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fix bug of setJointAnglesSequenceFull function in SequencePlayer #883

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merged 3 commits into from
Dec 15, 2015
Merged

fix bug of setJointAnglesSequenceFull function in SequencePlayer #883

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a3f5f4f
add test of setJointAnglesSequenceFull in samplerobot_sequence_player.py
mmurooka Nov 21, 2015
4db3f8c
fix the expected length of acc array in setJointAnglesSequenceFull.
mmurooka Nov 21, 2015
041a84a
fix bug of setJointAnglesSequenceFull function in SequencePlayer.
mmurooka Nov 21, 2015
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add test of setJointAnglesSequenceFull in samplerobot_sequence_player.py
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@mmurooka
mmurooka committed Nov 21, 2015
commit a3f5f4f8b6f33244a22dab9b49c4a7830d4894ec
72 changes: 72 additions & 0 deletions sample/SampleRobot/samplerobot_sequence_player.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,16 +22,20 @@ def init ():
# torque and wrenches are non-realistic values, just for testing.
dof = 29
reset_pose_doc = {'pos':[-7.778932e-05,-0.378613,-0.00021,0.832039,-0.452564,0.000245,0.31129,-0.159481,-0.115399,-0.636277,0.0,0.0,0.0,-7.778932e-05,-0.378613,-0.00021,0.832039,-0.452564,0.000245,0.31129,0.159481,0.115399,-0.636277,0.0,0.0,0.0,0.0,0.0,0.0],
'vel':[0]*dof,
'zmp':[-0.00081, 1.712907e-05, -0.66815],
# 'gsens':[0,0,0],
'waist':[0.000234, 0.000146, 0.66815, -0.000245, -0.000862, 0.000195],
'waist_acc':[0]*3,
'torque':[0]*dof,
'wrenches':[0]*24
}
move_base_pose_doc = {'pos':[8.251963e-05,-0.980029,-0.000384,1.02994,-0.398115,-0.000111,0.31129,-0.159481,-0.115399,-0.636277,0.0,0.0,0.0,8.252625e-05,-0.980033,-0.000384,1.02986,-0.398027,-0.000111,0.31129,0.159481,0.115399,-0.636277,0.0,0.0,0.0,0.0,0.0,0.0],
'vel':[0]*dof,
'zmp':[0.302518, 0.000153, -0.562325],
# 'gsens':[0,0,0],
'waist':[-0.092492, -6.260780e-05, 0.6318, -0.000205, 0.348204, 0.000268],
'waist_acc':[0]*3,
'torque':range(dof),
'wrenches':[1]*6+[-2]*6+[3]*6+[-4]*6
}
Expand Down Expand Up @@ -286,6 +290,73 @@ def demoSetJointAnglesSequenceOfGroup():
hcf.seq_svc.clearJointAnglesOfGroup('larm')
checkJointAnglesBetween(p1, p0)

def demoSetJointAnglesSequenceFull():
print >> sys.stderr, "10. setJointAnglesSequenceFull"
hcf.seq_svc.setJointAnglesSequenceFull([move_base_pose_doc['pos'],reset_pose_doc['pos'],move_base_pose_doc['pos']],
[move_base_pose_doc['vel'],reset_pose_doc['vel'],move_base_pose_doc['vel']],
[move_base_pose_doc['torque'],reset_pose_doc['torque'],move_base_pose_doc['torque']],
[move_base_pose_doc['waist'][0:3],reset_pose_doc['waist'][0:3],move_base_pose_doc['waist'][0:3]],
[move_base_pose_doc['waist'][3:6],reset_pose_doc['waist'][3:6],move_base_pose_doc['waist'][3:6]],
[move_base_pose_doc['waist_acc'],reset_pose_doc['waist_acc'],move_base_pose_doc['waist_acc']],
[move_base_pose_doc['zmp'],reset_pose_doc['zmp'],move_base_pose_doc['zmp']],
[move_base_pose_doc['wrenches'],reset_pose_doc['wrenches'],move_base_pose_doc['wrenches']],
[[1.0],[1.0],[1.0]],
[1.0,1.0,1.0]);
hcf.seq_svc.waitInterpolation();
checkRobotState(move_base_pose_doc)
hcf.seq_svc.setJointAnglesSequenceFull([reset_pose_doc['pos']],
[reset_pose_doc['vel']],
[reset_pose_doc['torque']],
[reset_pose_doc['waist'][0:3]],
[reset_pose_doc['waist'][3:6]],
[reset_pose_doc['waist_acc']],
[reset_pose_doc['zmp']],
[reset_pose_doc['wrenches']],
[[1.0]],
[1.0])
hcf.seq_svc.waitInterpolation();
checkRobotState(reset_pose_doc)
# check override
print >> sys.stderr, " check override"
hcf.seq_svc.setJointAnglesSequenceFull([move_base_pose_doc['pos'],reset_pose_doc['pos'],move_base_pose_doc['pos']],
[move_base_pose_doc['vel'],reset_pose_doc['vel'],move_base_pose_doc['vel']],
[move_base_pose_doc['torque'],reset_pose_doc['torque'],move_base_pose_doc['torque']],
[move_base_pose_doc['waist'][0:3],reset_pose_doc['waist'][0:3],move_base_pose_doc['waist'][0:3]],
[move_base_pose_doc['waist'][3:6],reset_pose_doc['waist'][3:6],move_base_pose_doc['waist'][3:6]],
[move_base_pose_doc['waist_acc'],reset_pose_doc['waist_acc'],move_base_pose_doc['waist_acc']],
[move_base_pose_doc['zmp'],reset_pose_doc['zmp'],move_base_pose_doc['zmp']],
[move_base_pose_doc['wrenches'],reset_pose_doc['wrenches'],move_base_pose_doc['wrenches']],
[[1.0],[1.0],[1.0]],
[1.0,1.0,5.0]);
time.sleep(3.5)
hcf.seq_svc.setJointAnglesSequenceFull([reset_pose_doc['pos'],move_base_pose_doc['pos'],reset_pose_doc['pos']],
[reset_pose_doc['vel'],move_base_pose_doc['vel'],reset_pose_doc['vel']],
[reset_pose_doc['torque'],move_base_pose_doc['torque'],reset_pose_doc['torque']],
[reset_pose_doc['waist'][0:3],move_base_pose_doc['waist'][0:3],reset_pose_doc['waist'][0:3]],
[reset_pose_doc['waist'][3:6],move_base_pose_doc['waist'][3:6],reset_pose_doc['waist'][3:6]],
[reset_pose_doc['waist_acc'],move_base_pose_doc['waist_acc'],reset_pose_doc['waist_acc']],
[reset_pose_doc['zmp'],move_base_pose_doc['zmp'],reset_pose_doc['zmp']],
[reset_pose_doc['wrenches'],move_base_pose_doc['wrenches'],reset_pose_doc['wrenches']],
[[1.0],[1.0],[1.0]],
[1.0,1.0,1.0]);
hcf.seq_svc.waitInterpolation()
checkRobotState(reset_pose_doc)
# check clear
print >> sys.stderr, " check clear"
hcf.seq_svc.setJointAnglesSequenceFull([move_base_pose_doc['pos'],reset_pose_doc['pos'],move_base_pose_doc['pos']],
[move_base_pose_doc['vel'],reset_pose_doc['vel'],move_base_pose_doc['vel']],
[move_base_pose_doc['torque'],reset_pose_doc['torque'],move_base_pose_doc['torque']],
[move_base_pose_doc['waist'][0:3],reset_pose_doc['waist'][0:3],move_base_pose_doc['waist'][0:3]],
[move_base_pose_doc['waist'][3:6],reset_pose_doc['waist'][3:6],move_base_pose_doc['waist'][3:6]],
[move_base_pose_doc['waist_acc'],reset_pose_doc['waist_acc'],move_base_pose_doc['waist_acc']],
[move_base_pose_doc['zmp'],reset_pose_doc['zmp'],move_base_pose_doc['zmp']],
[move_base_pose_doc['wrenches'],reset_pose_doc['wrenches'],move_base_pose_doc['wrenches']],
[[1.0],[1.0],[1.0]],
[1.0,1.0,5.0]);
time.sleep(3.5)
hcf.seq_svc.clearJointAngles()
checkJointAnglesBetween(reset_pose_doc,move_base_pose_doc)


def demo():
init()
Expand All @@ -301,6 +372,7 @@ def demo():
demoSetJointAnglesOfGroup()
if hrpsys_version >= '315.5.0':
demoSetJointAnglesSequenceOfGroup()
demoSetJointAnglesSequenceFull()

if __name__ == '__main__':
demo()
Expand Down