def head_behavior(dcm, mem, ctime, head_behavior_number):
"""Head behavior for false positive test."""
head_pitch = subdevice.Joint(dcm, mem, "HeadPitch")
head_yaw = subdevice.Joint(dcm, mem, "HeadYaw")
headpitch_pos_max = PROTECTION * head_pitch.position.actuator.maximum
headpitch_pos_min = PROTECTION * head_pitch.position.actuator.minimum
headyaw_pos_max = PROTECTION * head_yaw.position.actuator.maximum
headyaw_pos_min = PROTECTION * head_yaw.position.actuator.minimum
for _ in range(head_behavior_number):
head_pitch.position.actuator.qvalue = (headpitch_pos_max, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_max, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (headpitch_pos_min, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_min, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (headpitch_pos_max, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_min, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (headpitch_pos_min, ctime)
head_yaw.position.actuator.qvalue = (headyaw_pos_max, ctime)
qha_tools.wait(dcm, ctime)
head_pitch.position.actuator.qvalue = (0.0, ctime / 2.)
head_yaw.position.actuator.qvalue = (0.0, ctime / 2.)
qha_tools.wait(dcm, ctime)
def lwristyaw(dcm, mem):
"""LWristYaw python object"""
return subdevice.Joint(dcm, mem, "LWristYaw")
def joint(request, dcm, mem):
"""
Create the appropriate objects for each joint.
"""
return subdevice.Joint(dcm, mem, request.param)
def kneepitch(dcm, mem):
"""HipPitch joint as a python object"""
return subdevice.Joint(dcm, mem, "KneePitch")