test_arm.py

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#!/usr/bin/env python
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## Gazebo test arm controller
##   sends posision
##   checks to see if P3D returns corresponding ground truth within TARGET_TOL of TARGET_VW
##          for a duration of TARGET_DURATION seconds

PKG = 'pr2_gazebo'
NAME = 'test_arm'

import math
import roslib
roslib.load_manifest(PKG)

import sys, unittest
import os, os.path, threading, time
import rospy, rostest
from std_msgs.msg import *
from nav_msgs.msg import *
from pr2_mechanism_controllers.msg import *
from tf.transformations import *
from numpy import *


GRP_CMD_POS     = 0.03

TARGET_DURATION = 1.0
ROT_TARGET_TOL      = 0.01  #empirical test result john - 20090110
POS_TARGET_TOL      = 0.01  #empirical test result john - 20090110
TEST_TIMEOUT    = 100.0

# pre-recorded poses for above commands
TARGET_PALM_TX     = 0.118296477266
TARGET_PALM_TY     = -0.113566972556
TARGET_PALM_TZ     = 0.429595972393
TARGET_PALM_QX     = -0.478307662414
TARGET_PALM_QY     = 0.491088172771
TARGET_PALM_QZ     = -0.547883729434
TARGET_PALM_QW     = 0.479455530433

TARGET_FNGR_TX     =  0.112382617544
TARGET_FNGR_TY     =  -0.190916084688
TARGET_FNGR_TZ     =  0.378231687397
TARGET_FNGR_QX     =  -0.436046001411
TARGET_FNGR_QY     =  0.528981109854
TARGET_FNGR_QZ     =  -0.506382999652
TARGET_FNGR_QW     =  0.523086157085

class ArmTest(unittest.TestCase):
    def __init__(self, *args):
        super(ArmTest, self).__init__(*args)
        self.palm_success = False
        self.reached_target_palm = False
        self.duration_start_palm = 0
        self.fngr_success = False
        self.reached_target_fngr = False
        self.duration_start_fngr = 0


    def printP3D(self, p3d):
        print "pose ground truth received"
        print "P3D pose translan: " + "x: " + str(p3d.pose.pose.position.x)
        print "                   " + "y: " + str(p3d.pos.position.y)
        print "                   " + "z: " + str(p3d.pose.pose.position.z)
        print "P3D pose rotation: " + "x: " + str(p3d.pose.pose.orientation.x)
        print "                   " + "y: " + str(p3d.pose.pose.orientation.y)
        print "                   " + "z: " + str(p3d.pose.pose.orientation.z)
        print "                   " + "w: " + str(p3d.pose.pose.orientation.w)
        print "P3D rate translan: " + "x: " + str(p3d.vel.vel.vx)
        print "                   " + "y: " + str(p3d.vel.vel.vy)
        print "                   " + "z: " + str(p3d.vel.vel.vz)
        print "P3D rate rotation: " + "x: " + str(p3d.vel.ang_vel.vx)
        print "                   " + "y: " + str(p3d.vel.ang_vel.vy)
        print "                   " + "z: " + str(p3d.vel.ang_vel.vz)

    def fngrP3dInput(self, p3d):
        i = 0
        pos_error = abs(p3d.pose.pose.position.x - TARGET_FNGR_TX) + \
                    abs(p3d.pose.pose.position.y - TARGET_FNGR_TY) + \
                    abs(p3d.pose.pose.position.z - TARGET_FNGR_TZ)

        #target pose rotation matrix
        target_q = [TARGET_FNGR_QX  \
                   ,TARGET_FNGR_QY  \
                   ,TARGET_FNGR_QZ  \
                   ,TARGET_FNGR_QW]

        #p3d pose quaternion
        p3d_q     = [p3d.pose.pose.orientation.x  \
                    ,p3d.pose.pose.orientation.y  \
                    ,p3d.pose.pose.orientation.z  \
                    ,p3d.pose.pose.orientation.w]

        # get error euler angles by inverting the target rotation matrix and multiplying by p3d quaternion
        target_q_inv = quaternion_inverse(target_q)
        rot_euler = euler_from_quaternion( quaternion_multiply(p3d_q, target_q_inv) )
        rot_error = abs( rot_euler[0] ) + \
                    abs( rot_euler[1] ) + \
                    abs( rot_euler[2] )

        print " fngr Error pos: " + str(pos_error) + " rot: " + str(rot_error)

        #self.printP3D(p3d) #for getting new valid data

        # has to reach target vw and maintain target vw for a duration of TARGET_DURATION seconds
        if self.reached_target_fngr:
          print " fngr duration: " + str(time.time() - self.duration_start_fngr)
          if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
            if time.time() - self.duration_start_fngr > TARGET_DURATION:
              self.fngr_success = True
          else:
            # failed to maintain target vw, reset duration
            self.fngr_success = False
            self.reached_target_fngr = False
        else:
          if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
            print 'success finger'
            self.reached_target_fngr = True
            self.duration_start_fngr = time.time()

    def palmP3dInput(self, p3d):
        i = 0
        pos_error = abs(p3d.pose.pose.position.x - TARGET_PALM_TX) + \
                    abs(p3d.pose.pose.position.y - TARGET_PALM_TY) + \
                    abs(p3d.pose.pose.position.z - TARGET_PALM_TZ)

        #target pose rotation matrix
        target_q = [TARGET_PALM_QX  \
                   ,TARGET_PALM_QY  \
                   ,TARGET_PALM_QZ  \
                   ,TARGET_PALM_QW]

        #p3d pose quaternion
        p3d_q     = [p3d.pose.pose.orientation.x  \
                    ,p3d.pose.pose.orientation.y  \
                    ,p3d.pose.pose.orientation.z  \
                    ,p3d.pose.pose.orientation.w]

        # get error euler angles by inverting the target rotation matrix and multiplying by p3d quaternion
        target_q_inv = quaternion_inverse(target_q)
        rot_euler = euler_from_quaternion( quaternion_multiply(p3d_q, target_q_inv) )
        rot_error = abs( rot_euler[0] ) + \
                    abs( rot_euler[1] ) + \
                    abs( rot_euler[2] )

        print " palm Error pos: " + str(pos_error) + " rot: " + str(rot_error)

        #self.printP3D(p3d) #for getting new valid data

        # has to reach target vw and maintain target vw for a duration of TARGET_DURATION seconds
        if self.reached_target_palm: # tracking started
          print " palm duration: " + str(time.time() - self.duration_start_palm)
          if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
            if time.time() - self.duration_start_palm > TARGET_DURATION:
              self.palm_success = True
          else:
            # failed to maintain target vw, reset duration
            self.palm_success = False
            self.reached_target_palm = False
        else:
          if rot_error < ROT_TARGET_TOL and pos_error < POS_TARGET_TOL:
            print 'success palm'
            self.reached_target_palm = True
            self.duration_start_palm = time.time()
    
    def test_arm(self):
        print "LNK\n"
        pub_gripper = rospy.Publisher("/l_gripper_position_controller/command", Float64)
        rospy.Subscriber("/l_gripper_palm_pose_ground_truth", Odometry, self.palmP3dInput)
        rospy.Subscriber("/l_gripper_l_finger_pose_ground_truth", Odometry, self.fngrP3dInput)
        rospy.init_node(NAME, anonymous=True)
        timeout_t = time.time() + TEST_TIMEOUT

        while not rospy.is_shutdown() and (not self.palm_success or not self.fngr_success) and time.time() < timeout_t:
            pub_gripper.publish(Float64(GRP_CMD_POS))
            time.sleep(1.0)

        if not (self.palm_success and self.fngr_success):
          rospy.logerr("finger and palm pose test failed, there could be a problem with the gazebo_ros_p3d controller, tuck position has changed, or the gripper controller failed to open the gripper to 3cm width.")

        self.assert_(self.palm_success and self.fngr_success)

if __name__ == '__main__':
    rostest.run(PKG, sys.argv[0], ArmTest, sys.argv) #, text_mode=True)