1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
|
#! /usr/bin/env python
"""
This script tests the PR2 torso armature joint
"""
from morse.testing.testing import MorseTestCase
import logging; logger = logging.getLogger("morsetesting.general")
# 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
import sys
from pymorse import Morse
def getjoint(simu, name):
joints = simu.pr2.joint_state.get()
return joints[name]
class PR2TorsoTest(MorseTestCase):
def setUpEnv(self):
from morse.builder.robots import BasePR2
pr2 = BasePR2()
pr2.add_interface('socket')
env = Environment('empty', fastmode=True)
env.set_camera_rotation([1.0470, 0, 0.7854])
def test_torso_translate(self):
joint = "torso_lift_joint"
with Morse() as simu:
self.assertAlmostEquals(getjoint(simu, joint), 0.0, 3)
logger.info("Moving up torso to 0.2m...")
action = simu.pr2.torso.translate(joint, 0.2, 0.1) # speed = 0.1 m/s
simu.sleep(1)
logger.info("Should be now at 0.1m...")
self.assertAlmostEquals(getjoint(simu, joint), 0.1, 1)
simu.sleep(1)
logger.info("Should be now at 0.2m...")
self.assertAlmostEquals(getjoint(simu, joint), 0.2, 1)
# Check we do not move anymore
logger.info("Should not move anymore...")
simu.sleep(0.5)
self.assertFalse(action.running())
self.assertAlmostEquals(getjoint(simu, joint), 0.2, 1)
# Test limits
#TODO: currently no way to stop the action when blocking on a joint limit since we can not retreive them from Python (blender 2.64)
#logger.info("Let's go as high as possible to check my limits...")
#action = simu.pr2.torso.translate(joint, [0, 1, 0], 0.2) # speed = 0.2 m/s
#simu.sleep(2)
#self.assertFalse(action.running())
#self.assertAlmostEquals(getjoint(simu, joint), 0.3, 1)
# Go back to initial position
logger.info("Let's go back down...")
action = simu.pr2.torso.translate(joint, 0, 0.2) # speed = 0.2 m/s
simu.sleep(1.6)
self.assertFalse(action.running())
self.assertAlmostEquals(getjoint(simu, joint), 0.0, 1)
## Testing set_translation
logger.info("Moving up torso to 0.2m...")
simu.pr2.torso.set_translation(joint, 0.2)
logger.info("Should be now at 0.2m...")
simu.sleep(.1)
self.assertAlmostEquals(getjoint(simu, joint), 0.2, 3)
# Test limits
logger.info("Let's go as high as possible to check my limits...")
simu.pr2.torso.set_translation(joint, 1)
simu.sleep(.1)
self.assertAlmostEquals(getjoint(simu, joint), 0.31, 3)
simu.pr2.torso.set_translation(joint, -1)
simu.sleep(.1)
self.assertAlmostEquals(getjoint(simu, joint), 0.0, 3)
########################## Run these tests ##########################
if __name__ == "__main__":
from morse.testing.testing import main
main(PR2TorsoTest)
|
