def test_achieve_goal():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(20):
block_pose = Pose()
block_pose.position.x = np.random.uniform(0.25, 0.6)
block_pose.position.y = np.random.uniform(-0.4, 0.4)
block_pose.position.z = 0.00
block_pose.orientation = overhead_orientation
env.ros_interface.set_target_block(block_pose)
r_pose = Pose()
r_pose.position = block_pose.position
r_pose.position.z = 0.08
forward_pose = KinematicsPose()
forward_pose.pose = r_pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose)
_ = task_space_srv("arm", "gripper", forward_pose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(5.0)
env.ros_interface.delete_target_block()
def test_workspace_limit():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(100):
_polar_rad = np.random.uniform(0.134, 0.32)
_polar_theta = np.random.uniform(-pi * 0.7 / 4, pi * 0.7 / 4)
block_pose = Pose()
block_pose.position.x = _polar_rad * cos(_polar_theta)
block_pose.position.y = _polar_rad * sin(_polar_theta)
block_pose.position.z = np.random.uniform(0.05, 0.28)
block_pose.orientation = overhead_orientation
env.ros_interface.set_target_block(block_pose)
r_pose = Pose()
r_pose.position = block_pose.position
forward_pose = KinematicsPose()
forward_pose.pose = r_pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose)
_ = task_space_srv("arm", "gripper", forward_pose, 3.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(3.0)
env.ros_interface.check_for_termination()
env.ros_interface.delete_target_block()
def eef_pose_request_cb(userdata, request):
eef = KinematicsPose()
eef.pose = userdata.input_pose
rospy.loginfo('eef.position.x : %f', eef.pose.position.x)
rospy.loginfo('eef.position.y : %f', eef.pose.position.y)
rospy.loginfo('eef.position.z : %f', eef.pose.position.z)
eef.max_velocity_scaling_factor = 1.0
eef.max_accelerations_scaling_factor = 1.0
eef.tolerance = userdata.input_tolerance
request.planning_group = userdata.input_planning_group
request.kinematics_pose = eef
return request
def test_forward():
env = OpenManipulatorReacherEnv(cfg)
_ = env.reset()
_pose = Pose()
_pose.position.x = 0.4
_pose.position.y = 0.0
_pose.position.z = 0.1
_pose.orientation.x = 0.0
_pose.orientation.y = 0.0
_pose.orientation.z = 0.0
_pose.orientation.w = 1.0
forward_pose = KinematicsPose()
forward_pose.pose = _pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose)
_ = task_space_srv("arm", "gripper", forward_pose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))