From b6df1ae0cfd46c8c1ed8765d6c1fcf257bc37ac4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Yannis=20B=C3=BClter?= Date: Thu, 30 May 2024 14:14:43 +0200 Subject: [PATCH] further test fixing --- test/Bowl_place_test.py | 10 ++-------- test/Cutlery_place_test.py | 10 ++-------- test/Plate_place_test.py | 10 ++-------- 3 files changed, 6 insertions(+), 24 deletions(-) diff --git a/test/Bowl_place_test.py b/test/Bowl_place_test.py index f8e6f76eaa..5e190de670 100644 --- a/test/Bowl_place_test.py +++ b/test/Bowl_place_test.py @@ -29,13 +29,10 @@ def drive(self): root_link='map', name='goal reached') - hold_mon = self.gis.monitors.add_payload_lidar(laser_distance_threshold=0.45, - laser_distance_threshold_width=0.45) - self.gis.motion_goals.add_cartesian_pose(goal_pose=goal, root_link='map', tip_link='base_footprint', - hold_condition=hold_mon, + hold_condition='', end_condition=cart_mon) local_min = self.gis.monitors.add_local_minimum_reached(start_condition=cart_mon) @@ -57,13 +54,10 @@ def drive2(self): root_link='map', name='goal reached') - hold_mon2 = self.gis.monitors.add_payload_lidar(laser_distance_threshold=0.45, - laser_distance_threshold_width=0.45) - self.gis.motion_goals.add_cartesian_pose(goal_pose=goal2, root_link='map', tip_link='base_footprint', - hold_condition=hold_mon2, + hold_condition='', end_condition=cart_mon2) local_min = self.gis.monitors.add_local_minimum_reached(start_condition=cart_mon2) diff --git a/test/Cutlery_place_test.py b/test/Cutlery_place_test.py index 9b6d5e6f2c..5019195e47 100644 --- a/test/Cutlery_place_test.py +++ b/test/Cutlery_place_test.py @@ -29,13 +29,10 @@ def drive(self): root_link='map', name='goal reached') - hold_mon = self.gis.monitors.add_payload_lidar(laser_distance_threshold=0.45, - laser_distance_threshold_width=0.45) - self.gis.motion_goals.add_cartesian_pose(goal_pose=goal, root_link='map', tip_link='base_footprint', - hold_condition=hold_mon, + hold_condition='', end_condition=cart_mon) local_min = self.gis.monitors.add_local_minimum_reached(start_condition=cart_mon) @@ -57,13 +54,10 @@ def drive2(self): root_link='map', name='goal reached') - hold_mon2 = self.gis.monitors.add_payload_lidar(laser_distance_threshold=0.45, - laser_distance_threshold_width=0.45) - self.gis.motion_goals.add_cartesian_pose(goal_pose=goal2, root_link='map', tip_link='base_footprint', - hold_condition=hold_mon2, + hold_condition='', end_condition=cart_mon2) local_min = self.gis.monitors.add_local_minimum_reached(start_condition=cart_mon2) diff --git a/test/Plate_place_test.py b/test/Plate_place_test.py index 2c5dfd7a31..5f35507543 100644 --- a/test/Plate_place_test.py +++ b/test/Plate_place_test.py @@ -29,13 +29,10 @@ def drive(self): root_link='map', name='goal reached') - hold_mon = self.gis.monitors.add_payload_lidar(laser_distance_threshold=0.45, - laser_distance_threshold_width=0.45) - self.gis.motion_goals.add_cartesian_pose(goal_pose=goal, root_link='map', tip_link='base_footprint', - hold_condition=hold_mon, + hold_condition='', end_condition=cart_mon) local_min = self.gis.monitors.add_local_minimum_reached(start_condition=cart_mon) @@ -57,13 +54,10 @@ def drive2(self): root_link='map', name='goal reached') - hold_mon2 = self.gis.monitors.add_payload_lidar(laser_distance_threshold=0.45, - laser_distance_threshold_width=0.45) - self.gis.motion_goals.add_cartesian_pose(goal_pose=goal2, root_link='map', tip_link='base_footprint', - hold_condition=hold_mon2, + hold_condition='', end_condition=cart_mon2) local_min = self.gis.monitors.add_local_minimum_reached(start_condition=cart_mon2)