new_contents: #!/usr/bin/env python
  import roslib
  import numpy, unittest
  import herbpy, prpy, openravepy
  from nose.tools import nottest
  
  class RogueTest(unittest.TestCase):
      def setUp(self):
          self.env, self.robot = herbpy.initialize(sim=True)
          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)
          self.fuze.Enable(True)
  
      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])
  
          test_array = numpy.array([0, 1, 2])
          numpyarray_coord = prpy.util.GetPointFrom(test_array)
          numpy.testing.assert_almost_equal(numpyarray_coord, test_array)
  
          test_list = [0, 1, 2]
          list_coord = prpy.util.GetPointFrom(test_list)
          numpy.testing.assert_almost_equal(list_coord, test_list)
  
          test_tuple = (0, 1, 2)
          tuple_coord = prpy.util.GetPointFrom(test_tuple)
          numpy.testing.assert_almost_equal(tuple_coord, test_tuple)
  
          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)
  
subject: Add back in rogue tests