def test(self):
self.comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(self.comp_class)
time.sleep(1.0)
self.prepare_tf()
# Pre-defined initial pose because sometimes the arm starts "droopy"
self._send_arm_to_initial_pose()
# Pre-defined pose that puts the gripper in contact with a product.
self._send_arm_to_product()
# Enable the gripper so that it picks up the product.
self._test_enable_gripper()
# Move the product over the shipping box using a pre-defined sequence of poses.
self._send_arm_to_shipping_box()
self.assertTrue(self.comp_class.current_gripper_state.enabled,
'Gripper no longer enabled')
self.assertFalse(self.comp_class.current_gripper_state.attached,
'Product is still attached')
self._test_dropped_product_pose()
time.sleep(1.0)
def test(self):
self.comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(self.comp_class)
time.sleep(1.0)
# Pre-defined initial pose because sometimes the arm starts "droopy"
self._send_arm_to_initial_pose()
# Pre-defined pose that puts the gripper in contact with a part.
self._send_arm_to_part()
# Pick up and drop the part multiple times.
# Regression test for https://bitbucket.org/osrf/ariac/issues/61
for i in range(100):
print(
'Enabling & disabling gripper for the {0}th time...'.format(i))
self._enable_gripper()
self._disable_gripper()
# Enable the gripper so that it picks up the part.
self._test_enable_gripper()
# Move the part over the tray using a pre-defined sequence of poses.
self._send_arm_to_tray()
self.assertTrue(self.comp_class.current_gripper_state.enabled,
'Gripper no longer enabled')
self.assertTrue(self.comp_class.current_gripper_state.attached,
'Part no longer attached')
# Disable the gripper so that it drops the part.
self._test_disable_gripper()
time.sleep(1.0)
def test(self):
self.comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(self.comp_class)
time.sleep(1.0)
# Pre-defined initial pose because sometimes the arm starts "droopy"
self._send_arm_to_initial_pose()
# Pre-defined pose that puts the gripper in contact with a part.
self._send_arm_to_part()
# Enable the gripper so that it picks up the part.
self._test_enable_gripper()
# Move the part over the tray using a pre-defined sequence of poses.
self._send_arm_to_tray()
self.assertTrue(self.comp_class.current_gripper_state.enabled,
'Gripper no longer enabled')
self.assertTrue(self.comp_class.current_gripper_state.attached,
'Part no longer attached')
# Disable the gripper so that it drops the part.
self._test_disable_gripper()
time.sleep(1.0)
def prepare_tester(self):
self.comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(self.comp_class)
self.current_comp_score = None
self.comp_state_sub = rospy.Subscriber("/ariac/current_score", Float32,
self.comp_score_callback)
# Pre-defined initial pose because sometimes the arm starts "droopy"
self._send_arm_to_initial_pose()
def main():
rospy.init_node("ariac_example_node")
comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(comp_class)
rospy.loginfo("Setup complete.")
ariac_example.start_competition()
if not comp_class.has_been_zeroed:
comp_class.has_been_zeroed = True
rospy.loginfo("Sending arm to zero joint positions...")
comp_class.send_arm_to_state([0] * len(comp_class.arm_joint_names))
rospy.spin()
def test(self):
self.comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(self.comp_class)
time.sleep(1.0)
self._send_arms_to_initial_pose()
self._send_arm1_to_product()
self._enable_gripper(arm=1)
time.sleep(2.0)
self.assertTrue(self.comp_class.arm_1_current_gripper_state.enabled)
self.assertTrue(self.comp_class.arm_1_current_gripper_state.attached)
self._send_arm1_to_tray()
self.assertTrue(self.comp_class.arm_1_current_gripper_state.enabled)
self.assertFalse(self.comp_class.arm_1_current_gripper_state.attached)
def test(self):
self.comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(self.comp_class)
time.sleep(1.0)
# Pre-defined initial pose because sometimes the arms start "droopy"
self._send_arms_to_initial_pose()
# Pre-defined pose that puts the gripper in contact with a product.
self._send_arm1_to_product()
self._send_arm2_to_product()
# Enable the gripper so that it picks up the product.
self._test_enable_gripper()
self._send_arm1_to_tray()
self._send_arm2_to_tray()
# Disable the gripper so that it drops the product.
self._test_disable_gripper()
def main():
rospy.init_node("ariac_example_node")
comp_class = ariac_example.MyCompetitionClass()
ariac_example.connect_callbacks(comp_class)
rospy.loginfo("Setup complete.")
ariac_example.start_competition()
if not comp_class.arm_1_has_been_zeroed:
comp_class.send_arm_to_state(
[0] * len(comp_class.arm_joint_names),
comp_class.arm_1_joint_trajectory_publisher)
comp_class.arm_1_has_been_zeroed = True
if not comp_class.arm_2_has_been_zeroed:
comp_class.send_arm_to_state(
[0] * len(comp_class.arm_joint_names),
comp_class.arm_2_joint_trajectory_publisher)
comp_class.arm_2_has_been_zeroed = True
rospy.spin()
