test_nxo_gz.TestNxoGazebo Class Reference

Inheritance diagram for test_nxo_gz.TestNxoGazebo:

Public Member Functions
def	__init__ (self, args, kwargs)
def	setUpClass (self)
def	tearDownClass (self)
def	test_go_initial (self)

Static Public Attributes
list	LINKS
list	POSES_INIT

Private Member Functions
def	_cb_gz_linkstates (self, data)

Private Attributes
	_linkstates
	_subscriber_gz_linkstates

Detailed Description

Definition at line 44 of file test_nxo_gz.py.

Constructor & Destructor Documentation

def test_nxo_gz.TestNxoGazebo.__init__	(		self,
			args,
			kwargs
	)

Definition at line 72 of file test_nxo_gz.py.

Member Function Documentation

def test_nxo_gz.TestNxoGazebo._cb_gz_linkstates (   self,   data  )

private

Definition at line 69 of file test_nxo_gz.py.

def test_nxo_gz.TestNxoGazebo.setUpClass

(

self

)

Definition at line 82 of file test_nxo_gz.py.

def test_nxo_gz.TestNxoGazebo.tearDownClass

(

self

)

Definition at line 86 of file test_nxo_gz.py.

def test_nxo_gz.TestNxoGazebo.test_go_initial

(

self

)

Check if arms are moved to init pose

Definition at line 89 of file test_nxo_gz.py.

Member Data Documentation

test_nxo_gz.TestNxoGazebo._linkstates

private

Definition at line 70 of file test_nxo_gz.py.

test_nxo_gz.TestNxoGazebo._subscriber_gz_linkstates

private

Definition at line 79 of file test_nxo_gz.py.

list test_nxo_gz.TestNxoGazebo.LINKS

static

Initial value:

= ['ground_plane::link', 'NextageOpen::WAIST', 
             'NextageOpen::CHEST_JOINT0_Link',
             'NextageOpen::HEAD_JOINT0_Link', 'NextageOpen::HEAD_JOINT1_Link',
             'NextageOpen::LARM_JOINT0_Link', 'NextageOpen::LARM_JOINT1_Link', 'NextageOpen::LARM_JOINT2_Link', 'NextageOpen::LARM_JOINT3_Link', 'NextageOpen::LARM_JOINT4_Link', 'NextageOpen::LARM_JOINT5_Link',
             'NextageOpen::RARM_JOINT0_Link', 'NextageOpen::RARM_JOINT1_Link', 'NextageOpen::RARM_JOINT2_Link', 'NextageOpen::RARM_JOINT3_Link', 'NextageOpen::RARM_JOINT4_Link', 'NextageOpen::RARM_JOINT5_Link']

Definition at line 45 of file test_nxo_gz.py.

list test_nxo_gz.TestNxoGazebo.POSES_INIT

static

Initial value:

= [
                  [[ 0.0,  0.0,  0.0], [ 0.0,  0.0,  0.0,  1.0]],
                  [[ 0.00869031777881, 0.00936108107894,  0.970000019992], [ 4.52986285804e-06,  9.1893585999e-07,  0.000198866987408,  0.999999980215]],
                  [[ 0.00869026831415, 0.00936080520858,  0.969999965706], [ 2.94622369018e-06,  1.3456210695e-06,  -0.000126180352162,  0.999999992034]],
                  [[ 0.00869141396909, 0.00935955870271,  1.53949992447], [ 8.45267344191e-07,  7.30178323418e-07,  -0.000131509094738,  0.999999991352]],
                  [[ 0.00869143715228, 0.0093595715095,  1.53949989454], [ 1.01216879393e-06,  4.83962982629e-06,  -0.000131441661779,  0.999999991349]],
                  [[ 0.00872762107774, 0.154360006834,  1.34029621598], [ -0.130527499716,  3.7821173448e-05,  2.6239331832e-05,  0.991444688169]],
                  [[ 0.00872766863833, 0.154360191609,  1.34029623983], [ -0.130527069459,  0.000269559123027,  -4.63162615923e-06,  0.991444709227]],
                  [[ 0.00858791298884, 0.181417572639,  1.07422723747], [ -0.091005332606,  -0.710566966204,  0.0935703234198,  0.691416813906]],
                  [[ 0.00940755565144, 0.173655626629,  1.04526064458], [ -0.090885098394,  -0.710582204533,  0.0934535149189,  0.691432766103]],
                  [[ 0.244320109519, 0.175331850808,  1.05145851947], [ -0.0909400891469,  -0.710174638341,  0.0934000106546,  0.691851372228]],
                  [[ 0.335517794548, 0.163801033044,  1.00834272469], [ -0.0908880315601,  -0.710167606022,  0.0934534767984,  0.69185821145]],
                  [[ 0.00865434250886, -0.135639383827,  1.34029577734], [ 0.13052792502,  9.10844525273e-06,  -0.000308631661141,  0.991444585165]],
                  [[ 0.00865441900623, -0.135638679716,  1.34029592469], [ 0.130523056036,  0.000264943619984,  -0.000273859879479,  0.991445201032]],
                  [[ 0.00848275607192, -0.162697817784,  1.07422672949], [ 0.0908048466902,  -0.71057338265,  -0.093765722566,  0.691410107649]],
                  [[ 0.0093050984273, -0.154936315414,  1.04526041866], [ 0.0907054333018,  -0.710585857087,  -0.0936678744598,  0.691423599085]],
                  [[ 0.244217095143, -0.156743001062,  1.05144546797], [ 0.0907579071769,  -0.710197835911,  -0.0936164077221,  0.691822234651]],
                  [[ 0.335421275762, -0.145261511825,  1.0083303359], [ 0.0907167631829,  -0.710192142524,  -0.0936591102354,  0.691827695777]]]

Definition at line 50 of file test_nxo_gz.py.

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

• test_nxo_gz.py