def test_allegro_client(self):
client = AllegroClient(hand_topic_prefix='/allegroHand_test')
cmd = np.zeros((16, 1))
ret = client.command_joint_position(cmd)
self.assertTrue(ret)
def test_allegro_client(self):
client = AllegroClient(hand_topic_prefix="/allegroHand_test")
cmd = np.zeros((16, 1))
ret = client.command_joint_position(cmd)
self.assertTrue(ret)
def run(args):
parser = argparse.ArgumentParser(description='Allegro python library')
parser.add_argument('--hand_prefix', type=str,
help='ROS topic prefix for the hand.',
default='allegroHand')
(parsed_args, other_args) = parser.parse_known_args(args)
rospy.init_node('example_allegro_lib', other_args)
client = AllegroClient(hand_topic_prefix=parsed_args.hand_prefix)
rospy.sleep(0.5) # Wait for connections.
rospy.loginfo('== Commanding hand configuration: home... ==')
client.command_hand_configuration('home')
rospy.loginfo('== Waving fingers... ==')
wave_fingers(client, finger_indices=[0, 1], num_seconds=5)
rospy.loginfo('== Commanding torques on the fingers... ==')
command_desired_torques(client, finger_indices = [0, 1], num_seconds=3)
client.command_hand_configuration('home')
# Named hand configurations are those which can be called directly with a
# name.
rospy.loginfo('== Going through several named grasp configs... ==')
command_named_configurations(client)
# Get the hand joint positions.
rospy.loginfo('== Reading joint positions... ==')
joints = client.poll_joint_position(wait=False)
rospy.loginfo('Hand configuration (poll): {}'.format(joints))
joints = client.poll_joint_position(wait=True)
rospy.loginfo('Hand configuration (fresh): {}'.format(joints))
def setUp(self):
self.client = AllegroClient()
self.client.pub_grasp = MockPublisher()
self.client.pub_joint = MockPublisher()
self.client.pub_envelop_torque = MockPublisher()
class TestAllegro(unittest.TestCase):
def setUp(self):
self.client = AllegroClient()
self.client.pub_grasp = MockPublisher()
self.client.pub_joint = MockPublisher()
self.client.pub_envelop_torque = MockPublisher()
def test_instantiate(self):
self.assertIsNotNone(self.client)
self.assertEqual(0, self.client.pub_grasp._pub_count)
self.assertEqual(0, self.client.pub_joint._pub_count)
self.assertEqual(0, self.client.pub_envelop_torque._pub_count)
def test_send_hand_configuration(self):
ret = self.client.command_hand_configuration('envelop')
self.assertEqual(True, ret)
self.assertEqual(1, self.client.pub_grasp._pub_count)
self.assertEqual('envelop', self.client.pub_grasp._last_published.data)
def test_send_invalid_hand_config(self):
ret = self.client.command_hand_configuration('garbage')
self.assertEqual(False, ret)
self.assertEqual(0, self.client.pub_grasp._pub_count)
def test_list_hand_configs(self):
ret = self.client.list_hand_configurations()
self.assertTrue(ret) # Have something.
self.assertIn('three_finger_grasp', ret) # Have the human-readable one.
def test_command_envelop_torque(self):
ret = self.client.set_envelop_torque(0.5)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_envelop_torque._pub_count)
published_value = self.client.pub_envelop_torque._last_published.data
self.assertEqual(0.5, published_value)
def test_command_large_envelop_torque(self):
ret = self.client.set_envelop_torque(1.5)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_envelop_torque._pub_count)
published_value = self.client.pub_envelop_torque._last_published.data
self.assertEqual(1.0, published_value)
def test_command_small_envelop_torque(self):
ret = self.client.set_envelop_torque(-0.5)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_envelop_torque._pub_count)
published_value = self.client.pub_envelop_torque._last_published.data
self.assertEqual(0.0, published_value)
def test_command_pose(self):
des_pose = [0.123] * 16
ret = self.client.command_joint_position(des_pose)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
ref_state = JointState()
ref_state.position = des_pose
self.assertEqual(ref_state, published_state)
def test_command_pose_wrong_dimensions(self):
des_pose = [0.123] * 2 # Should be 16-dim
ret = self.client.command_joint_position(des_pose)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_command_pose_int_not_array(self):
des_pose = 0.123 # Not even an iterable array.
ret = self.client.command_joint_position(des_pose)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_poll_position(self):
joints = self.client.poll_joint_position(wait=False)
self.assertIsNone(joints)
def test_topic_prefix(self):
client = AllegroClient(hand_topic_prefix='/Prefix')
self.assertEqual('/Prefix/lib_cmd', client.pub_grasp.name)
def test_topic_prefix_trailing_slash(self):
client = AllegroClient(hand_topic_prefix='/Prefix/')
self.assertEqual('/Prefix/lib_cmd', client.pub_grasp.name)
def test_command_torques(self):
des_torques = [0.123] * 16
ret = self.client.command_joint_torques(des_torques)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
ref_state = JointState()
ref_state.effort = des_torques
self.assertEqual(ref_state, published_state)
def test_command_torques_wrong_dimensions(self):
des_torques = [0.123] * 2 # Should be 16-dim
ret = self.client.command_joint_torques(des_torques)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_command_torques_int_not_array(self):
des_torques = 0.123 # Not even an iterable array.
ret = self.client.command_joint_torques(des_torques)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_disconnect(self):
self.client.disconnect()
self.assertEqual(1, self.client.pub_grasp._pub_count)
self.assertEqual('off', self.client.pub_grasp._last_published.data)
def setUp(self):
self.client = AllegroClient()
self.client.pub_grasp = MockPublisher()
self.client.pub_joint = MockPublisher()
self.client.pub_envelop_torque = MockPublisher()
class TestAllegro(unittest.TestCase):
def setUp(self):
self.client = AllegroClient()
self.client.pub_grasp = MockPublisher()
self.client.pub_joint = MockPublisher()
self.client.pub_envelop_torque = MockPublisher()
def test_instantiate(self):
self.assertIsNotNone(self.client)
self.assertEqual(0, self.client.pub_grasp._pub_count)
self.assertEqual(0, self.client.pub_joint._pub_count)
self.assertEqual(0, self.client.pub_envelop_torque._pub_count)
def test_send_hand_configuration(self):
ret = self.client.command_hand_configuration('envelop')
self.assertEqual(True, ret)
self.assertEqual(1, self.client.pub_grasp._pub_count)
self.assertEqual('envelop', self.client.pub_grasp._last_published.data)
def test_send_invalid_hand_config(self):
ret = self.client.command_hand_configuration('garbage')
self.assertEqual(False, ret)
self.assertEqual(0, self.client.pub_grasp._pub_count)
def test_list_hand_configs(self):
ret = self.client.list_hand_configurations()
self.assertTrue(ret) # Have something.
self.assertIn('three_finger_grasp',
ret) # Have the human-readable one.
def test_command_envelop_torque(self):
ret = self.client.set_envelop_torque(0.5)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_envelop_torque._pub_count)
published_value = self.client.pub_envelop_torque._last_published.data
self.assertEqual(0.5, published_value)
def test_command_large_envelop_torque(self):
ret = self.client.set_envelop_torque(1.5)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_envelop_torque._pub_count)
published_value = self.client.pub_envelop_torque._last_published.data
self.assertEqual(1.0, published_value)
def test_command_small_envelop_torque(self):
ret = self.client.set_envelop_torque(-0.5)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_envelop_torque._pub_count)
published_value = self.client.pub_envelop_torque._last_published.data
self.assertEqual(0.0, published_value)
def test_command_pose(self):
des_pose = [0.123] * 16
ret = self.client.command_joint_position(des_pose)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
ref_state = JointState()
ref_state.position = des_pose
self.assertEqual(ref_state, published_state)
def test_command_pose_wrong_dimensions(self):
des_pose = [0.123] * 2 # Should be 16-dim
ret = self.client.command_joint_position(des_pose)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_command_pose_int_not_array(self):
des_pose = 0.123 # Not even an iterable array.
ret = self.client.command_joint_position(des_pose)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_poll_position(self):
joints = self.client.poll_joint_position(wait=False)
self.assertIsNone(joints)
def test_topic_prefix(self):
client = AllegroClient(hand_topic_prefix='/Prefix')
self.assertEqual('/Prefix/lib_cmd', client.pub_grasp.name)
def test_topic_prefix_trailing_slash(self):
client = AllegroClient(hand_topic_prefix='/Prefix/')
self.assertEqual('/Prefix/lib_cmd', client.pub_grasp.name)
def test_command_torques(self):
des_torques = [0.123] * 16
ret = self.client.command_joint_torques(des_torques)
self.assertTrue(ret)
self.assertEqual(1, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
ref_state = JointState()
ref_state.effort = des_torques
self.assertEqual(ref_state, published_state)
def test_command_torques_wrong_dimensions(self):
des_torques = [0.123] * 2 # Should be 16-dim
ret = self.client.command_joint_torques(des_torques)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_command_torques_int_not_array(self):
des_torques = 0.123 # Not even an iterable array.
ret = self.client.command_joint_torques(des_torques)
self.assertFalse(ret)
self.assertEqual(0, self.client.pub_joint._pub_count)
published_state = self.client.pub_joint._last_published
self.assertIsNone(published_state)
def test_disconnect(self):
self.client.disconnect()
self.assertEqual(1, self.client.pub_grasp._pub_count)
self.assertEqual('off', self.client.pub_grasp._last_published.data)
def test_topic_prefix_trailing_slash(self):
client = AllegroClient(hand_topic_prefix='/Prefix/')
self.assertEqual('/Prefix/lib_cmd', client.pub_grasp.name)
