test_grippers.py

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#!/usr/bin/env python



# Copyright (c) 2017, Robot Control and Pattern Recognition Group,
# Institute of Control and Computation Engineering
# Warsaw University of Technology
#
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#     * Redistributions of source code must retain the above copyright
#       notice, this list of conditions and the following disclaimer.
#     * Redistributions in binary form must reproduce the above copyright
#       notice, this list of conditions and the following disclaimer in the
#       documentation and/or other materials provided with the distribution.
#     * Neither the name of the Warsaw University of Technology nor the
#       names of its contributors may be used to endorse or promote products
#       derived from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
# DISCLAIMED. IN NO EVENT SHALL <COPYright HOLDER> BE LIABLE FOR ANY
# DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
# (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#
# Author: Dawid Seredynski
#

import roslib; roslib.load_manifest('velma_task_cs_ros_interface')
import rospy
import math
from velma_common import *
from rcprg_ros_utils import exitError

def deg2rad(deg):
    return float(deg)/180.0*math.pi

if __name__ == "__main__":

    rospy.init_node('grippers_test', anonymous=False)
    rospy.sleep(1)
    print "waiting for init..."

    velma = VelmaInterface()

    print "Waiting for VelmaInterface initialization..."
    if not velma.waitForInit(timeout_s=10.0):
        print "Could not initialize VelmaInterface\n"
        exitError(1)

    print "Initialization ok!\n"

    diag = velma.getCoreCsDiag()
    if not diag.motorsReady():
        print "Motors must be homed and ready to use for this test."
        exitError(1)

    if velma.enableMotors() != 0:
        exitError(14)

    print "Switch to jnt_imp mode (no trajectory)..."
    velma.moveJointImpToCurrentPos(start_time=0.5)
    error = velma.waitForJoint()
    if error != 0:
        print "The action should have ended without error, but the error code is", error
        exitError(3)

    reset_left = True
    reset_right = True
    move_both = True
    if reset_left:
        print "reset left"
        velma.resetHandLeft()
        if velma.waitForHandLeft() != 0:
          exitError(2)

    rospy.sleep(0.5)
    if not isHandConfigurationClose( velma.getHandLeftCurrentConfiguration(), [0,0,0,0]):
        exitError(3, msg="configuration of hand should be 0")

    if reset_right:
        print "reset right"
        velma.resetHandRight()
        if velma.waitForHandRight() != 0:
            exitError(4)

    rospy.sleep(0.5)
    if not isHandConfigurationClose( velma.getHandRightCurrentConfiguration(), [0,0,0,0]):
        exitError(5, msg="configuration of hand should be 0")

    if move_both:
        for it in range(3):
            for dest_q in [[deg2rad(30), deg2rad(30), deg2rad(30), deg2rad(30)], [deg2rad(10), deg2rad(10), deg2rad(10), deg2rad(10)]]:
                velma.moveHandLeft(dest_q, [1, 1, 1, 1], [8000, 8000, 8000, 8000], 100000000, hold=False)
                velma.moveHandRight(dest_q, [1.25, 1.25, 1.25, 1.25], [4000,4000,4000,4000], 1000, hold=False)
                if velma.waitForHandLeft() != 0:
                    exitError(2)
                if velma.waitForHandRight() != 0:
                    exitError(4)

    dest_q = [deg2rad(30), deg2rad(30), deg2rad(30), deg2rad(180)]
    velma.moveHandLeft(dest_q, [1, 1, 1, 1], [8000, 8000, 8000, 8000], 100000000, hold=False)
    velma.moveHandRight(dest_q, [1.25, 1.25, 1.25, 1.25], [4000,4000,4000,4000], 1000, hold=False)
    if velma.waitForHandLeft() != 0:
        exitError(2)
    if velma.waitForHandRight() != 0:
        exitError(2)

    dest_q = [deg2rad(140), deg2rad(140), deg2rad(140), deg2rad(180)]
    velma.moveHandLeft(dest_q, [1, 1, 1, 1], [8000, 8000, 8000, 8000], 100000000, hold=False)
    velma.moveHandRight(dest_q, [1.25, 1.25, 1.25, 1.25], [4000,4000,4000,4000], 1000, hold=False)
    if velma.waitForHandLeft() != 0:
        exitError(2)
    if velma.waitForHandRight() != 0:
        exitError(2)

    exitError(0)