Source code for robots.pr2.torso_sockets

#! /usr/bin/env python
"""
This script tests the PR2 torso armature joint
"""

from morse.testing.testing import MorseTestCase
import logging; logger = logging.getLogger("morsetesting.general")

# 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

import sys

from pymorse import Morse

[docs]def getjoint(simu, name): joints = simu.pr2.joint_state.get() return joints[name]
[docs]class PR2TorsoTest(MorseTestCase):
[docs] def setUpEnv(self): from morse.builder.robots import BasePR2 pr2 = BasePR2() pr2.add_interface('socket') env = Environment('empty', fastmode=True) env.set_camera_rotation([1.0470, 0, 0.7854])
[docs] def test_torso_translate(self): joint = "torso_lift_joint" with Morse() as simu: self.assertAlmostEquals(getjoint(simu, joint), 0.0, 3) logger.info("Moving up torso to 0.2m...") action = simu.pr2.torso.translate(joint, 0.2, 0.1) # speed = 0.1 m/s simu.sleep(1) logger.info("Should be now at 0.1m...") self.assertAlmostEquals(getjoint(simu, joint), 0.1, 1) simu.sleep(1) logger.info("Should be now at 0.2m...") self.assertAlmostEquals(getjoint(simu, joint), 0.2, 1) # Check we do not move anymore logger.info("Should not move anymore...") simu.sleep(0.5) self.assertFalse(action.running()) self.assertAlmostEquals(getjoint(simu, joint), 0.2, 1) # Test limits #TODO: currently no way to stop the action when blocking on a joint limit since we can not retreive them from Python (blender 2.64) #logger.info("Let's go as high as possible to check my limits...") #action = simu.pr2.torso.translate(joint, [0, 1, 0], 0.2) # speed = 0.2 m/s #simu.sleep(2) #self.assertFalse(action.running()) #self.assertAlmostEquals(getjoint(simu, joint), 0.3, 1) # Go back to initial position logger.info("Let's go back down...") action = simu.pr2.torso.translate(joint, 0, 0.2) # speed = 0.2 m/s simu.sleep(1.6) self.assertFalse(action.running()) self.assertAlmostEquals(getjoint(simu, joint), 0.0, 1) ## Testing set_translation logger.info("Moving up torso to 0.2m...") simu.pr2.torso.set_translation(joint, 0.2) logger.info("Should be now at 0.2m...") simu.sleep(.1) self.assertAlmostEquals(getjoint(simu, joint), 0.2, 3) # Test limits logger.info("Let's go as high as possible to check my limits...") simu.pr2.torso.set_translation(joint, 1) simu.sleep(.1) self.assertAlmostEquals(getjoint(simu, joint), 0.31, 3) simu.pr2.torso.set_translation(joint, -1) simu.sleep(.1) self.assertAlmostEquals(getjoint(simu, joint), 0.0, 3) ########################## Run these tests ##########################
if __name__ == "__main__": from morse.testing.testing import main main(PR2TorsoTest)