Source code for robots.pr2.head_sockets

#! /usr/bin/env python
"""
This script tests the PR2 torso armature joint
"""

from morse.testing.testing import MorseTestCase
import logging; logger = logging.getLogger("morsetesting.general")

# Include this import to be able to use your test file as a regular 
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
    from morse.builder import *
except ImportError:
    pass

import sys
import time

from pymorse import Morse

[docs]def getjoint(name): with Morse() as simu: joints = simu.pr2.posture.get() return joints[name]
[docs]class PR2TorsoTest(MorseTestCase):
[docs] def setUpEnv(self): from morse.builder.robots import BasePR2 pr2 = BasePR2() pr2.add_stream('socket') env = Environment('empty', fastmode=True) env.set_camera_rotation([1.0470, 0, 0.7854])
[docs] def test_head_pan(self): joint = "head_pan" self.assertAlmostEquals(getjoint(joint), 0.0, 3) with Morse() as simu: logger.info("Paning the head 1") action = simu.pr2.head.rotate(joint, 1, 1).result() # speed = 1 rad/s self.assertAlmostEquals(getjoint(joint), 1, 1) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(PR2TorsoTest)