Update from master

Author: Rachel

tests/rogue_tests.py

@@ -6,9 +6,8 @@
 
 class RogueTest(unittest.TestCase):
     def setUp(self):
-        self.env, self.robot = herbpy.initialize(sim=True)
+        self.env = openravepy.Environment()
         self.fuze = prpy.rave.add_object(self.env, 'fuze_bottle', 'objects/fuze_bottle.kinbody.xml')
-        self.robot.right_arm.SetActive()
         self.fuze_pose = numpy.eye(4)
         self.fuze_pose[0:3, 3] = [0.8, -0.3, 0.4]
         self.fuze.SetTransform(self.fuze_pose)
@@ -18,18 +17,6 @@ def tearDown(self):
         self.env.Destroy()
         openravepy.RaveDestroy()
 
-    def test_Pointing(self):
-        self.robot.PointAt([1, 1, 1])
-        herbpy.action.Point(self.robot, [1, 1, 1])
-
-    def test_Presenting(self):
-        self.robot.PresentAt([0.5, 0, 1])
-        herbpy.action.Present(self.robot, [0.5, 0, 1])
-
-    def test_Sweeping(self):
-        self.robot.SweepAt([0.5, 0, 0.5], [0.7, 0, 0.5])
-        herbpy.action.Sweep(self.robot, [0.7, 0, 0.5], [0.5, 0, 0.5])
-
     def test_GetPointFrom(self):
         kinbody_coord = prpy.util.GetPointFrom(self.fuze)
         numpy.testing.assert_almost_equal(kinbody_coord, self.fuze_pose[0:3, 3])
@@ -49,32 +36,6 @@ def test_GetPointFrom(self):
         transform_coord = prpy.util.GetPointFrom(self.fuze_pose)
         numpy.testing.assert_almost_equal(transform_coord, self.fuze_pose[0:3, 3])
 
-    def test_Exhibiting(self):
-        self.robot.Exhibit(self.fuze)
-
-    @nottest
-    def test_Nodding(self):
-        # TODO disabled until new head installed
-        self.robot.NodYes()
-        self.robot.NodNo()
-
-    def test_HaltHand(self):
-        self.robot.HaltHand()
-        goal_pose = numpy.array([5.03348748, -1.57569674, 1.68788069,
-                            2.06769058, -1.66834313,
-                            1.53679821, 0.21175342], dtype='float')
-        actual_pose = self.robot.GetActiveManipulator().GetDOFValues()
-        numpy.testing.assert_array_almost_equal(goal_pose, actual_pose)
-
-
-    def test_MiddleFinger(self):
-        self.robot.MiddleFinger()
-
-    @nottest
-    def test_Wave(self):
-        # TODO disabled until rmh regenerates trajectories
-        self.robot.Wave()
-
 if __name__ == '__main__':
     import rosunit
     rosunit.unitrun(PKG, 'test_rogue', RogueTest)