Integration test. More...

Classes
class	MarkerPublisherThread

Variables
	anonymous

	velma = VelmaInterface()

	timeout_s

	diag = velma.getCoreCsDiag()

	p = Planner(velma.maxJointTrajLen())

	js_start = velma.getLastJointState()

	start_time

	position_tol

	error = velma.waitForJoint()

	object1 = AttachedCollisionObject()

	link_name

	frame_id

	id

	object1_prim = SolidPrimitive()

	type

	dimensions

	object1_pose = pm.toMsg(PyKDL.Frame(PyKDL.Rotation.RotY(math.pi/2)))

	operation

	touch_links

	pub = MarkerPublisherThread(object1)

dictionary	q_map_goal

	goal_constraint_1 = qMapToConstraints(q_map_goal, 0.01, group=velma.getJointGroup("impedance_joints"))

	js = velma.getLastJointState()

	traj = p.plan(js[1], [goal_constraint_1], "impedance_joints", max_velocity_scaling_factor=0.15, planner_id="RRTConnect", attached_collision_objects=[object1])

dictionary	q_map_end

	goal_constraint_2 = qMapToConstraints(q_map_end, 0.01, group=velma.getJointGroup("impedance_joints"))

Detailed Description

Integration test.

Variable Documentation

◆ anonymous

scripts.test_jimp_planning_attached.anonymous

Definition at line 85 of file test_jimp_planning_attached.py.

◆ diag

scripts.test_jimp_planning_attached.diag = velma.getCoreCsDiag()

Definition at line 102 of file test_jimp_planning_attached.py.

◆ dimensions

scripts.test_jimp_planning_attached.dimensions

Definition at line 137 of file test_jimp_planning_attached.py.

◆ error

scripts.test_jimp_planning_attached.error = velma.waitForJoint()

Definition at line 123 of file test_jimp_planning_attached.py.

◆ frame_id

scripts.test_jimp_planning_attached.frame_id

Definition at line 133 of file test_jimp_planning_attached.py.

◆ goal_constraint_1

scripts.test_jimp_planning_attached.goal_constraint_1 = qMapToConstraints(q_map_goal, 0.01, group=velma.getJointGroup("impedance_joints"))

Definition at line 178 of file test_jimp_planning_attached.py.

◆ goal_constraint_2

scripts.test_jimp_planning_attached.goal_constraint_2 = qMapToConstraints(q_map_end, 0.01, group=velma.getJointGroup("impedance_joints"))

Definition at line 220 of file test_jimp_planning_attached.py.

◆ id

scripts.test_jimp_planning_attached.id

Definition at line 134 of file test_jimp_planning_attached.py.

◆ js

scripts.test_jimp_planning_attached.js = velma.getLastJointState()

Definition at line 181 of file test_jimp_planning_attached.py.

◆ js_start

scripts.test_jimp_planning_attached.js_start = velma.getLastJointState()

Definition at line 121 of file test_jimp_planning_attached.py.

◆ link_name

scripts.test_jimp_planning_attached.link_name

Definition at line 132 of file test_jimp_planning_attached.py.

◆ object1

scripts.test_jimp_planning_attached.object1 = AttachedCollisionObject()

Definition at line 131 of file test_jimp_planning_attached.py.

◆ object1_pose

scripts.test_jimp_planning_attached.object1_pose = pm.toMsg(PyKDL.Frame(PyKDL.Rotation.RotY(math.pi/2)))

Definition at line 140 of file test_jimp_planning_attached.py.

◆ object1_prim

scripts.test_jimp_planning_attached.object1_prim = SolidPrimitive()

Definition at line 135 of file test_jimp_planning_attached.py.

◆ operation

scripts.test_jimp_planning_attached.operation

Definition at line 143 of file test_jimp_planning_attached.py.

◆ p

scripts.test_jimp_planning_attached.p = Planner(velma.maxJointTrajLen())

Definition at line 108 of file test_jimp_planning_attached.py.

◆ position_tol

scripts.test_jimp_planning_attached.position_tol

Definition at line 122 of file test_jimp_planning_attached.py.

◆ pub

scripts.test_jimp_planning_attached.pub = MarkerPublisherThread(object1)

Definition at line 155 of file test_jimp_planning_attached.py.

◆ q_map_end

dictionary scripts.test_jimp_planning_attached.q_map_end

Initial value:

 =  {'torso_0_joint':0,
         'right_arm_0_joint':-0.3,
         'right_arm_1_joint':-1.8,
         'right_arm_2_joint':1.25,
         'right_arm_3_joint':0.85,
         'right_arm_4_joint':0,
         'right_arm_5_joint':-0.5,
         'right_arm_6_joint':0,
         'left_arm_0_joint':0.3,
         'left_arm_1_joint':1.8,
         'left_arm_2_joint':-1.25,
         'left_arm_3_joint':-0.85,
         'left_arm_4_joint':0,
         'left_arm_5_joint':0.5,
         'left_arm_6_joint':0
         }

Definition at line 202 of file test_jimp_planning_attached.py.

◆ q_map_goal

dictionary scripts.test_jimp_planning_attached.q_map_goal

Initial value:

 =  {'torso_0_joint':0,
         'right_arm_0_joint':-0.3,
         'right_arm_1_joint':-1.8,
         'right_arm_2_joint':-1.25,
         'right_arm_3_joint':1.57,
         'right_arm_4_joint':0,
         'right_arm_5_joint':-0.5,
         'right_arm_6_joint':0,
         'left_arm_0_joint':0.3,
         'left_arm_1_joint':1.8,
         'left_arm_2_joint':-1.25,
         'left_arm_3_joint':-0.85,
         'left_arm_4_joint':0,
         'left_arm_5_joint':0.5,
         'left_arm_6_joint':0
         }

Definition at line 158 of file test_jimp_planning_attached.py.

◆ start_time

scripts.test_jimp_planning_attached.start_time

Definition at line 122 of file test_jimp_planning_attached.py.

◆ timeout_s

scripts.test_jimp_planning_attached.timeout_s

Definition at line 97 of file test_jimp_planning_attached.py.

◆ touch_links

scripts.test_jimp_planning_attached.touch_links

Definition at line 144 of file test_jimp_planning_attached.py.

◆ traj

scripts.test_jimp_planning_attached.traj = p.plan(js[1], [goal_constraint_1], "impedance_joints", max_velocity_scaling_factor=0.15, planner_id="RRTConnect", attached_collision_objects=[object1])

Definition at line 183 of file test_jimp_planning_attached.py.

◆ type

scripts.test_jimp_planning_attached.type

Definition at line 136 of file test_jimp_planning_attached.py.

◆ velma

scripts.test_jimp_planning_attached.velma = VelmaInterface()

Definition at line 95 of file test_jimp_planning_attached.py.

Classes

Variables