robots.pr2 package

Submodules

robots.pr2.head_sockets module

This script tests the PR2 torso armature joint

class PR2TorsoTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

This method must be overloaded by subclasses to define a simulation environment.

The code must follow the Builder API convention (without the import of the morsebuilder module which is automatically added).

test_head_pan()

getjoint(name)

robots.pr2.jointstate_ros module

This script tests ROS services within MORSE.

class PR2JointStateTest(methodName='runTest')

Bases: morse.testing.ros.RosTestCase

pr2_joints_list = ['fl_caster_rotation_joint', 'fl_caster_l_wheel_joint', 'fl_caster_r_wheel_joint', 'fr_caster_rotation_joint', 'fr_caster_l_wheel_joint', 'fr_caster_r_wheel_joint', 'bl_caster_rotation_joint', 'bl_caster_l_wheel_joint', 'bl_caster_r_wheel_joint', 'br_caster_rotation_joint', 'br_caster_l_wheel_joint', 'br_caster_r_wheel_joint', 'torso_lift_joint', 'torso_lift_motor_screw_joint', 'head_pan_joint', 'head_tilt_joint', 'laser_tilt_mount_joint', 'r_upper_arm_roll_joint', 'r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_forearm_roll_joint', 'r_elbow_flex_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint', 'r_gripper_joint', 'r_gripper_l_finger_joint', 'r_gripper_r_finger_joint', 'r_gripper_r_finger_tip_joint', 'r_gripper_l_finger_tip_joint', 'r_gripper_motor_screw_joint', 'r_gripper_motor_slider_joint', 'l_upper_arm_roll_joint', 'l_shoulder_pan_joint', 'l_shoulder_lift_joint', 'l_forearm_roll_joint', 'l_elbow_flex_joint', 'l_wrist_flex_joint', 'l_wrist_roll_joint', 'l_gripper_joint', 'l_gripper_l_finger_joint', 'l_gripper_r_finger_joint', 'l_gripper_r_finger_tip_joint', 'l_gripper_l_finger_tip_joint', 'l_gripper_motor_screw_joint', 'l_gripper_motor_slider_joint']

setUpEnv()

This method must be overloaded by subclasses to define a simulation environment.

The code must follow the Builder API convention (without the import of the morsebuilder module which is automatically added).

test_base_jointstates()

robots.pr2.jointstate_sockets module

This script tests the PR2 torso armature joint

class PR2TorsoTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

This method must be overloaded by subclasses to define a simulation environment.

The code must follow the Builder API convention (without the import of the morsebuilder module which is automatically added).

test_joints()

robots.pr2.torso_ros module

This script tests the PR2 torso armature joint

class PR2TorsoTest(methodName='runTest')

Bases: morse.testing.ros.RosTestCase

setUpEnv()

This method must be overloaded by subclasses to define a simulation environment.

The code must follow the Builder API convention (without the import of the morsebuilder module which is automatically added).

test_action()

test_controller()

getjoint(name)

robots.pr2.torso_sockets module

This script tests the PR2 torso armature joint

class PR2TorsoTest(methodName='runTest')

Bases: morse.testing.testing.MorseTestCase

setUpEnv()

This method must be overloaded by subclasses to define a simulation environment.

The code must follow the Builder API convention (without the import of the morsebuilder module which is automatically added).

test_torso_translate()

getjoint(simu, name)

robots.pr2.tuck_arms_ros module

class PR2TuckTest(methodName='runTest')

Bases: morse.testing.ros.RosTestCase

angleWrap(angle)

go(side, positions, wait=True)

setUpEnv()

This method must be overloaded by subclasses to define a simulation environment.

The code must follow the Builder API convention (without the import of the morsebuilder module which is automatically added).

stateCb(msg)

test_tuck()

tuckL()

tuckR()

untuckL()

untuckR()

Module contents