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[pr2-interface.l] check :check-continuous-joint-move-over-180 when simulator mode #452

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[pr2-interface.l] check :check-continuous-joint-move-over-180 when simulator mode #452

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365a185
[pr2-interface.l] check :check-continuous-joint-move-over-180 when si…
Naoki-Hiraoka Dec 12, 2020
2489966
[pr2eus/pr2-ri-test-rimple.l] add unlimited joint test
Naoki-Hiraoka Dec 12, 2020
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4 changes: 2 additions & 2 deletions pr2eus/pr2-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -421,8 +421,8 @@ Example: (send self :gripper :rarm :position) => 0.00"
))
(:angle-vector-sequence
(avs &optional (tms (list 3000)) &rest args)
(unless (or (send self :simulation-modep) (cadr (memq :end-coords-interpolation args)))
(let* ((prev-av (send robot :angle-vector (send self :state :reference-vector)))
(unless (cadr (memq :end-coords-interpolation args))
(let* ((prev-av (send robot :angle-vector (if (send self :simulation-modep) (send self :state :potentio-vector) (send self :state :reference-vector))))
Comment on lines -424 to +425
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This did not existing tests

may be

   (unless (or (send self :simulation-modep) (cadr (memq :end-coords-interpolation args)))
     (let* ((prev-av (send robot :angle-vector (if (send self :simulation-modep) (send self :state :potentio-vector) (send self :state :reference-vector))))

??? please pass tests @Naoki-Hiraoka
https://github.com/jsk-ros-pkg/jsk_pr2eus/actions/runs/3317672989/jobs/5480786114

  + catkin_test_results --verbose --all build
  Full test results for 'pr2eus_moveit/test_results/pr2eus_moveit/rosunit-test_pr2eus_moveit_sim.xml'
  -------------------------------------------------
  <testsuite tests="2" failures="1" disabled="0" errors="0" time="0" name="AllTests">
    <testcase name="all-test" status="run" time="0" classname="all-test">
     <failure message="number expected" type="AssertionError">
  Test:(/ (elt tms l) div)
  Trace:32
  Message:"number expected"
     </failure>
    </testcase>
    <testcase name="test-angle-vector-motion-plan" status="run" time="0" classname="test-angle-vector-motion-plan">
    </testcase>
  </testsuite>

(len-av (length prev-av))
(max-av (fill (instantiate float-vector len-av) 180))
(min-av (fill (instantiate float-vector len-av) -180))
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42 changes: 42 additions & 0 deletions pr2eus/test/pr2-ri-test-simple-angle-vector.l
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Expand Up @@ -133,6 +133,48 @@
)
))

(deftest test-angle-vector-unlimited-robot-interface
(let (msg)
(dolist (inc (list 10 -10))
(do ((i 0.0 (incf i inc)))
((if (> inc 0) (<= 1000 i) (>= -1000 i)))
(send *pr2* :reset-manip-pose)
(send *ri* :robot :reset-manip-pose)
(send *ri* :robot-interface-simulation-callback) ;; publish robot-state
(let ((initial-angle (elt (send *ri* :state :potentio-vector) 5)))
(send *pr2* :larm :elbow-r :joint-angle i)
(send-message *ri* robot-interface :angle-vector (send *pr2* :angle-vector) 500)
(send *ri* :wait-interpolation)
(setq msg
(format nil "initial ~A, *ri* ~A, *pr2* ~A ~A~%"
initial-angle
(elt (send *ri* :state :potentio-vector) 5)
(elt (send *pr2* :angle-vector) 5)
(eps<= (abs (- (elt (send *ri* :state :potentio-vector) 5) initial-angle)) 180.0 1.0)))
(warning-message 2 msg)
(assert (eps<= (abs (- (elt (send *ri* :state :potentio-vector) 5) initial-angle)) 180.0 1.0) msg))))))

(deftest test-angle-vector-unlimited-pr2-interface
(let (msg)
(dolist (inc (list 10 -10))
(do ((i 0.0 (incf i inc)))
((if (> inc 0) (<= 1000 i) (>= -1000 i)))
(send *pr2* :reset-manip-pose)
(send *ri* :robot :reset-manip-pose)
(send *ri* :robot-interface-simulation-callback) ;; publish robot-state
(let ((initial-angle (elt (send *ri* :state :potentio-vector) 5)))
(send *pr2* :larm :elbow-r :joint-angle i)
(send-message *ri* pr2-interface :angle-vector (send *pr2* :angle-vector) 500)
(send *ri* :wait-interpolation)
(setq msg
(format nil "initial ~A, *ri* ~A, *pr2* ~A ~A~%"
initial-angle
(elt (send *ri* :state :potentio-vector) 5)
(elt (send *pr2* :angle-vector) 5)
(eps= (elt (send *ri* :state :potentio-vector) 5) (elt (send *pr2* :angle-vector) 5) 1.0)))
(warning-message 2 msg)
(assert (eps= (elt (send *ri* :state :potentio-vector) 5) (elt (send *pr2* :angle-vector) 5) 1.0) msg))))))


(run-all-tests)
(exit)