class TestSampleRobot(unittest.TestCase):
@classmethod
def setUpClass(self):
self.robot = HrpsysConfigurator()
self.robot.init("SampleRobot(Robot)0", rospkg.RosPack().get_path("openhrp3")+"/share/OpenHRP-3.1/sample/model/sample1.wrl")
def test_ik(self):
self.robot.seq_svc.addJointGroup("LARM", ["LARM_SHOULDER_P", "LARM_SHOULDER_R", "LARM_SHOULDER_Y", "LARM_ELBOW", "LARM_WRIST_Y", "LARM_WRIST_P", "LARM_WRIST_R"])
lav = [60,0,0,-90,0,0,0]
for av in [[60, 0, 0, -80, 0, 0, 0],[30, 30, 0,-80, 0, 0, 0],
[40,40,20, -20, 0, 0, 0],[30, 30,20,-80,20,0, 20]]:
self.robot.setJointAnglesOfGroup("LARM", av, 5)
self.robot.waitInterpolationOfGroup("LARM")
pos1 = self.robot.getReferencePosition("LARM_WRIST_R")
rpy1 = self.robot.getReferenceRPY("LARM_WRIST_R")
self.robot.setJointAnglesOfGroup("LARM", lav, 5)
self.robot.waitInterpolationOfGroup("LARM")
self.assertTrue(self.robot.setTargetPose("LARM", pos1, rpy1, 10))
self.robot.waitInterpolationOfGroup("LARM")
pos2 = self.robot.getReferencePosition("LARM_WRIST_R")
rpy2 = self.robot.getReferenceRPY("LARM_WRIST_R")
print "pos", pos1, pos2, numpy.linalg.norm(numpy.array(pos1)-numpy.array(pos2))
print "rpy", rpy1, rpy2, numpy.linalg.norm(numpy.array(rpy1)-numpy.array(rpy2))
self.assertTrue(numpy.linalg.norm(numpy.array(pos1)-numpy.array(pos2))<5.0e-3)
self.assertTrue(numpy.linalg.norm(numpy.array(rpy1)-numpy.array(rpy2))<5.0e-3)
lav = av
class TestPA10(unittest.TestCase):
@classmethod
def setUpClass(self):
self.robot = HrpsysConfigurator()
self.robot.init("PA10Controller(Robot)0", rospkg.RosPack().get_path("openhrp3")+"/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl")
def test_ik(self):
self.robot.seq_svc.addJointGroup("ARM", ["J1", "J2", "J3", "J4", "J5", "J6"])
lav = [60,0,0,-90,0,0]
for av in [[60, 0, 0, -80, 0, 0],[30, 30, 0,-80, 0, 0],
[40,40,20, -20, 0, 0],[30, 30,20,-80,20,20]]:
self.robot.setJointAnglesOfGroup("ARM", av, 5)
self.robot.waitInterpolationOfGroup("ARM")
pos1 = self.robot.getReferencePosition("J6")
rpy1 = self.robot.getReferenceRPY("J6")
self.robot.setJointAnglesOfGroup("ARM", lav, 5)
self.robot.waitInterpolationOfGroup("ARM")
self.assertTrue(self.robot.setTargetPose("ARM", pos1, rpy1, 10))
self.robot.waitInterpolationOfGroup("ARM")
pos2 = self.robot.getReferencePosition("J6")
rpy2 = self.robot.getReferenceRPY("J6")
print "pos", pos1, pos2, numpy.linalg.norm(numpy.array(pos1)-numpy.array(pos2))
print "rpy", rpy1, rpy2, numpy.linalg.norm(numpy.array(rpy1)-numpy.array(rpy2))
self.assertTrue(numpy.linalg.norm(numpy.array(pos1)-numpy.array(pos2))<5.0e-3)
self.assertTrue(numpy.linalg.norm(numpy.array(rpy1)-numpy.array(rpy2))<5.0e-3)
lav = av
class TestHRP4C(unittest.TestCase):
@classmethod
def setUpClass(self):
self.robot = HrpsysConfigurator()
self.robot.init(
"HRP4C(Robot)0",
rospkg.RosPack().get_path("hrpsys") +
"/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl")
def test_walk(self):
self.robot.loadPattern(
rospkg.RosPack().get_path("hrpsys") +
"/share/hrpsys/samples/HRP4C/data/walk2m", 1.0)
self.robot.waitInterpolation()
print self.robot.getReferencePosition("WAIST")
print self.robot.getReferenceRotation("WAIST")
self.assertTrue(
numpy.linalg.norm(
self.robot.getReferencePosition("WAIST") -
numpy.array([0, 0, 0.78415])) < 1.0e-6)
self.assertTrue(
numpy.array_equal(self.robot.getReferenceRotation("WAIST"),
numpy.identity(3)))
def test_ik(self):
self.robot.seq_svc.addJointGroup("LARM", [
"L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", "L_ELBOW_P",
"L_WRIST_Y", "L_WRIST_R"
])
lav = [60, 0, 0, -90, 0, 0]
for av in [[60, 0, 0, -80, 0, 0], [30, 30, 0, -80, 0, 0],
[40, 40, 20, -20, 0, 0], [30, 30, 20, -80, 20, 20]]:
self.robot.setJointAnglesOfGroup("LARM", av, 5)
self.robot.waitInterpolationOfGroup("LARM")
pos1 = self.robot.getReferencePosition("L_WRIST_R")
rpy1 = self.robot.getReferenceRPY("L_WRIST_R")
self.robot.setJointAnglesOfGroup("LARM", lav, 5)
self.robot.waitInterpolationOfGroup("LARM")
self.assertTrue(self.robot.setTargetPose("LARM", pos1, rpy1, 10))
self.robot.waitInterpolationOfGroup("LARM")
pos2 = self.robot.getReferencePosition("L_WRIST_R")
rpy2 = self.robot.getReferenceRPY("L_WRIST_R")
print "pos", pos1, pos2, numpy.linalg.norm(
numpy.array(pos1) - numpy.array(pos2))
print "rpy", rpy1, rpy2, numpy.linalg.norm(
numpy.array(rpy1) - numpy.array(rpy2))
self.assertTrue(
numpy.linalg.norm(numpy.array(pos1) -
numpy.array(pos2)) < 5.0e-3)
self.assertTrue(
numpy.linalg.norm(numpy.array(rpy1) -
numpy.array(rpy2)) < 5.0e-3)
lav = av
class TestHRP4C(unittest.TestCase):
@classmethod
def setUpClass(self):
self.robot = HrpsysConfigurator()
self.robot.init(
"HRP4C(Robot)0", rospkg.RosPack().get_path("hrpsys") + "/share/hrpsys/samples/HRP4C/HRP4Cmain.wrl"
)
def test_walk(self):
self.robot.loadPattern(rospkg.RosPack().get_path("hrpsys") + "/share/hrpsys/samples/HRP4C/data/walk2m", 1.0)
self.robot.waitInterpolation()
print self.robot.getReferencePosition("WAIST")
print self.robot.getReferenceRotation("WAIST")
self.assertTrue(
numpy.linalg.norm(self.robot.getReferencePosition("WAIST") - numpy.array([0, 0, 0.78415])) < 1.0e-6
)
self.assertTrue(numpy.array_equal(self.robot.getReferenceRotation("WAIST"), numpy.identity(3)))
def test_ik(self):
self.robot.seq_svc.addJointGroup(
"LARM", ["L_SHOULDER_P", "L_SHOULDER_R", "L_SHOULDER_Y", "L_ELBOW_P", "L_WRIST_Y", "L_WRIST_R"]
)
lav = [60, 0, 0, -90, 0, 0]
for av in [[60, 0, 0, -80, 0, 0], [30, 30, 0, -80, 0, 0], [40, 40, 20, -20, 0, 0], [30, 30, 20, -80, 20, 20]]:
self.robot.setJointAnglesOfGroup("LARM", av, 5)
self.robot.waitInterpolationOfGroup("LARM")
pos1 = self.robot.getReferencePosition("L_WRIST_R")
rpy1 = self.robot.getReferenceRPY("L_WRIST_R")
self.robot.setJointAnglesOfGroup("LARM", lav, 5)
self.robot.waitInterpolationOfGroup("LARM")
self.assertTrue(self.robot.setTargetPose("LARM", pos1, rpy1, 10))
self.robot.waitInterpolationOfGroup("LARM")
pos2 = self.robot.getReferencePosition("L_WRIST_R")
rpy2 = self.robot.getReferenceRPY("L_WRIST_R")
print "pos", pos1, pos2, numpy.linalg.norm(numpy.array(pos1) - numpy.array(pos2))
print "rpy", rpy1, rpy2, numpy.linalg.norm(numpy.array(rpy1) - numpy.array(rpy2))
self.assertTrue(numpy.linalg.norm(numpy.array(pos1) - numpy.array(pos2)) < 5.0e-3)
self.assertTrue(numpy.linalg.norm(numpy.array(rpy1) - numpy.array(rpy2)) < 5.0e-3)
lav = av
class TestPA10(unittest.TestCase):
@classmethod
def setUpClass(self):
self.robot = HrpsysConfigurator()
self.robot.init(
"PA10Controller(Robot)0",
rospkg.RosPack().get_path("openhrp3") +
"/share/OpenHRP-3.1/sample/model/PA10/pa10.main.wrl")
def test_ik(self):
self.robot.seq_svc.addJointGroup("ARM",
["J1", "J2", "J3", "J4", "J5", "J6"])
lav = [60, 0, 0, -90, 0, 0]
for av in [[60, 0, 0, -80, 0, 0], [30, 30, 0, -80, 0, 0],
[40, 40, 20, -20, 0, 0], [30, 30, 20, -80, 20, 20]]:
self.robot.setJointAnglesOfGroup("ARM", av, 5)
self.robot.waitInterpolationOfGroup("ARM")
pos1 = self.robot.getReferencePosition("J6")
rpy1 = self.robot.getReferenceRPY("J6")
self.robot.setJointAnglesOfGroup("ARM", lav, 5)
self.robot.waitInterpolationOfGroup("ARM")
self.assertTrue(self.robot.setTargetPose("ARM", pos1, rpy1, 10))
self.robot.waitInterpolationOfGroup("ARM")
pos2 = self.robot.getReferencePosition("J6")
rpy2 = self.robot.getReferenceRPY("J6")
print "pos", pos1, pos2, numpy.linalg.norm(
numpy.array(pos1) - numpy.array(pos2))
print "rpy", rpy1, rpy2, numpy.linalg.norm(
numpy.array(rpy1) - numpy.array(rpy2))
self.assertTrue(
numpy.linalg.norm(numpy.array(pos1) -
numpy.array(pos2)) < 5.0e-3)
self.assertTrue(
numpy.linalg.norm(numpy.array(rpy1) -
numpy.array(rpy2)) < 5.0e-3)
lav = av