class MetaPlannerTests(object):
def setUp(self):
from openravepy import Environment, RaveCreateTrajectory
self.join_timeout = 5.0
self.env = Environment()
self.env.Load('data/lab1.env.xml')
self.robot = self.env.GetRobot('BarrettWAM')
# Create a valid trajectory used to test planner successes.
cspec = self.robot.GetActiveConfigurationSpecification()
self.traj = RaveCreateTrajectory(self.env, 'GenericTrajectory')
self.traj.Init(cspec)
self.traj.Insert(0, numpy.zeros(cspec.GetDOF()))
self.traj.Insert(1, numpy.ones(cspec.GetDOF()))
def initialize(robot_xml=None,
env_path=None,
viewer='rviz',
sim=True,
**kw_args):
prpy.logger.initialize_logging()
#Hide TrajOpt logging.
os.environ.setdefault('TRAJOPT_LOG_THRESH', 'WARN')
#Load plugins
prpy.dependency_manager.export()
RaveInitialize(True)
#Create the environment
env = Environment()
if env_path is not None:
if not env.Load(env_path):
raise ValueError(
'Unable to load environment from path {:s}'.format(env_path))
#Load the URDF file into OpenRave.
urdf_module = RaveCreateModule(env, 'urdf')
if urdf_module is None:
logger.error('Unable to load or_urdf module. Do you have or_urdf'
'built and installed in one of your Catkin workspaces?')
raise ValueError('Unable to load or_urdf plugin.')
urdf_uri = 'package://fetchpy/robot_description/fetch.gazebo.urdf'
srdf_uri = 'package://fetchpy/robot_description/fetch.srdf'
args = 'Load {:s} {:s}'.format(urdf_uri, srdf_uri)
fetch_name = urdf_module.SendCommand(args)
if fetch_name is None:
raise ValueError('Failed loading FETCH model using or_urdf.')
robot = env.GetRobot(fetch_name)
if robot is None:
raise ValueError(
'Unable to find robot with name "{:s}".'.format(fetch_name))
#Default to FCL.
collision_checker = RaveCreateCollisionChecker(env, 'fcl')
if collision_checker is not None:
env.SetCollisionChecker(collision_checker)
else:
collision_checker = env.GetCollisionChecker()
logger.warning(
'Failed creating "fcl", defaulting to the default OpenRAVE'
' collision checker. Did you install or_fcl?')
#Enable Baking if it is supported
try:
result = collision_checker.SendCommand('BakeGetType')
is_baking_suported = (result is not None)
except openrave_exception:
is_baking_suported = False
if is_baking_suported:
robot_checker_factory = BakedRobotCollisionCheckerFactory()
else:
robot_checker_factory = SimpleRobotCollisionCheckerFactory()
logger.warning(
'Collision checker does not support baking. Defaulting to'
' the slower SimpleRobotCollisionCheckerFactory.')
#Default arguments
keys = [
'arm_sim', 'arm_torso_sim', 'gripper_sim', 'head_sim', 'torso_sim',
'base_sim', 'talker_sim', 'perception_sim', 'whole_body_sim'
]
for key in keys:
if key not in kw_args:
kw_args[key] = sim
prpy.bind_subclass(robot,
FETCHRobot,
robot_checker_factory=robot_checker_factory,
**kw_args)
if sim:
dof_indices, dof_values = robot.configurations.get_configuration(
'straight')
robot.SetDOFValues(dof_values, dof_indices)
#Start by attempting to load or_rviz.
viewers = ['qtcoin', 'rviz']
if viewer is None:
viewer = 'rviz'
if viewer not in viewers:
raise Exception(
'Failed creating viewer of type "{0:s}".'.format(viewer))
if viewer == 'rviz':
env.SetViewer(viewer)
if env.GetViewer() is None:
logger.warning(
'Loading the RViz viewer failed. Do you have or_interactive'
' marker installed? Falling back on qtcoin.')
viewer == 'qtcoin'
if viewer == 'qtcoin':
env.SetViewer(viewer)
if viewer and env.GetViewer() is None:
env.SetViewer(viewer)
if env.GetViewer() is None:
raise Exception(
'Failed creating viewer of type "{0:s}".'.format(viewer))
# if attach_viewer == 'True':
# attach_viewer = 'qtcoin'
# env.SetViewer(attach_viewer)
# # Fall back on qtcoin if loading or_rviz failed
# if env.GetViewer() is None:
# logger.warning('Loading the RViz viewer failed. Do you have or_interactive'
# ' marker installed? Falling back on qtcoin.')
# attach_viewer = 'rviz'
# if attach_viewer and env.GetViewer() is None:
# env.SetViewer(attach_viewer)
# if env.GetViewer() is None:
# raise Exception('Failed creating viewer of type "{0:s}".'.format(attach_viewer))
#Remove the ROS logging handler again. It might have been added when we
# loaded or_rviz.
prpy.logger.remove_ros_logger()
return env, robot
class DistanceFieldManagerTest(TestCase):
def setUp(self):
from prpy.planning.chomp import DistanceFieldManager
from openravepy import Environment
self.env = Environment()
self.env.Load('data/wamtest2.env.xml')
self.robot = self.env.GetRobot('BarrettWAM')
self.body = self.env.GetKinBody('mug-table')
self.bodies = set(self.env.GetBodies())
self.module = CHOMPModuleMock(self.env)
self.manager = DistanceFieldManager(self.module)
def test_GetGeometricState_ChangeEnabledStatusChangesState(self):
with self.env:
link = self.robot.GetLinks()[0]
link.Enable(True)
state_before = self.manager.get_geometric_state(self.robot)
link.Enable(False)
state_after = self.manager.get_geometric_state(self.robot)
self.assertNotEquals(state_after, state_before)
def test_GetGeometricState_ChangeInDOFValuesChangesState(self):
with self.env:
lower_limits, upper_limits = self.robot.GetDOFLimits()
self.robot.SetDOFValues(lower_limits)
state_before = self.manager.get_geometric_state(self.robot)
self.robot.SetDOFValues(upper_limits)
state_after = self.manager.get_geometric_state(self.robot)
self.assertNotEquals(state_after, state_before)
def test_GetGeometricState_ChangeInKinematicsGeometryHashChangesState(self):
self.robot.GetKinematicsGeometryHash = lambda: 'mock_before'
state_before = self.manager.get_geometric_state(self.robot)
self.robot.GetKinematicsGeometryHash = lambda: 'mock_after'
state_after = self.manager.get_geometric_state(self.robot)
self.assertNotEquals(state_after, state_before)
def test_GetCachePath_DifferentStatesProduceDifferentPaths(self):
self.robot.GetKinematicsGeometryHash = lambda: 'mock_before'
state_before = self.manager.get_geometric_state(self.robot)
path_before = self.manager.get_cache_path(state_before)
self.robot.GetKinematicsGeometryHash = lambda: 'mock_after'
state_after = self.manager.get_geometric_state(self.robot)
path_after = self.manager.get_cache_path(state_after)
self.assertNotEquals(path_after, path_before)
def test_Sync_InitiallyCreatesAllDistanceFields(self):
self.manager.sync(self.robot)
computed_bodies = [ args['kinbody'] for args in self.module.computedistancefield_args ]
self.assertItemsEqual(self.bodies, computed_bodies)
self.assertEqual(len(self.module.removefield_args), 0)
def test_Sync_SyncTwiceDoesNothing(self):
self.manager.sync(self.robot)
del self.module.computedistancefield_args[:]
del self.module.removefield_args[:]
self.manager.sync(self.robot)
self.assertEqual(len(self.module.computedistancefield_args), 0)
self.assertEqual(len(self.module.removefield_args), 0)
def test_Sync_IgnoresActiveRobotLinks(self):
self.is_processed = False
def computedistancefield(kinbody=None, cube_extent=None,
aabb_padding=None, cache_filename=None,
releasegil=False, **kw_args):
if kinbody.GetName() == self.robot.GetName():
self.assertTrue(self.robot.GetLink('segway').IsEnabled())
self.assertTrue(self.robot.GetLink('wam0').IsEnabled())
self.assertTrue(self.robot.GetLink('wam1').IsEnabled())
self.assertTrue(self.robot.GetLink('wam2').IsEnabled())
self.assertTrue(self.robot.GetLink('wam3').IsEnabled())
self.assertFalse(self.robot.GetLink('wam4').IsEnabled())
self.assertFalse(self.robot.GetLink('wam5').IsEnabled())
self.assertFalse(self.robot.GetLink('wam6').IsEnabled())
self.assertFalse(self.robot.GetLink('wam7').IsEnabled())
self.assertFalse(self.robot.GetLink('handbase').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger0-0').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger0-1').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger0-2').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger1-0').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger1-1').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger1-2').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger2-1').IsEnabled())
self.assertFalse(self.robot.GetLink('Finger2-2').IsEnabled())
self.is_processed = True
dof_index = self.robot.GetJoint('Elbow').GetDOFIndex()
self.robot.SetActiveDOFs([ dof_index ])
self.robot.Enable(True)
self.module.computedistancefield = computedistancefield
self.manager.sync(self.robot)
self.assertTrue(self.is_processed)
def test_Sync_RecomputesDistanceFieldIfStateChanges(self):
self.manager.sync(self.robot)
del self.module.computedistancefield_args[:]
del self.module.removefield_args[:]
# Change the geometry to invalidate the key.
link = self.robot.GetLink('segway')
link.SetGroupGeometries('test', [])
link.SetGeometriesFromGroup('test')
self.manager.sync(self.robot)
self.assertEqual(len(self.module.computedistancefield_args), 1)
self.assertEqual(self.module.computedistancefield_args[0]['kinbody'], self.robot)
self.assertEqual(len(self.module.removefield_args), 1)
self.assertEqual(self.module.removefield_args[0]['kinbody'], self.robot)
self.assertLess(self.module.removefield_args[0]['__sequence__'],
self.module.computedistancefield_args[0]['__sequence__'])