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[pr2-interface.l] check :check-continuous-joint-move-over-180 when simulator mode #489

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[pr2-interface.l] check :check-continuous-joint-move-over-180 when simulator mode #489

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1e70f48
[pr2-interface.l] check :check-continuous-joint-move-over-180 when si…
Naoki-Hiraoka Dec 12, 2020
4168df3
[pr2eus/pr2-ri-test-rimple.l] add unlimited joint test
Naoki-Hiraoka Dec 12, 2020
8b247db
Merge branch 'master' into fix-angle-vector-sequence
k-okada Oct 30, 2022
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2 changes: 1 addition & 1 deletion pr2eus/pr2-interface.l
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Original file line number Diff line number Diff line change
Expand Up @@ -422,7 +422,7 @@ 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)))
(let* ((prev-av (send robot :angle-vector (if (send self :simulation-modep) (send self :state :potentio-vector) (send self :state :reference-vector))))
(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)