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))
class PythonMoveGroupNsTest(unittest.TestCase):
PLANNING_GROUP = "manipulator"
PLANNING_NS = "test_ns/"
@classmethod
def setUpClass(self):
self.group = MoveGroupInterface(self.PLANNING_GROUP, "%srobot_description" % self.PLANNING_NS, self.PLANNING_NS)
@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.plan()
def test_validation(self):
current = np.asarray(self.group.get_current_joint_values())
error_code1, plan1, time = self.plan(current + 0.2)
error_code2, plan2, time = self.plan(current + 0.2)
# both plans should have succeeded:
error_code = MoveItErrorCodes()
error_code.deserialize(error_code1)
self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
error_code = MoveItErrorCodes()
error_code.deserialize(error_code2)
self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
# 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
error_code3, plan3, time = self.plan(current)
self.assertTrue(self.group.execute(plan3))
error_code = MoveItErrorCodes()
error_code.deserialize(error_code3)
self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
class RobotStateUpdateTest(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 plan(self, target):
self.group.set_joint_value_target(target)
return self.group.plan()
def test(self):
current = np.asarray(self.group.get_current_joint_values())
for i in range(30):
target = current + np.random.uniform(-0.5, 0.5, size=current.shape)
# if plan was successfully executed, current state should be reported at target
error_code1, plan, time = self.plan(target)
error_code = MoveItErrorCodes()
error_code.deserialize(error_code1)
if (error_code.val
== MoveItErrorCodes.SUCCESS) and self.group.execute(plan):
actual = np.asarray(self.group.get_current_joint_values())
self.assertTrue(
np.allclose(target, actual, atol=1e-4, rtol=0.0))
# otherwise current state should be still the same
else:
actual = np.asarray(self.group.get_current_joint_values())
self.assertTrue(
np.allclose(current, actual, atol=1e-4, rtol=0.0))
class RobotStateUpdateTest(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 plan(self, target):
self.group.set_joint_value_target(target)
return self.group.plan()
def test(self):
current = np.asarray(self.group.get_current_joint_values())
for i in range(30):
target = current + np.random.uniform(-0.5, 0.5, size=current.shape)
# if plan was successfully executed, current state should be reported at target
error_code1, plan, time = self.plan(target)
error_code = MoveItErrorCodes()
error_code.deserialize(error_code1)
if (error_code.val == MoveItErrorCodes.SUCCESS) and self.group.execute(plan):
actual = np.asarray(self.group.get_current_joint_values())
self.assertTrue(np.allclose(target, actual, atol=1e-4, rtol=0.0))
# otherwise current state should be still the same
else:
actual = np.asarray(self.group.get_current_joint_values())
self.assertTrue(np.allclose(current, actual, atol=1e-4, rtol=0.0))
class PythonMoveGroupNsTest(unittest.TestCase):
PLANNING_GROUP = "manipulator"
PLANNING_NS = "test_ns/"
@classmethod
def setUpClass(self):
self.group = MoveGroupInterface(
self.PLANNING_GROUP,
"%srobot_description" % self.PLANNING_NS,
self.PLANNING_NS,
)
@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.plan()
def test_validation(self):
current = np.asarray(self.group.get_current_joint_values())
error_code1, plan1, time = self.plan(current + 0.2)
error_code2, plan2, time = self.plan(current + 0.2)
# both plans should have succeeded:
error_code = MoveItErrorCodes()
error_code.deserialize(error_code1)
self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
error_code = MoveItErrorCodes()
error_code.deserialize(error_code2)
self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)
# 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
error_code3, plan3, time = self.plan(current)
self.assertTrue(self.group.execute(plan3))
error_code = MoveItErrorCodes()
error_code.deserialize(error_code3)
self.assertEqual(error_code.val, MoveItErrorCodes.SUCCESS)