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#! /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
def getjoint(name):
with Morse() as simu:
joints = simu.pr2.posture.get()
return joints[name]
class PR2TorsoTest(MorseTestCase):
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])
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)
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