test_hironx_cartesian.py
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00001 #!/usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 
00004 # Software License Agreement (BSD License)
00005 #
00006 # Copyright (c) 2013, Tokyo Opensource Robotics Kyokai Association
00007 # All rights reserved.
00008 #
00009 # Redistribution and use in source and binary forms, with or without
00010 # modification, are permitted provided that the following conditions
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00012 #
00013 #  * Redistributions of source code must retain the above copyright
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00015 #  * Redistributions in binary form must reproduce the above
00016 #    copyright notice, this list of conditions and the following
00017 #    disclaimer in the documentation and/or other materials provided
00018 #    with the distribution.
00019 #  * Neither the name of Tokyo Opensource Robotics Kyokai Association. nor the
00020 #    names of its contributors may be used to endorse or promote products
00021 #    derived from this software without specific prior written permission.
00022 #
00023 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00024 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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00029 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00031 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00036 # Author: Isaac Isao Saito
00037 
00038 # This should come earlier than later import.
00039 # See http://code.google.com/p/rtm-ros-robotics/source/detail?r=6773
00040 import unittest
00041 import numpy
00042 
00043 from hironx_ros_bridge import hironx_client as hironx
00044 from hrpsys import rtm
00045 
00046 _ARMGROUP_TESTED = 'larm'
00047 _LINK_TESTED = 'LARM_JOINT5'
00048 _GOINITIAL_TIME_MIDSPEED = 3  # second
00049 _NUM_CARTESIAN_ITERATION = 300
00050 _PKG = 'nextage_ros_bridge'
00051 
00052 
00053 class TestNextageopen(unittest.TestCase):
00054     '''
00055     Test NextageClient with rostest.
00056     '''
00057 
00058     @classmethod
00059     def setUpClass(self):
00060 
00061         #modelfile = rospy.get_param("hironx/collada_model_filepath")
00062         #rtm.nshost = 'hiro024'
00063         #robotname = "RobotHardware0"
00064 
00065         self._robot = hironx.HIRONX()
00066         #self._robot.init(robotname=robotname, url=modelfile)
00067         self._robot.init()
00068 
00069         self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00070 
00071 #    def test_set_relative_x(self):
00072     def _set_relative(self, dx=0, dy=0, dz=0):
00073         #print('Start moving dx={0}, dy={0}, dz={0}'.format(dx, dy, dz))
00074         self._robot.seq_svc.setMaxIKError(0.00001, 0.01)
00075         posi_prev = self._robot.getCurrentPosition(_LINK_TESTED)
00076         for i in range(_NUM_CARTESIAN_ITERATION):
00077             self._robot.setTargetPoseRelative(_ARMGROUP_TESTED,
00078                                             _LINK_TESTED, dx, dy, dz, tm=0.15)
00079             #print('   joint=', nxc.getJointAngles()[3:9])
00080         posi_post = self._robot.getCurrentPosition(_LINK_TESTED)
00081 
00082         diff_result = posi_prev
00083         for i in range(len(posi_prev)):
00084             diff_result[i] = posi_post[i] - posi_prev[i]
00085         diff_expected = _NUM_CARTESIAN_ITERATION*numpy.array([dx,dy,dz])
00086         diff_result = numpy.array(diff_result)
00087         print('Position diff={}, expected={}'.format(diff_result, diff_expected))
00088         numpy.testing.assert_array_almost_equal(diff_result, diff_expected, decimal=3)
00089         return True
00090 
00091     def test_set_targetpose_relative_dx(self):
00092         assert(self._set_relative(dx=0.0001))
00093         self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00094 
00095     def test_set_targetpose_relative_dy(self):
00096         assert(self._set_relative(dy=0.0001))
00097         self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00098 
00099     def test_set_targetpose_relative_dz(self):
00100         assert(self._set_relative(dz=0.0001))
00101         self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
00102 
00103 # unittest.main()
00104 if __name__ == '__main__':
00105     import rostest
00106     rostest.rosrun(_PKG, 'test_nxopen', TestNextageopen)


hironx_ros_bridge
Author(s): Kei Okada
autogenerated on Sun Sep 13 2015 23:21:39