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add more tests in test_all.py

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Olivier R-D
2013-12-20 12:56:52 +01:00
parent 2402f802e0
commit 60181ca9f9
2 changed files with 73 additions and 16 deletions
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50
examples/test_all.py
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@ -4,12 +4,26 @@ Testing script that runs many of the urx methods, while attempting to keep robot
from math import pi
import time
import sys
import urx
import logging
if sys.version_info[0] < 3: #support python v2
input = raw_input
def wait():
global do_wait
if do_wait:
input()
if __name__ == "__main__":
rob = urx.Robot("192.168.1.6", logLevel=logging.WARNING)
if len(sys.argv) > 1:
do_wait = False
else:
do_wait = True
rob = urx.Robot("192.168.1.6", logLevel=logging.INFO)
rob.set_tcp((0, 0, 0, 0, 0, 0))
rob.set_payload(0.5, (0, 0, 0))
try:
@ -19,21 +33,26 @@ if __name__ == "__main__":
r = 0.01
print("Digital out 0 and 1 are: ", rob.get_digital_out(0), rob.get_digital_out(1) )
print("Analog inputs are: ", rob.get_analog_inputs())
j = rob.getj()
print("Initial joint configuration is ", j)
initj = rob.getj()
print("Initial joint configuration is ", initj)
t = rob.get_transform()
print("Transformation from base to tcp is: ", t)
print("Translating in x")
wait()
rob.translate((l, 0, 0), acc=a, vel=v)
pose = rob.getl()
print("robot tcp is at: ", pose)
print("moving in z")
wait()
pose[2] += l
rob.movel(pose, acc=a, vel=v, wait=False)
print("Waiting for end move")
rob.wait_for_move()
#FIXME add movep if controller version newer than XX
print("Moving through several points with a radius")
wait()
pose[0] -= l
p1 = pose[:]
pose[2] -= l
@ -41,21 +60,42 @@ if __name__ == "__main__":
rob.movels([p1, p2], vel=v, acc=a, radius=r)
print("rotate tcp around around base z ")
wait()
t.orient.rotate_zb(pi / 8)
rob.apply_transform(t, vel=v, acc=a)
print("moving in tool z")
wait()
rob.translate_tool((0, 0, l), vel=v, acc=a)
print("moving in tool -z using speed command")
wait()
rob.speedl_tool((0, 0, -v, 0, 0, 0), acc=a, min_time=3)
print("Waiting 2 seconds2")
time.sleep(2)
print("stop robot")
rob.stopj()
print("Test movep, it will fail on older controllers")
wait()
init = rob.get_transform()
pose = init.copy()
for _ in range(3):
pose.pos[0] += l
rob.movep(pose, acc=a, vel=v, radius=r)
rob.movep(init, acc=a, vel=v, radius=r)#back to start
print("Test movec")
wait()
via = init.copy()
via.pos[0] += l
to = via.copy()
to.pos[1] += l
rob.movec(via, to, acc=a, vel=v, radius=r)
print("Sending robot back to original position")
rob.movej(j, acc=0.8, vel=0.2)
rob.movej(initj, acc=0.8, vel=0.2)
finally: