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#! /usr/bin/env python
"""
This script tests the KUKA LWR arm, both the data and service api
"""
import sys
import math
from morse.testing.testing import MorseTestCase
from pymorse import Morse, MorseServiceFailed
# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
from morse.builder import *
except ImportError:
pass
class ArmaturePoseTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = ATRV('robot')
kuka_lwr = KukaLWR('arm')
robot.append(kuka_lwr)
kuka_lwr.translate(z=0.9)
kuka_lwr.add_service('socket')
kuka_posture = ArmaturePose('arm_pose')
kuka_lwr.append(kuka_posture)
kuka_posture.add_stream('socket')
kuka_posture.add_service('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def test_pose_services(self):
precision = 0.02
JOINTS = ['kuka_1', 'kuka_2', 'kuka_3', 'kuka_4', 'kuka_5', 'kuka_6', 'kuka_7']
with Morse() as simu:
self.assertEqual(simu.robot.arm.arm_pose.get_joints(), JOINTS)
#res = simu.robot.arm.get_rotations()
#for joint in joints:
# for i in range(3):
# self.assertAlmostEqual(res[joint][i], 0.0, delta=precision)
#res = simu.robot.arm.get_rotation('kuka_5').result()
#for i in range(3):
# self.assertAlmostEqual(res[i], 0.0, delta=precision)
#res = simu.robot.arm.get_rotation('pipo')
#self.assertEqual(type(res.exception(2)), MorseServiceFailed)
res = simu.robot.arm.arm_pose.get_joints_length().result()
self.assertAlmostEqual(res['kuka_1'], 0.31, delta=precision)
self.assertAlmostEqual(res['kuka_2'], 0.20, delta=precision)
self.assertAlmostEqual(res['kuka_3'], 0.20, delta=precision)
self.assertAlmostEqual(res['kuka_4'], 0.20, delta=precision)
self.assertAlmostEqual(res['kuka_5'], 0.19, delta=precision)
self.assertAlmostEqual(res['kuka_6'], 0.08, delta=precision)
self.assertAlmostEqual(res['kuka_7'], 0.13, delta=precision)
# Move the arm now, and get the measure
angles = [1.57, 2.0, 1.0, -1.28, 1.1, -2.0, 1.0]
simu.robot.arm.set_rotations(angles)
simu.sleep(0.1)
pose = simu.robot.arm.arm_pose.get_state().result()
target = dict(zip(JOINTS, angles))
for j, v in pose.items():
self.assertAlmostEqual(v, target[j], delta=precision)
def test_pose_stream(self):
precision = 0.02
JOINTS = ['kuka_1', 'kuka_2', 'kuka_3', 'kuka_4', 'kuka_5', 'kuka_6', 'kuka_7']
with Morse() as simu:
pose = simu.robot.arm.arm_pose.get()
# 7 joints + timestamp
self.assertEqual(len(pose), 7 + 1)
self.assertEqual(set(pose.keys()), set(JOINTS).union(set(['timestamp'])))
for j, v in pose.items():
if j != 'timestamp':
self.assertAlmostEqual(v, 0.0, delta=precision)
simu.robot.arm.set_rotation("kuka_2", 1).result()
simu.sleep(0.1)
pose = simu.robot.arm.arm_pose.get()
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 1.0, delta = precision)
for j, v in pose.items():
if j != "kuka_2" and j != 'timestamp':
self.assertAlmostEqual(v, 0.0, delta=precision)
# Move the arm now, and get the measure
angles = [1.57, 2.0, 1.0, -1.28, 1.0, -2.0, 1.0]
simu.robot.arm.set_rotations(angles)
simu.sleep(0.1)
target = dict(zip(JOINTS, angles))
pose = simu.robot.arm.arm_pose.get()
for j, v in pose.items():
if j != 'timestamp':
self.assertAlmostEqual(v, target[j], delta=precision)
angles = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
simu.robot.arm.set_rotations(angles)
simu.sleep(0.1)
target = dict(zip(JOINTS, angles))
pose = simu.robot.arm.arm_pose.get()
for j, v in pose.items():
if j != 'timestamp':
self.assertAlmostEqual(v, target[j], delta=precision)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(ArmaturePoseTest)
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