM,
                               _MOVEGROUP_NAME_LEFTARM_TORSO, _MOVEGROUP_NAME_RIGHTARM_TORSO,
                               _MOVEGROUP_NAME_LEFTHAND, _MOVEGROUP_NAME_RIGHTHAND,
                               _MOVEGROUP_NAME_BOTHARMS, _MOVEGROUP_NAME_UPPERBODY])

Definition at line 95 of file test_moveit.py.

list test_moveit.TestDualarmMoveit::_TARGETPOSE_LEFT = [] [static, private]

Definition at line 106 of file test_moveit.py.

test_moveit.TestDualarmMoveit::robot

Definition at line 116 of file test_moveit.py.

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

nextage_moveit_config
Author(s): Kei Okada, Isaac Isao Saito
autogenerated on Wed May 15 2019 04:46:12