diff --git a/jsk_sciurus17_robot/.gitignore b/jsk_sciurus17_robot/.gitignore new file mode 100644 index 0000000000..39a168c563 --- /dev/null +++ b/jsk_sciurus17_robot/.gitignore @@ -0,0 +1,5 @@ +.DS_Store +.idea +*.log +tmp/ +./sciurus17eus/sciurus17.l diff --git a/jsk_sciurus17_robot/jsk_sciurus17_bringup/CMakeLists.txt b/jsk_sciurus17_robot/jsk_sciurus17_bringup/CMakeLists.txt new file mode 100644 index 0000000000..0b3c577f5f --- /dev/null +++ b/jsk_sciurus17_robot/jsk_sciurus17_bringup/CMakeLists.txt @@ -0,0 +1,202 @@ +cmake_minimum_required(VERSION 3.0.2) +project(jsk_sciurus17_bringup) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## Find catkin macros and libraries +## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) +## is used, also find other catkin packages +find_package(catkin REQUIRED) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## Uncomment this if the package has a setup.py. This macro ensures +## modules and global scripts declared therein get installed +## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html +# catkin_python_setup() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a exec_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# std_msgs # Or other packages containing msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## catkin specific configuration ## +################################### +## The catkin_package macro generates cmake config files for your package +## Declare things to be passed to dependent projects +## INCLUDE_DIRS: uncomment this if your package contains header files +## LIBRARIES: libraries you create in this project that dependent projects also need +## CATKIN_DEPENDS: catkin_packages dependent projects also need +## DEPENDS: system dependencies of this project that dependent projects also need +catkin_package( +# INCLUDE_DIRS include +# LIBRARIES jsk_sciurus_bringup +# CATKIN_DEPENDS other_catkin_pkg +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( +# include +# ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/jsk_sciurus_bringup.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +# add_executable(${PROJECT_NAME}_node src/jsk_sciurus_bringup_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +# target_link_libraries(${PROJECT_NAME}_node +# ${catkin_LIBRARIES} +# ) + +############# +## Install ## +############# + +# all install targets should use catkin DESTINATION variables +# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html + +## Mark executable scripts (Python etc.) for installation +## in contrast to setup.py, you can choose the destination +# catkin_install_python(PROGRAMS +# scripts/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html +# install(TARGETS ${PROJECT_NAME}_node +# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark libraries for installation +## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html +# install(TARGETS ${PROJECT_NAME} +# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} +# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} +# ) + +## Mark cpp header files for installation +# install(DIRECTORY include/${PROJECT_NAME}/ +# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} +# FILES_MATCHING PATTERN "*.h" +# PATTERN ".svn" EXCLUDE +# ) + +## Mark other files for installation (e.g. launch and bag files, etc.) +# install(FILES +# # myfile1 +# # myfile2 +# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_jsk_sciurus_bringup.cpp) +# if(TARGET ${PROJECT_NAME}-test) +# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) +# endif() + +## Add folders to be run by python nosetests +# catkin_add_nosetests(test) diff --git a/jsk_sciurus17_robot/jsk_sciurus17_bringup/README.md b/jsk_sciurus17_robot/jsk_sciurus17_bringup/README.md new file mode 100644 index 0000000000..ef72ce5d6c --- /dev/null +++ b/jsk_sciurus17_robot/jsk_sciurus17_bringup/README.md @@ -0,0 +1,110 @@ +# jsk\_sciurus17\_bringup + +The `jsk_sciurus17_bringup` package. + +## System Requirements + +This package has been tested on the following environments: + +- ROS Melodic + - OS: Ubuntu 18.04 LTS +- ROS Noetic + - OS: Ubuntu 20.04 LTS + +## Installation + +### Required Packages + +This package depends on the following packages: + +- [sciurus17_ros](https://github.com/rt-net/sciurus17_ros) +- [sciurus17_description](https://github.com/rt-net/sciurus17_description) (RT Corporation's non-commercial license applies) +- sciurus17eus (for EusLisp interface) + +### Installation from Source + +Install the required dependencies: + +```bash +cd ~/catkin_ws/src + +# Clone sciurus17_ros +git clone https://github.com/rt-net/sciurus17_ros.git + +# Clone sciurus17_description +git clone https://github.com/rt-net/sciurus17_description.git + +# Install dependencies +rosdep install -r -y --from-paths . --ignore-src + +# Build +cd ~/catkin_ws && catkin_make +source ~/catkin_ws/devel/setup.bash +``` + +### Communication Device Setup + +Configure the USB serial device name for `sciurus17_control` to communicate with the real robot: + +```bash +roscd sciurus17_tools/scripts/ +./create_udev_rules +``` + +After executing the script, reboot the system and connect Sciurus17. The device `/dev/sciurus17spine` will be created. + +### RealSense Camera Setup + +For stable operation of the head camera (RealSense D415), reset the camera before use: + +```bash +rosrun sciurus17_tools realsense_hwreset +``` + +## ROS launch and euslisp + +### Default launch + +Launch for Sciurus17 with MoveIt, head camera, and chest camera + +```bash +roslaunch jsk_sciurus17_bringup sciurus17_bringup.launch +``` + +#### Launch options + +- `use_rviz`: Launch with RViz visualization (default: true) +- `use_head_camera`: Enable RealSense head camera (default: true) +- `use_chest_camera`: Enable chest camera (default: true) + +Example with custom options: + +```bash +roslaunch jsk_sciurus17_bringup sciurus17_bringup.launch use_rviz:=false use_head_camera:=false +``` + +### EusLisp interface + +Launch and euslisp program for Sciurus17 + +```bash +roslaunch jsk_sciurus17_bringup sciurus17_bringup.launch +``` + +```bash +roscd sciurus17eus +roseus sciurus17-interface.l +;; euslisp interpreter +(sciurus17-init) +``` + +## Camera configuration + +### Head camera (RealSense) + +The head camera uses RealSense D415. +Camera topics are published under `/sciurus17/` namespace. + +### Chest camera + +The chest camera is launched separately and provides additional viewing angles for manipulation tasks. diff --git a/jsk_sciurus17_robot/jsk_sciurus17_bringup/launch/sciurus17_bringup.launch b/jsk_sciurus17_robot/jsk_sciurus17_bringup/launch/sciurus17_bringup.launch new file mode 100644 index 0000000000..a77334d741 --- /dev/null +++ b/jsk_sciurus17_robot/jsk_sciurus17_bringup/launch/sciurus17_bringup.launch @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + /sciurus17/aligned_depth_to_color/image_raw/compressedDepth/png_level: 9 + /sciurus17/camera/color/image_raw/compressed/png_level: 9 + + + + + diff --git a/jsk_sciurus17_robot/jsk_sciurus17_bringup/package.xml b/jsk_sciurus17_robot/jsk_sciurus17_bringup/package.xml new file mode 100644 index 0000000000..6b9dc860d5 --- /dev/null +++ b/jsk_sciurus17_robot/jsk_sciurus17_bringup/package.xml @@ -0,0 +1,17 @@ + + + jsk_sciurus17_bringup + 0.0.0 + The jsk_sciurus17_bringup package + + s-kim-lab + BSD + + catkin + + roslaunch + sciurus17 + + + + diff --git a/jsk_sciurus17_robot/sciurus17eus/CMakeLists.txt b/jsk_sciurus17_robot/sciurus17eus/CMakeLists.txt new file mode 100644 index 0000000000..fd6cf4f192 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/CMakeLists.txt @@ -0,0 +1,77 @@ +cmake_minimum_required(VERSION 2.8.3) +project(sciurus17eus) + +## Find catkin macros and libraries +if($ENV{ROS_DISTRO} STREQUAL "indigo") # indigo requires to add find_package(roseus) to compile roseus message + set(ROSEUS_package roseus) +endif() + +find_package(catkin REQUIRED COMPONENTS + ${ROSEUS_package} # required in indigo + collada_urdf + euscollada + sciurus17_description +) + +catkin_package( +# INCLUDE_DIRS include + LIBRARIES sciurus17eus + CATKIN_DEPENDS collada_urdf +) + +########### +## Build ## +########### + +if(EXISTS ${sciurus17_description_SOURCE_PREFIX}/urdf) + set(_sciurus17_urdf ${sciurus17_description_SOURCE_PREFIX}/urdf) +else() + set(_sciurus17_urdf ${sciurus17_description_PREFIX}/share/sciurus17_description/urdf) +endif() + +set(_urdf_to_collada ${collada_urdf_PREFIX}/lib/collada_urdf/urdf_to_collada) +set(_collada2eus ${euscollada_PREFIX}/lib/euscollada/collada2eus) + +message("sciurus17_urdf: ${_sciurus17_urdf}") +message("urdf_to_collada: ${_urdf_to_collada}") +message("collada2eus: ${_collada2eus}") + +add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/sciurus17.urdf + COMMAND xacro ${_sciurus17_urdf}/sciurus17.urdf.xacro > ${PROJECT_SOURCE_DIR}/sciurus17.urdf + DEPENDS ${_sciurus17_urdf}/sciurus17.urdf.xacro) + +if(NOT EXISTS ${PROJECT_SOURCE_DIR}/sciurus17.l) + add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/sciurus17.dae + COMMAND echo "${_urdf_to_collada} ${PROJECT_SOURCE_DIR}/sciurus17.urdf sciurus17.dae" + COMMAND ${_urdf_to_collada} ${PROJECT_SOURCE_DIR}/sciurus17.urdf ${PROJECT_SOURCE_DIR}/sciurus17.dae + DEPENDS ${PROJECT_SOURCE_DIR}/sciurus17.urdf) + + add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/sciurus17.l + COMMAND echo "${_collada2eus} sciurus17.dae sciurus17.l" + COMMAND ${_collada2eus} ${PROJECT_SOURCE_DIR}/sciurus17.dae ${PROJECT_SOURCE_DIR}/sciurus17.yaml ${PROJECT_SOURCE_DIR}/sciurus17.l + DEPENDS ${PROJECT_SOURCE_DIR}/sciurus17.dae ${PROJECT_SOURCE_DIR}/sciurus17.yaml ${_collada2eus}) + + add_custom_target(compile_sciurus17 ALL DEPENDS ${PROJECT_SOURCE_DIR}/sciurus17.l) +endif() + +install(DIRECTORY euslisp test + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + USE_SOURCE_PERMISSIONS) + +install(FILES sciurus17.l sciurus17-interface.l sciurus17-utils.l sciurus17.yaml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) + +############# +## Testing ## +############# + +if(CATKIN_ENABLE_TESTING) + find_package(catkin REQUIRED COMPONENTS rostest) + add_rostest(test/test-sciurus17-robot.test) + if ("$ENV{ROS_DISTRO}" STRGREATER "indigo") # >= kinetic + add_rostest(test/sciurus17-moveit.test) + elseif ("$ENV{ROS_DISTRO}" STRGREATER "hydro") # >= indigo + add_rostest(test/sciurus17-moveit-nogui.test) + else() + message(WARNING "Skip sciurus17-moveit.test") + endif() +endif() diff --git a/jsk_sciurus17_robot/sciurus17eus/package.xml b/jsk_sciurus17_robot/sciurus17eus/package.xml new file mode 100644 index 0000000000..8a010bd8bb --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/package.xml @@ -0,0 +1,39 @@ + + + sciurus17eus + 1.0.0 + The sciurus17 package for robot manipulation. + + Your Name + + BSD + + Your Name + + catkin + + collada_urdf + euscollada + sciurus17 + sciurus17_description + pr2eus + pr2eus_moveit + roseus + rostest + + collada_urdf + euscollada + sciurus17 + sciurus17_description + pr2eus + pr2eus_moveit + roseus + rostest + + pr2eus + pr2eus_moveit + roseus + + + + diff --git a/jsk_sciurus17_robot/sciurus17eus/sciurus17-interface.l b/jsk_sciurus17_robot/sciurus17eus/sciurus17-interface.l new file mode 100644 index 0000000000..dfad452ef5 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/sciurus17-interface.l @@ -0,0 +1,254 @@ +(require "package://pr2eus_moveit/euslisp/robot-moveit.l") +(require :sciurus17 "package://sciurus17eus/sciurus17-utils.l") +(ros::load-ros-package "control_msgs") + +(defclass sciurus17-interface + :super robot-interface + :slots (gripper-sequence-id right-gripper-action left-gripper-action + right-gripper-type left-gripper-type moveit-robot hard-coded-pose-table)) + +(defmethod sciurus17-interface + (:init (&rest args &key ((:moveit-environment mvit-env) (instance sciurus17-moveit-environment)) + ((:moveit-robot mvit-rb) (instance sciurus17-robot :init)) + ((:robot robot) sciurus17-robot) + &allow-other-keys) + (prog1 (send-super* :init :robot robot :joint-states-topic "/joint_states" :groupname "sciurus17_interface" args) + (send self :add-controller :larm-controller) + (send self :add-controller :rarm-controller) + (send self :add-controller :head-controller) + (send self :add-controller :torso-controller) + + (setq right-gripper-action (instance ros::simple-action-client :init + "/sciurus17/controller1/right_hand_controller/gripper_cmd" + control_msgs::GripperCommandAction + :groupname groupname)) + (setq left-gripper-action (instance ros::simple-action-client :init + "/sciurus17/controller2/left_hand_controller/gripper_cmd" + control_msgs::GripperCommandAction + :groupname groupname)) + + (dolist (action (list right-gripper-action left-gripper-action)) + (unless (and joint-action-enable (send action :wait-for-server 3)) + (ros::ros-warn "~A is not respond" action) + (ros::ros-info "*** if you do not have gripper, you can ignore this message ***") + (return))) + + (setq gripper-sequence-id 0) + (ros::spin-once) + (if mvit-rb (setq moveit-robot mvit-rb)) + (if mvit-env (send self :set-moveit-environment (send mvit-env :init :robot moveit-robot))) + (if *enable-roseus-resume* + (progn + (warning-message 3 "Installing interruption handler...~%") + (roseus_resume::install-interruption-handler self + right-gripper-action + left-gripper-action) + (roseus_resume::install-default-intervention self) + (warning-message 3 "...done.~%"))) + )) + + (:default-controller () + (append + (send self :larm-controller) + (send self :rarm-controller) + (send self :head-controller) + (send self :torso-controller) + )) + + (:larm-controller () + (list + (list + (cons :controller-action "/sciurus17/controller2/left_arm_controller/follow_joint_trajectory") + (cons :controller-state "/sciurus17/controller2/left_arm_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "l_arm_joint1" "l_arm_joint2" "l_arm_joint3" "l_arm_joint4" "l_arm_joint5" "l_arm_joint6" "l_arm_joint7"))))) + + (:rarm-controller () + (list + (list + (cons :controller-action "/sciurus17/controller1/right_arm_controller/follow_joint_trajectory") + (cons :controller-state "/sciurus17/controller1/right_arm_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "r_arm_joint1" "r_arm_joint2" "r_arm_joint3" "r_arm_joint4" "r_arm_joint5" "r_arm_joint6" "r_arm_joint7"))))) + + (:head-controller () + (list + (list + (cons :controller-action "/sciurus17/controller3/neck_controller/follow_joint_trajectory") + (cons :controller-state "/sciurus17/controller3/neck_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "neck_yaw_joint" "neck_pitch_joint"))))) + + (:torso-controller () + (list + (list + (cons :controller-action "/sciurus17/controller3/waist_yaw_controller/follow_joint_trajectory") + (cons :controller-state "/sciurus17/controller3/waist_yaw_controller/state") + (cons :action-type control_msgs::FollowJointTrajectoryAction) + (cons :joint-names (list "waist_yaw_joint"))))) + + (:start-grasp + (&optional (arm :arms) &key (effort 100) (wait t)) + (send self :go-grasp arm :pos 0 :effort effort :wait wait)) + + (:stop-grasp + (&optional (arm :arms) &key (effort 100) (wait t)) + (send self :go-grasp arm :pos 0.5 :effort effort :wait wait)) + + (:go-grasp + (&optional (arm :arms) &key (pos 0) (effort 100) (wait t)) + (let ((goal nil) + (clients (case arm + (:rarm (list (cons :right right-gripper-action))) + (:larm (list (cons :left left-gripper-action))) + (:arms (list (cons :right right-gripper-action) + (cons :left left-gripper-action)))) + (t (ros::ros-warn "arm[~a] in :move-gripper is invalid type" arm))) + (results (list))) + + (dolist (client clients) + (ros::ros-info "send-goal to ~A" client) + (setq goal (instance control_msgs::GripperCommandActionGoal :init)) + + ;; left pos is need to set negative + (let ((goal-pos (if (or (eq arm :larm) + (and (eq arm :arms) (eq (car client) :left))) + (- (abs pos)) + (abs pos)))) + + (send goal :goal :command :position goal-pos) + (send goal :goal :command :max_effort effort) + (send (cdr client) :send-goal goal))) + + (if wait (send-all (mapcar #'cdr clients) :wait-for-result)) + (dolist (client clients) + (push (send (cdr client) :get-result) results)) + results)) + + (:angle-vector-raw (av &optional (tm :fast) (ctype controller-type) (start-time 0) + &key (scale 2.2) (min-time 0.05) (end-coords-interpolation nil) + &allow-other-keys) + "Send joint angle to robot without MoveIt, this method returns immediately, so use :wait-interpolation to block until the motion stops. +- av : joint angle vector [rad] +- tm : time to goal in [msec] +" + (send self :angle-vector-sequence-raw (list av) (list tm) ctype start-time :scale scale :min-time min-time + :end-coords-interpolation end-coords-interpolation)) + + (:angle-vector-sequence-raw (avs &optional (tms :fast) (ctype controller-type) (start-time 0) + &key (scale 2.2) (min-time 0.05) (end-coords-interpolation nil) + &allow-other-keys) + "Send joint angle sequence to robot without MoveIt, this method returns immediately, so use :wait-interpolation to block until the motion stops. +- avs : sequence of joint angle vector [rad] +- tms : list of time to goal from previous angle-vector point in [msec] +" + ;; force add current position to the top of avs + (if (atom tms) (setq tms (list tms))) + (setq ctype (or ctype controller-type)) ;; use default if ctype is nil + (send-super :angle-vector-sequence avs tms ctype start-time :scale scale :min-time min-time + :end-coords-interpolation end-coords-interpolation)) + + (:angle-vector + (av &optional tm (ctype controller-type) (start-time 0) &rest args + &key (move-arm :arms) start-offset-time (clear-velocities t) &allow-other-keys) + "Send joint angle to robot with self-collision motion planning, this method returns immediately, so use :wait-interpolation to block until the motion stops. +- av : joint angle vector [rad] +- tm : time to goal in [msec] +" + (setq ctype (or ctype controller-type)) ;; use default if ctype is nil + ;; for simulation mode + (when (send self :simulation-modep) + (return-from :angle-vector (send* self :angle-vector-raw av tm ctype start-time args))) + (if (and (get self :moveit-environment) + (send (get self :moveit-environment) :robot)) + (progn + (unless tm (setq tm 3000)) + (send-super* :angle-vector-motion-plan av :ctype ctype :move-arm move-arm :total-time tm + :start-offset-time (if start-offset-time start-offset-time start-time) + :clear-velocities clear-velocities :use-torso nil args)) + (progn + (warning-message 3 "moveit environment is not correctly set, execute :angle-vector-raw instead~%") + (unless tm (setq tm :fast)) + (return-from :angle-vector (send* self :angle-vector-raw av tm ctype start-time args))))) + + (:angle-vector-sequence + (avs &optional tms (ctype controller-type) (start-time 0) &rest args + &key (move-arm :arms) start-offset-time (clear-velocities t) &allow-other-keys) + "Send joint angle sequence to robot with self-collision motion planning, this method returns immediately, so use :wait-interpolation to block until the motion stops. +- avs : sequence of joint angle vector [rad] +- tms : list of time to goal from previous angle-vector point in [msec] +" + (setq ctype (or ctype controller-type)) ;; use default if ctype is nil + ;; for simulation mode + (when (send self :simulation-modep) + (return-from :angle-vector-sequence + (send* self :angle-vector-sequence-raw avs tms ctype start-time args))) + (if (and (get self :moveit-environment) + (send (get self :moveit-environment) :robot)) + (progn + (setq tms + (if tms + (if (and (listp tms) (every #'numberp tms)) (apply #'+ tms) tms) + 3000)) + (send-super* :angle-vector-motion-plan avs :ctype ctype :move-arm move-arm :total-time tms + :start-offset-time (if start-offset-time start-offset-time start-time) + :clear-velocities clear-velocities :use-torso nil args)) + (progn + (warning-message 3 "moveit environment is not correctly set, execute :angle-vector-sequence-raw instead~%") + (unless tms (setq tms :fast)) + (return-from :angle-vector-sequence + (send* self :angle-vector-sequence-raw avs tms ctype start-time args))))) + ) ;; defclass sciurus17-interface + +(defclass sciurus17-moveit-environment + :super moveit-environment) + +(defmethod sciurus17-moveit-environment + (:init (&key ((:robot rb) *sciurus*) &rest args) + (send-super* :init :robot rb :frame-id "base_link" args)) + (:default-configuration () + (list (list :rarm + (cons :group-name "r_arm_group") + (cons :target-link + (send self :search-link-from-name "r_link7")) + (cons :joint-list (send robot :rarm :joint-list))) + (list :larm + (cons :group-name "l_arm_group") + (cons :target-link + (send self :search-link-from-name "l_link7")) + (cons :joint-list (send robot :larm :joint-list))) + (list :arms + (cons :group-name "two_arm_group") + (cons :target-link + (list + (send self :search-link-from-name "l_link7") + (send self :search-link-from-name "r_link7"))) + (cons :joint-list (append (send robot :larm :joint-list) + (send robot :rarm :joint-list)))) + (list :wrarm + (cons :group-name "r_arm_waist_group") + (cons :target-link + (send self :search-link-from-name "r_link7")) + (cons :joint-list (append (send robot :torso :joint-list) + (send robot :rarm :joint-list)))) + (list :wlarm + (cons :group-name "l_arm_waist_group") + (cons :target-link + (send self :search-link-from-name "l_link7")) + (cons :joint-list (append (send robot :torso :joint-list) + (send robot :larm :joint-list)))) + ))) + +(defun sciurus17-init (&key (type :default-controller) (moveit t) &allow-other-keys) + (let (mvit-env mvit-rb) + (when moveit + (setq mvit-env (instance sciurus17-moveit-environment)) + (setq mvit-rb (instance sciurus17-robot :init))) + (if (not (boundp '*ri*)) + (setq *ri* (instance sciurus17-interface :init :type type + :moveit-environment mvit-env + :moveit-robot mvit-rb))) + (if (not (boundp '*sciurus17*)) + (setq *sciurus17* (instance sciurus17-robot :init))))) + +(provide :sciurus17-interface) diff --git a/jsk_sciurus17_robot/sciurus17eus/sciurus17-utils.l b/jsk_sciurus17_robot/sciurus17eus/sciurus17-utils.l new file mode 100644 index 0000000000..58ceb01862 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/sciurus17-utils.l @@ -0,0 +1,4 @@ +(require :robot-interface "package://pr2eus/robot-interface.l") +(require :sciurus17 "package://sciurus17eus/sciurus17.l") + +(provide :sciurus17-utils) diff --git a/jsk_sciurus17_robot/sciurus17eus/sciurus17.dae b/jsk_sciurus17_robot/sciurus17eus/sciurus17.dae new file mode 100644 index 0000000000..180b2d4458 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/sciurus17.dae @@ -0,0 +1,4197 @@ + + + + + URDF Collada Writer + + 2025-12-18T18:11:51.000000 + 2025-12-18T18:11:51.000000 + + Z_UP + + + + + + 0 0 0 + 1 0 0 0 + + -0 -0 -0 + 1 0 0 0 + 0 0 0 + 1 0 0 0 + 0 0 0 0 + 0 0 0 + 1 0 0 0 + + + + + + + + + -0 -0 -0 + 1 0 0 0 + 0 0 0.1315 + 1 0 0 0 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a/jsk_sciurus17_robot/sciurus17eus/sciurus17.yaml b/jsk_sciurus17_robot/sciurus17eus/sciurus17.yaml new file mode 100644 index 0000000000..ef2ecf6521 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/sciurus17.yaml @@ -0,0 +1,43 @@ +head: + - neck_yaw_joint: head-y + - neck_pitch_joint: head-p +torso: + - waist_yaw_joint: waist-y +rhand: + - r_hand_joint: rarm-gripper +lhand: + - l_hand_joint: larm-gripper +rarm: + - r_arm_joint1: rarm-shoulder-y + - r_arm_joint2: rarm-shoulder-p + - r_arm_joint3: rarm-shoulder-r + - r_arm_joint4: rarm-elbow-p + - r_arm_joint5: rarm-elbow-r + - r_arm_joint6: rarm-wrist-p + - r_arm_joint7: rarm-wrist-r +larm: + - l_arm_joint1: larm-shoulder-y + - l_arm_joint2: larm-shoulder-p + - l_arm_joint3: larm-shoulder-r + - l_arm_joint4: larm-elbow-p + - l_arm_joint5: larm-elbow-r + - l_arm_joint6: larm-wrist-p + - l_arm_joint7: larm-wrist-r + +angle-vector: + reset-pose: [0, 0, 0, 0, 0, 0, -90, 0, 156.2, 0, -120, 0, 0, 90, 0, -156.2, 0, 120, 0] + init-pose: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -85.94, 0.0, 120.32, 0.0, -114.59, 0.0, 0.0, 85.94, 0.0, -120.32, 0.0, 114.59, 0.0] + +head-end-coords: + parent: camera_link + translate: [0, 0, 0] + rotate: [0, 1, 0, 90] +torso-end-coords: + parent: chest_camera_link + translate: [0, 0, 0] +rarm-end-coords: + parent: r_link7 + translate: [0, -0.05, 0] +larm-end-coords: + parent: l_link7 + translate: [0, 0.05, 0] diff --git a/jsk_sciurus17_robot/sciurus17eus/test/sciurus17-moveit-nogui.test b/jsk_sciurus17_robot/sciurus17eus/test/sciurus17-moveit-nogui.test new file mode 100644 index 0000000000..e2b93ed68c --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/test/sciurus17-moveit-nogui.test @@ -0,0 +1,5 @@ + + + + + diff --git a/jsk_sciurus17_robot/sciurus17eus/test/sciurus17-moveit.test b/jsk_sciurus17_robot/sciurus17eus/test/sciurus17-moveit.test new file mode 100644 index 0000000000..aa1e2789e0 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/test/sciurus17-moveit.test @@ -0,0 +1,16 @@ + + + + + + + + + + + + + diff --git a/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17-moveit.l b/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17-moveit.l new file mode 100755 index 0000000000..48cbfcd133 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17-moveit.l @@ -0,0 +1,227 @@ +#!/usr/bin/env roseus + +(require :unittest "lib/llib/unittest.l") +(init-unit-test) + +(load "package://sciurus17eus/sciurus17-interface.l") + +(ros::load-ros-manifest "sciurus17eus") +(ros::roseus "sciurus17-moveit") + +;; add ros::duration-sleep +;; https://github.com/jsk-ros-pkg/jsk_roseus/pull/459 +(defun sleep-rostime (n) + (let ((tm0 (ros::time-now)) (tm1 (ros::time-now))) + (while (<= (send (ros::time- tm1 tm0) :to-sec) n) + (unix::sleep 1) + (setq tm1 (ros::time-now))))) + +(deftest test-sciurus17-moveit-init () + (let ((waiting-count 0) (js nil)) + ;; Wait for robot to be ready + (ros::ros-info "waiting for robot connection") + (unix::sleep 5) ;; Give some time for robot to initialize + + (setq waiting-count 0) + (while + (progn + (setq js (one-shot-subscribe "/joint_states" sensor_msgs::JointState :timeout 3000)) + (or (null js) + (< (length (send js :position)) 10))) ;; wait until all joints are available + (ros::ros-info "waiting joint_states (robot connection and initialization)") + (setq waiting-count (incf waiting-count)) + (assert (> 300 waiting-count) "robot did not connect or initialize.") + (unix::sleep 3)) + (ros::ros-info "robot connected and initialized") + + ;; wait additional time for controllers to be ready + (ros::ros-info "waiting for controllers to be ready") + (unix::sleep 5) + + (setq waiting-count 0) + (while + (null (one-shot-subscribe "/move_group/status" actionlib_msgs::GoalStatusArray :timeout 3000)) + (ros::ros-info "waiting moveit") + (setq waiting-count (incf waiting-count)) + (assert (> 300 waiting-count) "moveit did not start.") + (unix::sleep 3)) + (ros::ros-info "moveit ready") + + (sciurus17-init :moveit t) + (assert *ri* "sciurus17-interface initialized") + (assert *sciurus17* "sciurus17-robot initialized") + (send *sciurus17* :init-pose) + (send *sciurus17* :rarm :move-end-pos #f(30 0 0) :world) + (send *sciurus17* :larm :move-end-pos #f(30 0 0) :world) + (setq *init-pose-mod* (send *sciurus17* :angle-vector)) + )) + +(deftest test-sciurus17-moveit-angle-vector() + (let (av) + (send *ri* :angle-vector-raw (send *sciurus17* :angle-vector *init-pose-mod*)) + (send *ri* :wait-interpolation) + + (setq av (send *ri* :angle-vector (send *sciurus17* :init-pose) 800)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :init-pose) 800)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) 800 :rarm-controller 0)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) 800 :rarm-controller 0)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) 800 :larm-controller 0)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) 800 :larm-controller 0)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :init-pose) 800 :rarm-controller 0 :move-arm :rarm)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :init-pose) 800 :rarm-controller 0 :move-arm :rarm)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :init-pose) 800 :larm-controller 0 :move-arm :larm)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :init-pose) 800 :larm-controller 0 :move-arm :larm)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) 800 nil 0 :move-arm :arms)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) 800 nil 0 :move-arm :arms)") + )) + +(deftest test-sciurus17-moveit-angle-vector-fast() + (let (av) + (send *ri* :angle-vector-raw (send *sciurus17* :angle-vector *init-pose-mod*)) + (send *ri* :wait-interpolation) + + (setq av (send *ri* :angle-vector (send *sciurus17* :init-pose) :fast)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :init-pose) :fast)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) :fast :rarm-controller 0)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) :fast :rarm-controller 0)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) :fast :larm-controller 0)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) :fast :larm-controller 0)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :init-pose) :fast :rarm-controller 0 :move-arm :rarm)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :init-pose) :fast :rarm-controller 0 :move-arm :rarm)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :init-pose) :fast :larm-controller 0 :move-arm :larm)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :init-pose) :fast :larm-controller 0 :move-arm :larm)") + + (setq av (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) :fast nil 0 :move-arm :arms)) + (send *ri* :wait-interpolation) + (assert av "failed: (send *ri* :angle-vector (send *sciurus17* :angle-vector *init-pose-mod*) :fast nil 0 :move-arm :arms)") + )) + + +(deftest test-sciurus17-moveit-angle-vector-sequence () + (let (avs) + (send *ri* :angle-vector-raw (send *sciurus17* :angle-vector *init-pose-mod*)) + (send *ri* :wait-interpolation) + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :rarm-controller 0)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :rarm-controller 0)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :larm-controller 0)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :larm-controller 0)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :rarm-controller 0 :move-arm :rarm)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :rarm-controller 0 :move-arm :rarm)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :larm-controller 0 :move-arm :larm)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 :larm-controller 0 :move-arm :larm)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 nil 0 :move-arm :arms)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) 1600 nil 0 :move-arm :arms)") + )) + +(deftest test-sciurus17-moveit-angle-vector-sequence-fast () + (let (avs) + (send *ri* :angle-vector-raw (send *sciurus17* :angle-vector *init-pose-mod*)) + (send *ri* :wait-interpolation) + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :rarm-controller 0)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :rarm-controller 0)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :larm-controller 0)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :larm-controller 0)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :rarm-controller 0 :move-arm :rarm)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :rarm-controller 0)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :larm-controller 0 :move-arm :larm)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast :larm-controller 0)") + + (setq avs (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast nil 0 :move-arm :arms)) + (send *ri* :wait-interpolation) + (assert avs "failed: (send *ri* :angle-vector-sequence (list (send *sciurus17* :init-pose) (send *sciurus17* :angle-vector *init-pose-mod*)) :fast nil 0 :move-arm :arms)") + )) + +(deftest test-sciurus17-moveit-angle-vector-start-time () + (let (tm-0 tm-1 tm-diff) + (send *ri* :angle-vector (send *sciurus17* :init-pose)) + (send *ri* :wait-interpolation) + (send *sciurus17* :rarm :move-end-pos #f(10 0 0) :world) + (send *ri* :angle-vector (send *sciurus17* :angle-vector) 1000 nil 3) + (setq tm-0 (ros::time-now)) + (send *ri* :wait-interpolation) + (setq tm-1 (ros::time-now)) + (setq tm-diff (send (ros::time- tm-1 tm-0) :to-sec)) + (ros::ros-info "time for duration ~A" tm-diff) + (assert (> tm-diff 3) (format nil "start-time is ignored. Traj finishes at ~A" tm-diff)) + (assert (< tm-diff 6) (format nil "start-time is considered multiple times. Traj finishes at ~A" tm-diff)) + (send *ri* :angle-vector (send *sciurus17* :init-pose) 1000 nil 3 :start-offset-time 0) + (setq tm-0 (ros::time-now)) + (send *ri* :wait-interpolation) + (setq tm-1 (ros::time-now)) + (setq tm-diff (send (ros::time- tm-1 tm-0) :to-sec)) + (ros::ros-info "time for duration ~A" tm-diff) + (assert (< tm-diff 6) (format nil "start-offset-time cannot overwrite start-time. Traj finishes at ~A" tm-diff)) + )) + +(deftest test-sciurus17-moveit-angle-vector-sequence-start-time () + (let (avs tm-0 tm-1 tm-diff) + (send *ri* :angle-vector (send *sciurus17* :init-pose)) + (send *ri* :wait-interpolation) + (push (send *sciurus17* :rarm :move-end-pos #f(10 0 0) :world) avs) + (push (send *sciurus17* :rarm :move-end-pos #f(10 0 0) :world) avs) + (setq avs (reverse avs)) + (send *ri* :angle-vector-sequence avs 1000 nil 3) + (setq tm-0 (ros::time-now)) + (send *ri* :wait-interpolation) + (setq tm-1 (ros::time-now)) + (setq tm-diff (send (ros::time- tm-1 tm-0) :to-sec)) + (ros::ros-info "time for duration ~A" tm-diff) + (assert (> tm-diff 3) (format nil "start-time is ignored. Traj finishes at ~A" tm-diff)) + (assert (< tm-diff 8) (format nil "start-time is considered multiple times. Traj finishes at ~A" tm-diff)) + (send *ri* :angle-vector-sequence avs 1000 nil 3 :start-offset-time 0) + (setq tm-0 (ros::time-now)) + (send *ri* :wait-interpolation) + (setq tm-1 (ros::time-now)) + (setq tm-diff (send (ros::time- tm-1 tm-0) :to-sec)) + (ros::ros-info "time for duration ~A" tm-diff) + (assert (< tm-diff 6) (format nil "start-offset-time cannot overwrite start-time. Traj finishes at ~A" tm-diff)) + )) + +(run-all-tests) +(exit) diff --git a/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17-robot.test b/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17-robot.test new file mode 100644 index 0000000000..4a03b6b614 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17-robot.test @@ -0,0 +1,8 @@ + + + + + diff --git a/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17.l b/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17.l new file mode 100755 index 0000000000..4593634a60 --- /dev/null +++ b/jsk_sciurus17_robot/sciurus17eus/test/test-sciurus17.l @@ -0,0 +1,111 @@ +#!/usr/bin/env roseus +;;; +;;; test code for sciurus17 +;;; + +(require :unittest "lib/llib/unittest.l") +(init-unit-test) + +(load "package://sciurus17eus/sciurus17-utils.l") + +(deftest test-sciurus17-robot-model + (setq *sciurus17* (instance sciurus17-robot :init)) + (assert *sciurus17* "creating sciurus17 model") + (assert (derivedp *sciurus17* cascaded-link) + "sciurus17 model is cascaded-link") + ) + +(deftest test-sciurus17-links + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (let ((links (send *sciurus17* :links))) + (assert links "sciurus17 has links") + (assert (> (length links) 0) "sciurus17 has at least one link") + (format t "sciurus17 has ~A links~%" (length links)) + )) + +(deftest test-sciurus17-joints + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (let ((joints (send *sciurus17* :joint-list))) + (assert joints "sciurus17 has joints") + (assert (> (length joints) 0) "sciurus17 has at least one joint") + (format t "sciurus17 has ~A joints~%" (length joints)) + )) + +(deftest test-sciurus17-arms + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (assert (send *sciurus17* :larm) "sciurus17 has left arm") + (assert (send *sciurus17* :rarm) "sciurus17 has right arm") + (assert (> (length (send *sciurus17* :larm :joint-list)) 0) + "left arm has joints") + (assert (> (length (send *sciurus17* :rarm :joint-list)) 0) + "right arm has joints") + (format t "left arm has ~A joints~%" (length (send *sciurus17* :larm :joint-list))) + (format t "right arm has ~A joints~%" (length (send *sciurus17* :rarm :joint-list))) + ) + +(deftest test-sciurus17-head + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (assert (send *sciurus17* :head) "sciurus17 has head") + (assert (> (length (send *sciurus17* :head :joint-list)) 0) + "head has joints") + (format t "head has ~A joints~%" (length (send *sciurus17* :head :joint-list))) + ) + +(deftest test-sciurus17-torso + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (assert (send *sciurus17* :torso) "sciurus17 has torso") + (assert (> (length (send *sciurus17* :torso :joint-list)) 0) + "torso has joints") + (format t "torso has ~A joints~%" (length (send *sciurus17* :torso :joint-list))) + ) + +(deftest test-sciurus17-reset-pose + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (send *sciurus17* :reset-pose) + (assert t "reset-pose works") + ) + +(deftest test-sciurus17-angle-vector + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (let ((av (send *sciurus17* :angle-vector))) + (assert av "angle-vector returns value") + (assert (vectorp av) "angle-vector returns vector") + (assert (= (length av) (length (send *sciurus17* :joint-list))) + "angle-vector length matches joint count") + )) + +(deftest test-sciurus17-inverse-kinematics-rarm + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (send *sciurus17* :reset-pose) + (let* ((target-coords (send (send *sciurus17* :rarm :end-coords) :copy-worldcoords)) + (result (send *sciurus17* :rarm :inverse-kinematics target-coords))) + (assert result "rarm inverse-kinematics succeeds") + )) + +(deftest test-sciurus17-inverse-kinematics-larm + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (send *sciurus17* :reset-pose) + (let* ((target-coords (send (send *sciurus17* :larm :end-coords) :copy-worldcoords)) + (result (send *sciurus17* :larm :inverse-kinematics target-coords))) + (assert result "larm inverse-kinematics succeeds") + )) + +(deftest test-sciurus17-collision-check + (unless (boundp '*sciurus17*) + (setq *sciurus17* (instance sciurus17-robot :init))) + (send *sciurus17* :reset-pose) + ;; just check if collision-check method exists and can be called + (assert (send *sciurus17* :self-collision-check) "self-collision-check method exists") + ) + +(run-all-tests) +(exit)