Source code for base.gripper_testing

#! /usr/bin/env python
"""
This script tests the KUKA LWR arm, both the data and service api
"""

import sys
from morse.testing.testing import MorseTestCase
from pymorse import Morse

# Include this import to be able to use your test file as a regular
# builder script, ie, usable with: 'morse [run|exec] base_testing.py
try:
    from morse.builder import *
except ImportError:
    pass

[docs]def send_pose(s, morse, x, y, yaw): s.publish({'x' : x, 'y' : y, 'z' : 0.0, \ 'yaw' : yaw, 'pitch' : 0.0, 'roll' : 0.0}) morse.sleep(0.1)
[docs]class gripperTest(MorseTestCase):
[docs] def setUpEnv(self): """ Defines the test scenario, using the Builder API. """ robot = ATRV('robot') arm = KukaLWR() robot.append(arm) arm.translate(x=0.5, z=0.9) arm.add_stream('socket') arm.add_service('socket') gripper = Gripper('gripper') gripper.translate(z=1.28) arm.append(gripper) gripper.properties(Angle = 180.0, Distance=2.0) gripper.add_service('socket') teleport = Teleport() robot.append(teleport) teleport.add_stream('socket') tape1 = PassiveObject(prefix='BlackVideotape') tape1.properties(Object = True, Graspable = True, Label = "BlackTape") tape1.translate(x=5, y=5, z=0) tape2 = PassiveObject(prefix='WhiteVideotape') tape2.properties(Object = True, Graspable = True, Label = "WhiteTapee") tape2.translate(x=5, y=-5, z=0) env = Environment('empty', fastmode=True) env.add_service('socket')
[docs] def test_gripper(self): """ This test is guaranteed to be started only when the simulator is ready. """ with Morse() as morse: # kuka controller socket kuka_client = morse.robot.arm teleport_stream = morse.robot.teleport kuka_client.set_rotation('kuka_2', -1.57) morse.sleep(0.1) obj = morse.robot.arm.gripper.grab().result() self.assertEqual(obj, None) obj = morse.robot.arm.gripper.release().result() self.assertEqual(obj, None) send_pose(teleport_stream, morse, 3.0, 5, 0.0) morse.sleep(0.1) obj = morse.robot.arm.gripper.grab().result() self.assertEqual(obj, 'tape1') send_pose(teleport_stream, morse, 3.0, -5.0, 0.0) obj = morse.robot.arm.gripper.grab().result() self.assertEqual(obj, 'tape1') send_pose(teleport_stream, morse, 3.0, 8.0, 0.0) obj = morse.robot.arm.gripper.release().result() self.assertEqual(obj, True) send_pose(teleport_stream, morse, 3.0, -5.0, 0.0) obj = morse.robot.arm.gripper.grab().result() self.assertEqual(obj, 'tape2') obj = morse.robot.arm.gripper.release().result() self.assertEqual(obj, True) send_pose(teleport_stream, morse, 3.0, 8.0, 0.0) obj = morse.robot.arm.gripper.grab().result() self.assertEqual(obj, 'tape1') ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(gripperTest)