test_jimp_endless.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;
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# ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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# Author: Dawid Seredynski
#

import roslib; roslib.load_manifest('velma_task_cs_ros_interface')

import rospy
import math
import PyKDL

from velma_common.velma_interface import *
from control_msgs.msg import FollowJointTrajectoryResult

def exitError(code):
    if code == 0:
        print "OK"
        exit(0)
    print "ERROR:", code
    exit(code)

if __name__ == "__main__":
    # define some configurations

    # every joint in position 0
    q_map_0 = {'torso_0_joint':0, 'right_arm_0_joint':0, 'right_arm_1_joint':0,
        'right_arm_2_joint':0, 'right_arm_3_joint':0, 'right_arm_4_joint':0, 'right_arm_5_joint':0,
        'right_arm_6_joint':0, 'left_arm_0_joint':0, 'left_arm_1_joint':0, 'left_arm_2_joint':0,
        'left_arm_3_joint':0, 'left_arm_4_joint':0, 'left_arm_5_joint':0, 'left_arm_6_joint':0 }

    # starting position
    q_map_starting = {'torso_0_joint':0, 'right_arm_0_joint':-0.3, 'right_arm_1_joint':-1.8,
        'right_arm_2_joint':1.25, 'right_arm_3_joint':0.85, 'right_arm_4_joint':0, 'right_arm_5_joint':-0.5,
        'right_arm_6_joint':0, 'left_arm_0_joint':0.3, 'left_arm_1_joint':1.8, 'left_arm_2_joint':-1.25,
        'left_arm_3_joint':-0.85, 'left_arm_4_joint':0, 'left_arm_5_joint':0.5, 'left_arm_6_joint':0 }

    q_map_left = {'torso_0_joint':45.0/180.0*math.pi, 'right_arm_0_joint':-0.3, 'right_arm_1_joint':-1.8,
        'right_arm_2_joint':1.25, 'right_arm_3_joint':0.85, 'right_arm_4_joint':0, 'right_arm_5_joint':-0.5,
        'right_arm_6_joint':0, 'left_arm_0_joint':0.3, 'left_arm_1_joint':1.8, 'left_arm_2_joint':-1.25,
        'left_arm_3_joint':-0.85, 'left_arm_4_joint':0, 'left_arm_5_joint':0.5, 'left_arm_6_joint':0 }

    q_map_right = {'torso_0_joint':-45.0/180.0*math.pi, 'right_arm_0_joint':-0.3, 'right_arm_1_joint':-1.8,
        'right_arm_2_joint':1.25, 'right_arm_3_joint':0.85, 'right_arm_4_joint':0, 'right_arm_5_joint':-0.5,
        'right_arm_6_joint':0, 'left_arm_0_joint':0.3, 'left_arm_1_joint':1.8, 'left_arm_2_joint':-1.25,
        'left_arm_3_joint':-0.85, 'left_arm_4_joint':0, 'left_arm_5_joint':0.5, 'left_arm_6_joint':0 }

    rospy.init_node('test_jimp')

    rospy.sleep(0.5)

    print "This test/tutorial executes simple motions"\
        " in joint impedance mode. Planning is not used"\
        " in this example.\n"

    print "Running python interface for Velma..."
    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"

    print "Motors must be enabled every time after the robot enters safe state."
    print "If the motors are already enabled, enabling them has no effect."
    print "Enabling motors..."
    if velma.enableMotors() != 0:
        exitError(2)

    rospy.sleep(0.5)

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

    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)

    while not rospy.is_shutdown():
        print "Checking if the starting configuration is as expected..."
        rospy.sleep(0.5)
        js = velma.getLastJointState()
        if not isConfigurationClose(q_map_starting, js[1], tolerance=0.3):
            print "This test requires starting pose:"
            print q_map_starting
        #    exitError(10)

        print "Moving to position 0 (slowly)."
        velma.moveJoint(q_map_0, 9.0, start_time=0.5, position_tol=15.0/180.0*math.pi)
        velma.waitForJoint()

        rospy.sleep(0.5)
        js = velma.getLastJointState()
        if not isConfigurationClose(q_map_0, js[1], tolerance=0.1):
            exitError(10)

        rospy.sleep(1.0)

        print "Moving to the starting position..."
        velma.moveJoint(q_map_starting, 9.0, start_time=0.5, position_tol=15.0/180.0*math.pi)
        error = velma.waitForJoint()
        if error != 0:
            print "The action should have ended without error, but the error code is", error
            exitError(6)

        rospy.sleep(0.5)
        js = velma.getLastJointState()
        if not isConfigurationClose(q_map_starting, js[1], tolerance=0.1):
            exitError(10)


        print "Moving to the left position..."
        velma.moveJoint(q_map_left, 5.0, start_time=0.5, position_tol=20.0/180.0*math.pi)
        error = velma.waitForJoint()
        if error != 0:
            print "The action should have ended without error, but the error code is", error
            exitError(6)

        rospy.sleep(0.5)
        js = velma.getLastJointState()
        if not isConfigurationClose(q_map_left, js[1], tolerance=0.1):
            exitError(10)

        print "Moving to the right position..."
        velma.moveJoint(q_map_right, 10.0, start_time=0.5, position_tol=20.0/180.0*math.pi)
        error = velma.waitForJoint()
        if error != 0:
            print "The action should have ended without error, but the error code is", error
            exitError(6)

        rospy.sleep(0.5)
        js = velma.getLastJointState()
        if not isConfigurationClose(q_map_right, js[1], tolerance=0.1):
            exitError(10)


        print "Moving to the starting position..."
        velma.moveJoint(q_map_starting, 5.0, start_time=0.5, position_tol=15.0/180.0*math.pi)
        error = velma.waitForJoint()
        if error != 0:
            print "The action should have ended without error, but the error code is", error
            exitError(6)

        rospy.sleep(0.5)
        js = velma.getLastJointState()
        if not isConfigurationClose(q_map_starting, js[1], tolerance=0.1):
            exitError(10)