Source code for robots.pr2.jointstate_sockets

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

from morse.testing.testing import MorseTestCase

# 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
from pymorse import Morse

# from the output of "rostopic echo /joint_states" on the PR2
PR2_JOINTS = {'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'}


[docs]class PR2TorsoTest(MorseTestCase):
[docs] def setUpEnv(self): from morse.builder.robots import BasePR2 pr2 = BasePR2() pr2.add_interface("socket") env = Environment('empty', fastmode=True) env.set_camera_rotation([1.0470, 0, 0.7854])
[docs] def test_joints(self): with Morse() as simu: joints = simu.pr2.joint_state.get() self.assertEqual(len(set(joints.keys())), len(joints.keys()), 'Some joints are duplicated!' ) self.assertEqual(set(joints.keys()), PR2_JOINTS | {'timestamp'}, 'Could not find all joints of the PR2. Please check if you' 'named the joints correctly in your pr2_posture sensor and' 'middleware!' ) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(PR2TorsoTest)