8000 Merge pull request #35 from petercorke/micah-dev · lordkeks/robotics-toolbox-python@e145bd9 · GitHub
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Merge pull request petercorke#35 from petercorke/micah-dev
Micah dev -> testing functionality
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‎README.md

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Original file line numberDiff line numberDiff line change
@@ -14,7 +14,7 @@ This is a Python implementation of the [Robotics Toolbox for MATLAB<sup>&reg;</s
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* GitHub repository [https://github.com/petercorke/robotics-toolbox-python](https://github.com/petercorke/robotics-toolbox-python)
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* Documentation [https://petercorke.github.io/robotics-toolbox-python](https://petercorke.github.io/robotics-toolbox-python)
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* Dependencies: `spatialmath-python`, `numpy`
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* Dependencies: `spatialmath-python`, `numpy`, `vpython`
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# Getting going
2020

‎graphics/graphics_test_features.py renamed to ‎tests/graphics_test_features.py

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Original file line numberDiff line numberDiff line change
@@ -1,108 +1,76 @@
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"""
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These functions are not ordinary testing functions.
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These tests cannot be automated, and must be manually validated.
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To execute, import all from this file into the console. "from graphics.graphics_test_features import *"
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Next select which test you which to run, and call the function.
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A canvas will be created and display the respective graphics.
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Verify the output is as expected.
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Then close the browser window and run a different function. (Help clear graphics. Currently, no clearing implemented)
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"""
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from graphics.model_puma560 import *
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def test_grid():
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def test_grid_updating():
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"""
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This test will create a canvas and update the grid every second.
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Eventually, the grid will only update through callbacks of key/button releases.
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"""
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canvas_grid = init_canvas()
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while True:
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sleep(1)
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canvas_grid.update_grid()
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print("XY:", canvas_grid.grid_object[0].pos)
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def test_reference_frames():
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le = 0.2
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def test_reference_frame_pose():
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"""
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This test will create a canvas, and place reference frames at the given positions and orientations.
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Each frame must be manually inspected for validity.
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"""
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canvas_grid = init_canvas()
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# Test 1 | Position (0, 0, 0), Axis (1, 0, 0), No Rotation
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# Drawn
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draw_reference_frame_axes(vector(0, 0, 0), vector(1, 0, 0), radians(0))
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# Actual
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#arrow(pos=vector(0, 0, 0), axis=vector(1, 0, 0), length=le, color=color.purple)
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# Test 2 | Position (1, 1, 1), Axis (0, 0, 1), No Rotation
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# Drawn
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draw_reference_frame_axes(vector(1, 1, 1), vector(0, 0, 1), radians(0))
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# Actual
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#arrow(pos=vector(1, 1, 1), axis=vector(0, 0, 1), length=le, color=color.purple)
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# Test 3 | Position (2, 2, 2), Axis (1, 0, 0), 30 deg rot
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# Drawn
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draw_reference_frame_axes(vector(2, 2, 2), vector(1, 0, 0), radians(30))
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# Actual
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#arrow(pos=vector(2, 2, 2), axis=vector(1, 0, 0), length=le, color=color.purple).rotate(radians(30))
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# Test 4 | Position (3, 3, 3), Axis (1, 1, 1), No Rotation
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# Drawn
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draw_reference_frame_axes(vector(3, 3, 3), vector(1, 1, 1), radians(0))
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# Actual
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#arrow(pos=vector(3, 3, 3), axis=vector(1, 1, 1), length=le, color=color.purple)
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# Test 5 | Position (4, 4, 4), Axis (1, 1, 1), 30 deg rot
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# Drawn
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draw_reference_frame_axes(vector(4, 4, 4), vector(1, 1, 1), radians(30))
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# Actual
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#arrow(pos=vector(4, 4, 4), axis=vector(1, 1, 1), length=le, color=color.purple).rotate(radians(30))
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# Test 6 | Position (5, 5, 5), Axis (2, -1, 4), No Rotation
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# Drawn
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draw_reference_frame_axes(vector(5, 5, 5), vector(2, -1, 4), radians(0))
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# Actual
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#arrow(pos=vector(5, 5, 5), axis=vector(2, -1, 4), length=le, color=color.purple)
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# Test 7 | Position (6, 6, 6), Axis (2, -1, 4), 30 deg rot
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# Drawn
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draw_reference_frame_axes(vector(6, 6, 6), vector(2, -1, 4), radians(30))
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# Actual
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#arrow(pos=vector(6, 6, 6), axis=vector(2, -1, 4), length=le, color=color.purple).rotate(radians(30))
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def test_import_stl():
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"""
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This test will create a canvas with the Puma560 model loaded in.
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The robot should have all joint angles to 0 (Robot is in an 'L' shape from (1, 1, 0) in the +X axis direction)
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"""
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canvas_grid = init_canvas()
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puma560 = import_puma_560()
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puma560.move_base(vector(1, 1, 0))
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"""
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puma560.set_reference_visibility(False)
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puma560.print_joint_angles(True)
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sleep(2)
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puma560.set_joint_angle(4, radians(35))
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sleep(2)
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puma560.set_joint_angle(2, radians(-56))
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sleep(2)
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puma560.set_joint_angle(0, radians(78))
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sleep(2)
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puma560.set_all_joint_angles([
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0, 0, 0, 0, 0, 0, 0
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])
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sleep(2)
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puma560.set_all_joint_angles([
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radians(45), 0, 0, 0, 0, 0, 0,
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])
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sleep(2)
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puma560.set_all_joint_angles([
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radians(45), 0, radians(-90), 0, 0, 0, 0,
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])
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sleep(2)
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puma560.set_joint_angle(4, radians(156))
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sleep(2)
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puma560.set_joint_angle(2, radians(-23))
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puma560.print_joint_angles(True)
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"""
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def test_rotational_link():
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"""
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This test will create a simple rotational link from (0, 0, 0) to (1, 0, 0).
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Depending on which for loop is commented out:
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The joint will then rotate in a positive direction about it's +y axis.
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OR
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The joint will rotate to the given angles in the list.
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"""
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canvas_grid = init_canvas()
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# rot = vector(0, 0, 1)
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rot = vector(0, 1, 0)
@@ -113,23 +81,62 @@ def test_rotational_link():
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# for angle in [0, 45, 90, 135, 180, -135, -90, -45, 33, -66, -125, 162, 360, 450, -270, -333]:
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# sleep(5)
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# rot_link.rotate_joint(radians(angle))
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for angle in range(0, 360):
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sleep(0.05)
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rot_link.rotate_joint(radians(angle))
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121-
def test_graphical_robot():
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def test_graphical_robot_creation():
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"""
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This test will create a simple 3-link graphical robot.
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The joints are then set to particular angles to show rotations.
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"""
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canvas_grid = init_canvas()
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x = GraphicalRobot([
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RotationalJoint(vector(0, 0, 0), vector(1, 1, 1))
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RotationalJoint(vector(0, 0, 0), vector(1, 0, 0)),
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RotationalJoint(vector(1, 0, 0), vector(2, 0, 0)),
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RotationalJoint(vector(2, 0, 0), vector(3, 0, 0))
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])
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128-
x.set_joint_angle(0, radians(20))
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sleep(2)
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x.set_all_joint_angles([radians(-45), radians(45), radians(15)])
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131-
def test_place_joint():
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pass
108+
def test_puma560_angle_change():
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"""
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This test loads in the Puma560 model and changes its angles over time.
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Joint angles are printed for validation.
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"""
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canvas_grid = init_canvas()
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puma560 = import_puma_560()
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puma560.move_base(vector(1, 1, 0))
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puma560.set_reference_visibility(False)
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print("Prior Angles")
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puma560.print_joint_angles(True)
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sleep(2)
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puma560.set_all_joint_angles([
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radians(45), 0, 0, 0, 0, 0, 0,
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])
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sleep(2)
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puma560.set_all_joint_angles([
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radians(45), 0, radians(-90), 0, 0, 0, 0,
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])
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132+
sleep(2)
133+
puma560.set_joint_angle(4, radians(156))
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sleep(2)
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puma560.set_joint_angle(2, radians(-23))
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print("Final Angles")
139+
puma560.print_joint_angles(True)
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def test_animate_joints():

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