def test_concat_should_merge_handlers(self):
handler_1 = ActionHandler()
@handler_1.handler('one')
def one():
pass
handler_2 = ActionHandler()
@handler_2.handler('two')
def two():
pass
actual = handler_1.concat(handler_2)
self.assertIs(one, actual._handlers['one'])
self.assertIs(two, actual._handlers['two'])
def test_handler_should_register_handler(self):
handler = ActionHandler()
@handler.handler('some_handler')
def some_handler():
pass
self.assertIs(some_handler, handler._handlers['some_handler'])
def test_should_pass_options_to_handler(self):
handler = ActionHandler()
@handler.handler('some_handler')
def some_handler(test):
return test
actual = handler('some_handler', {'test': 1})
self.assertEqual(1, actual)
def test_should_call_handler(self):
handler = ActionHandler()
@handler.handler('some_handler')
def some_handler():
return 1
actual = handler('some_handler')
self.assertEqual(1, actual)
import rospy from moveit_commander import RobotCommander, os, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown import sys from geometry_msgs.msg import PoseStamped import moveit_msgs node_name = 'mico_planner' group_name = 'arm' planner_name = 'RRTstarkConfigDefault' ee_link_name = 'mico_link_endeffector' roscpp_initialize(sys.argv) rospy.init_node(node_name, anonymous=True) acHan = ActionHandler(group_name, planner_name, ee_link_name) scene = PlanningSceneInterface() rospy.sleep(1) p = PoseStamped() p.header.frame_id = acHan.planning_frame() p.pose.position.x = 0.5 p.pose.position.y = 0.0 p.pose.position.z = 0.0 p.pose.orientation.w = 1.0 #size = [0.1,0.1,0.1]
from geometry_msgs.msg import PoseStamped
from moveit_msgs.msg import RobotTrajectory
from trajectory_msgs.msg import JointTrajectoryPoint
##Initialize steps
node_name = 'mico_planner'
group_name = 'arm'
planner_name = 'RRTstarkConfigDefault'
ee_link_name = 'mico_link_endeffector'
roscpp_initialize(sys.argv)
rospy.init_node(node_name, anonymous=True)
acHan = ActionHandler(group_name, planner_name, ee_link_name)
rospy.sleep(5)
f = 0
for arg in sys.argv:
f = arg
t = open(str(f), "r")
plans = t.read().split("PLAN : ")
plans = plans[1:]
return "success"
@app.route("/task/get")
def get_task():
return timing.get_current_task("HUMAN")
if __name__== '__main__':
############### ROS setup #######################
node_name = 'mico_planner'
group_name = 'arm'
planner_name = 'RRTConnectkConfigDefault'
ee_link_name = 'mico_link_endeffector'
roscpp_initialize(sys.argv)
rospy.init_node(node_name, anonymous=True)
acHan = ActionHandler(group_name, planner_name, ee_link_name)
rospy.sleep(1)
acHan.setWorkspace(-10, -10, 0, 10, 10, 10)
#################################################
planner = Planner()
timing = Timing()
planner.run()
# Database setup
storage = FileStorage.FileStorage("pGraph.fs")
db = DB(storage)
conn = db.open()
pGraphDB = conn.root()
if not pGraphDB.has_key("graph"):
pGraphDB["graph"] = PGraph.PGraph()
def __init__(self):
ActionHandler.__init__(self)
self.test = "foobar"
def __init__(self):
ActionHandler.__init__(self, cont)
import rospy
from moveit_commander import RobotCommander, os, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
import sys
from geometry_msgs.msg import PoseStamped
import moveit_msgs
node_name = 'mico_planner'
group_name = 'arm'
planner_name = 'RRTstarkConfigDefault'
ee_link_name = 'mico_link_endeffector'
roscpp_initialize(sys.argv)
rospy.init_node(node_name, anonymous=True)
acHan = ActionHandler(group_name, planner_name, ee_link_name)
rospy.sleep(1)
f = open("saved_pos.txt", "w")
f.write(" >NAME\t>POSTION\n")
done = False
while(not done):
inp = raw_input("Enter name of Position or q to Quit > ")
if (inp == "q"):
done = True
import json
import os.path
from flask import Flask, render_template
from actions import ActionHandler
app = Flask(__name__)
filepath = os.path.join(os.path.dirname(__file__), 'data.json')
action_handler = ActionHandler()
@action_handler.handler('describe')
def describe(text):
return {'text': text}
def create_handler(endpoint):
path = endpoint['_self']['href']
method = endpoint['_self']['method']
name = '{} {}'.format(method, path)
@app.route(path, methods=[method], endpoint=name)
def handler():
actions = endpoint['actions']
result = {}
for action in actions:
result.update(
action_handler(action['action'], action.get('options', None)))
result.update({
def test_should_raise_error_when_no_handler_found(self):
handler = ActionHandler()
self.assertRaises(KeyError, lambda: handler('some_handler'))
import rospy
from moveit_commander import RobotCommander, os, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
import sys
from geometry_msgs.msg import PoseStamped
import moveit_msgs
node_name = 'mico_planner'
group_name = 'arm'
planner_name = 'RRTstarkConfigDefault'
ee_link_name = 'mico_link_endeffector'
roscpp_initialize(sys.argv)
rospy.init_node(node_name, anonymous=True)
acHan = ActionHandler(group_name, planner_name, ee_link_name)
rospy.sleep(1)
f = 0
for arg in sys.argv:
f = arg
print(f)
plans = []
names = []
t = open(str(f), "r")
import rospy
from moveit_commander import RobotCommander, os, PlanningSceneInterface, roscpp_initialize, roscpp_shutdown
import sys
from geometry_msgs.msg import PoseStamped
import moveit_msgs
node_name = 'mico_planner'
group_name = 'arm'
planner_name = 'RRTstarkConfigDefault'
ee_link_name = 'mico_link_endeffector'
roscpp_initialize(sys.argv)
rospy.init_node(node_name, anonymous=True)
acHan = ActionHandler(group_name, planner_name, ee_link_name)
rospy.sleep(1)
js = acHan.current_jointState()
acHan.Transport_Empty(4, js)
f = open("saved_pos.txt", "w")
f.write(" >NAME\t>POSTION\n")
done = False
while(not done):
