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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
JOINTS = ['kuka_1', 'kuka_2', 'kuka_3', 'kuka_4', 'kuka_5', 'kuka_6', 'kuka_7']
class ArmatureTest(MorseTestCase):
def setUpEnv(self):
""" Defines the test scenario, using the Builder API.
"""
robot = FakeRobot()
arm = KukaLWR()
robot.append(arm)
arm.add_stream('socket')
arm.add_service('socket')
pose = Pose()
pose.add_stream('socket')
pose.translate(z=1.3105)
arm.append(pose)
arm_pose = ArmaturePose()
arm.append(arm_pose)
arm_pose.add_stream('socket')
motion = Teleport()
robot.append(motion)
motion.add_service('socket')
env = Environment('empty', fastmode = True)
env.add_service('socket')
def _check_state(self, simu, angles, precision = 0.050):
pose = simu.robot.arm.arm_pose.get()
target = dict(zip(JOINTS, angles))
for j, v in pose.items():
if j != 'timestamp':
self.assertAlmostEqual(v, target[j], delta=precision)
def _check_pose(self, simu, x, y, z, pitch, precision = 0.01):
self.assertAlmostEqual(simu.robot.arm.pose.get()['x'], x, delta = precision)
self.assertAlmostEqual(simu.robot.arm.pose.get()['y'], y, delta = precision)
self.assertAlmostEqual(simu.robot.arm.pose.get()['z'], z, delta = precision)
self.assertAlmostEqual(simu.robot.arm.pose.get()['pitch'], pitch, delta = precision)
def test_joints_names(self):
with Morse() as simu:
self.assertEquals(simu.robot.arm.get_joints(), JOINTS)
def test_object_attach(self):
""" Checks that attached object are indeed attached at the right place.
"""
precision = 0.02
with Morse() as simu:
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.motion.translate(1.0)
simu.sleep(0.1)
self._check_pose(simu, 1., 0., 1.3105, 0.)
simu.robot.arm.set_rotation("kuka_2", math.radians(-90)).result()
simu.sleep(0.1)
self._check_pose(simu, 2., 0., 0.3105, math.radians(90))
def test_immediate_api(self):
""" Tests the services that have an immediate result
(no speed limit taken into account)
"""
# TODO: check translations!
precision = 0.02
with Morse() as simu:
simu.robot.arm.set_rotation("kuka_2", 1).result() # basic rotation
simu.sleep(0.1)
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 1.0, delta = precision)
simu.robot.arm.set_rotation("kuka_2", 4000).result() # rotation clamping
simu.sleep(0.1)
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 2.09, delta = precision)
res = simu.robot.arm.set_rotation('pipo',0) # inexistant joint
self.assertEqual(type(res.exception(1)), MorseServiceFailed)
res = simu.robot.arm.set_translation('kuka_2',0) # non prismatic joint
self.assertEqual(type(res.exception(1)), MorseServiceFailed)
# note that set_rotations is tested in armature_pose_testing
def test_motion_services(self):
""" Tests the services that have take some time to move
(joint speed limit taken into account)
"""
# TODO: check translations!
precision = 0.02
with Morse() as simu:
simu.robot.arm.rotate("kuka_2", 0.5).result() # basic rotation
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 0.5, delta = precision)
simu.robot.arm.rotate("kuka_2", 4000).result() # rotation clamping
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 2.09, delta = precision)
res = simu.robot.arm.rotate('pipo',0) # inexistant joint
self.assertEqual(type(res.exception(1)), MorseServiceFailed)
res = simu.robot.arm.translate('kuka_2',0) # non prismatic joint
self.assertEqual(type(res.exception(1)), MorseServiceFailed)
simu.robot.arm.set_rotation("kuka_2", 0).result() # back to origin
act = simu.robot.arm.rotate("kuka_2", 1, 0.5)
self.assertFalse(act.done())
simu.sleep(1)
self.assertFalse(act.done())
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 0.5, delta = precision)
simu.sleep(1.1)
self.assertTrue(act.done())
kuka_4 = simu.robot.arm.arm_pose.get()["kuka_4"]
simu.robot.arm.rotate_joints({"kuka_2": 0.5, "kuka_3" : 0.2}).result()
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_2"], 0.5, delta = precision)
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_3"], 0.2, delta = precision)
self.assertAlmostEqual(simu.robot.arm.arm_pose.get()["kuka_4"], kuka_4, delta = precision)
def test_trajectory(self):
traj0 = {'points': [
{'position': [0.0, 1.57, 0.0, 0.0, 0.0, 0.0, 0.0],
'time_from_start': 1.0}
]
}
traj1 = {'points': [
{'positions': [0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'time_from_start': 1.0},
{'positions': [0.0, 1.57, 0.0, -1.57, 0.0, 1.57, 0.0],
'time_from_start': 4.0},
{'positions': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'time_from_start': 6.0}
]
}
with Morse() as simu:
act = simu.robot.arm.trajectory(traj0)
self.assertEqual(type(act.exception(1)), MorseServiceFailed) # typo in trajectory ('position' instead of 'positions')
self.assertIn('positions', str(act.exception()))
act = simu.robot.arm.trajectory(traj1)
simu.sleep(1)
self._check_state(simu, [0.0, 1.0, 0,0,0,0,0])
simu.sleep(3)
self._check_state(simu, [0.0, 1.57, 0, -1.57, 0, 1.57, 0])
simu.sleep(2)
self._check_state(simu, [0.0] * 7)
simu.sleep(1)
self._check_state(simu, [0.0] * 7)
# check 'starttime' parameter
act = simu.robot.arm.set_rotations([0.0] * 7)
traj2 = {'starttime': simu.time() + 1,
'points': [
{'positions': [0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0],
'time_from_start': 1.0}
]
}
act = simu.robot.arm.trajectory(traj2)
simu.sleep(0.5)
self._check_state(simu, [0.0] * 7)
simu.sleep(0.5)
simu.sleep(1)
self._check_state(simu, [0.0, 1.0, 0,0,0,0,0])
simu.sleep(1)
self._check_state(simu, [0.0, 1.0, 0,0,0,0,0])
# Check action cancellation
act = simu.robot.arm.set_rotations([0.0] * 7)
traj2['starttime'] = simu.time() + 1
act = simu.robot.arm.trajectory(traj2)
simu.sleep(0.5)
act.cancel()
simu.sleep(1)
self._check_state(simu, [0.0] * 7)
def test_ik_immediate(self):
IK_TARGET = "ik_target.robot.arm.kuka_7"
with Morse() as simu:
self.assertEqual(simu.robot.arm.list_IK_targets(), [IK_TARGET])
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.arm.place_IK_target(IK_TARGET, [0,0,2], None, False) # absolute location
simu.sleep(0.1)
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.arm.place_IK_target(IK_TARGET, [1,0,0.3105], None, False)
simu.sleep(1) # with iterative IK solvers like iTaSC, the IK chain does not reach the end position immediately
self._check_pose(simu, 0.778, 0., 0.363, 0.02)
simu.robot.arm.place_IK_target(IK_TARGET, [1,0,0.3105], [math.pi/2, -math.pi/2, -math.pi], False) # arm should be horizontal
simu.sleep(1) # with iterative IK solvers like iTaSC, the IK chain does not reach the end position immediately
self._check_pose(simu, 1.0, 0., 0.3105, math.radians(90))
# back to original position
simu.robot.arm.place_IK_target(IK_TARGET, [0,0,2], [math.pi/2, 0., -math.pi], False) # absolute location
simu.sleep(1.)
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.arm.place_IK_target(IK_TARGET, [-1, 0, -1.6895], None) # relative position
simu.sleep(1) # with iterative IK solvers like iTaSC, the IK chain does not reach the end position immediately
self._check_pose(simu, -0.778, 0., 0.363, -0.02)
simu.robot.arm.place_IK_target(IK_TARGET, [0.,0.,0.], [0., -math.pi/2, 0.]) # relative rotation
simu.sleep(1) # with iterative IK solvers like iTaSC, the IK chain does not reach the end position immediately
self._check_pose(simu, -1.0, 0., 0.3105, -math.radians(90))
def test_ik_motion(self):
IK_TARGET = "ik_target.robot.arm.kuka_7"
with Morse() as simu:
self.assertEqual(simu.robot.arm.list_IK_targets(), [IK_TARGET])
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.arm.move_IK_target(IK_TARGET, [0,0,2], None, False).result() # absolute location
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.arm.move_IK_target(IK_TARGET, [1,0,0.3105], None, False).result()
self._check_pose(simu, 0.778, 0., 0.363, 0.02)
simu.robot.arm.move_IK_target(IK_TARGET, [1,0,0.3105], [math.pi/2, -math.pi/2, -math.pi], False).result() # arm should be horizontal
self._check_pose(simu, 1.0, 0., 0.3105, math.radians(90))
# back to original position
simu.robot.arm.move_IK_target(IK_TARGET, [0,0,2], [math.pi/2, 0., -math.pi], False).result() # absolute location
self._check_pose(simu, 0., 0., 1.3105, 0.)
simu.robot.arm.move_IK_target(IK_TARGET, [-1, 0, -1.6895], None).result() # relative position
self._check_pose(simu, -0.778, 0., 0.363, -0.02)
simu.robot.arm.move_IK_target(IK_TARGET, [0.,0.,0.], [0., -math.pi/2, 0.]).result() # relative rotation
self._check_pose(simu, -1.0, 0., 0.3105, -math.radians(90))
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(ArmatureTest)
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