python_move_group.py

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#!/usr/bin/env python

import unittest
import numpy as np
import rospy
import rostest
import os

from moveit_ros_planning_interface._moveit_move_group_interface import MoveGroupInterface


class PythonMoveGroupTest(unittest.TestCase):
    PLANNING_GROUP = "manipulator"

    @classmethod
    def setUpClass(self):
        self.group = MoveGroupInterface(self.PLANNING_GROUP, "robot_description", rospy.get_namespace())

    @classmethod
    def tearDown(self):
        pass

    def check_target_setting(self, expect, *args):
        if len(args) == 0:
            args = [expect]
        self.group.set_joint_value_target(*args)
        res = self.group.get_joint_value_target()
        self.assertTrue(np.all(np.asarray(res) == np.asarray(expect)),
                        "Setting failed for %s, values: %s" % (type(args[0]), res))

    def test_target_setting(self):
        n = self.group.get_variable_count()
        self.check_target_setting([0.1] * n)
        self.check_target_setting((0.2,) * n)
        self.check_target_setting(np.zeros(n))
        self.check_target_setting([0.3] * n, {name: 0.3 for name in self.group.get_active_joints()})
        self.check_target_setting([0.5] + [0.3]*(n-1), "joint_1", 0.5)

    def plan(self, target):
        self.group.set_joint_value_target(target)
        return self.group.compute_plan()

    def test_validation(self):
        current = np.asarray(self.group.get_current_joint_values())

        plan1 = self.plan(current + 0.2)
        plan2 = self.plan(current + 0.2)

        # first plan should execute
        self.assertTrue(self.group.execute(plan1))

        # second plan should be invalid now (due to modified start point) and rejected
        self.assertFalse(self.group.execute(plan2))

        # newly planned trajectory should execute again
        plan3 = self.plan(current)
        self.assertTrue(self.group.execute(plan3))

    def test_get_jacobian_matrix(self):
        current = self.group.get_current_joint_values()
        result = self.group.get_jacobian_matrix(current)
        # Value check by known value at the initial pose
        expected = np.array([[ 0.  ,  0.8 , -0.2 ,  0.  ,  0.  ,  0.  ],
                             [ 0.89,  0.  ,  0.  ,  0.  ,  0.  ,  0.  ],
                             [ 0.  , -0.74,  0.74,  0.  ,  0.1 ,  0.  ],
                             [ 0.  ,  0.  ,  0.  , -1.  ,  0.  , -1.  ],
                             [ 0.  ,  1.  , -1.  ,  0.  , -1.  ,  0.  ],
                             [ 1.  ,  0.  ,  0.  ,  0.  ,  0.  ,  0.  ]])
        self.assertTrue(np.allclose(result, expected))


if __name__ == '__main__':
    PKGNAME = 'moveit_ros_planning_interface'
    NODENAME = 'moveit_test_python_move_group'
    rospy.init_node(NODENAME)
    rostest.rosrun(PKGNAME, NODENAME, PythonMoveGroupTest)

    # suppress cleanup segfault
    os._exit(0)