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gazebo_test_open_manipulator.py
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#!/usr/bin/env python
from math import cos, pi, sin
import numpy as np
from config.environment.open_manipulator import config as cfg
import rospy
from envs.open_manipulator import OpenManipulatorReacherEnv
from geometry_msgs.msg import Pose, Quaternion
from open_manipulator_msgs.msg import JointPosition, KinematicsPose
from open_manipulator_msgs.srv import SetJointPosition, SetKinematicsPose
overhead_orientation = Quaternion(
x=-0.00142460053167, y=0.999994209902, z=-0.00177030764765, w=0.00253311793936
)
def test_reset():
env = OpenManipulatorReacherEnv(cfg)
_ = env.reset()
def test_forward():
env = OpenManipulatorReacherEnv(cfg)
_ = env.reset()
_pose = Pose()
_pose.position.x = 0.4
_pose.position.y = 0.0
_pose.position.z = 0.1
_pose.orientation.x = 0.0
_pose.orientation.y = 0.0
_pose.orientation.z = 0.0
_pose.orientation.w = 1.0
forward_pose = KinematicsPose()
forward_pose.pose = _pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose
)
_ = task_space_srv("arm", "gripper", forward_pose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
def test_rotate():
_qpose = JointPosition()
_qpose.joint_name = ["joint1", "joint2", "joint3", "joint4"]
_qpose.position = [0.5, 0.0, 0.0, 0.5]
_qpose.max_accelerations_scaling_factor = 0.0
_qpose.max_velocity_scaling_factor = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_joint_space_path_from_present", SetJointPosition
)
_ = task_space_srv("arm", _qpose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
_qpose.position[0] += -1.0
_qpose.position[3] += -1.0
try:
_ = task_space_srv("arm", _qpose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
def test_block_loc():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(20):
b_pose = Pose()
b_pose.position.x = np.random.uniform(0.15, 0.20)
b_pose.position.y = np.random.uniform(-0.2, 0.2)
b_pose.position.z = 0.00
b_pose.orientation = overhead_orientation
env.ros_interface.set_target_block()
rospy.sleep(2.0)
env.ros_interface.delete_target_block()
def test_achieve_goal():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(20):
block_pose = Pose()
block_pose.position.x = np.random.uniform(0.25, 0.6)
block_pose.position.y = np.random.uniform(-0.4, 0.4)
block_pose.position.z = 0.00
block_pose.orientation = overhead_orientation
env.ros_interface.set_target_block(block_pose)
r_pose = Pose()
r_pose.position = block_pose.position
r_pose.position.z = 0.08
forward_pose = KinematicsPose()
forward_pose.pose = r_pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose
)
_ = task_space_srv("arm", "gripper", forward_pose, 2.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(5.0)
env.ros_interface.delete_target_block()
def test_workspace_limit():
env = OpenManipulatorReacherEnv(cfg)
for iter in range(100):
_polar_rad = np.random.uniform(0.134, 0.32)
_polar_theta = np.random.uniform(-pi * 0.7 / 4, pi * 0.7 / 4)
block_pose = Pose()
block_pose.position.x = _polar_rad * cos(_polar_theta)
block_pose.position.y = _polar_rad * sin(_polar_theta)
block_pose.position.z = np.random.uniform(0.05, 0.28)
block_pose.orientation = overhead_orientation
env.ros_interface.set_target_block(block_pose)
r_pose = Pose()
r_pose.position = block_pose.position
forward_pose = KinematicsPose()
forward_pose.pose = r_pose
forward_pose.max_accelerations_scaling_factor = 0.0
forward_pose.max_velocity_scaling_factor = 0.0
forward_pose.tolerance = 0.0
try:
task_space_srv = rospy.ServiceProxy(
"/open_manipulator/goal_task_space_path", SetKinematicsPose
)
_ = task_space_srv("arm", "gripper", forward_pose, 3.0)
except rospy.ServiceException as e:
rospy.loginfo("Path planning service call failed: {0}".format(e))
rospy.sleep(3.0)
env.ros_interface.check_for_termination()
env.ros_interface.delete_target_block()
if __name__ == "__main__":
# test_reset()
# test_forward()
# test_rotate()
# test_block_loc()
# test_achieve_goal()
test_workspace_limit()