From 2e93e6b1660d6bd4daee27b8fe9cfa415ffaeb0f Mon Sep 17 00:00:00 2001 From: Philipp Date: Mon, 3 Jun 2024 17:08:37 +0200 Subject: [PATCH] adding back the logger test class - after there has been a problem with setting up the test class, the form was updated --- examples/g_code_logger_dem.py | 2 +- .../g_codes/g_code_logger_joint_positions.txt | 352 +++++++++--------- examples/g_codes/g_code_logger_robot_view.txt | 352 +++++++++--------- src/pybullet_industrial/g_code_logger.py | 13 +- tests/test_g_code_logger.py | 147 ++++++++ 5 files changed, 510 insertions(+), 356 deletions(-) create mode 100644 tests/test_g_code_logger.py diff --git a/examples/g_code_logger_dem.py b/examples/g_code_logger_dem.py index 0365bf5..2495786 100644 --- a/examples/g_code_logger_dem.py +++ b/examples/g_code_logger_dem.py @@ -102,7 +102,7 @@ def run_g_command(g_code_processor_iterator: pi.GCodeProcessor, working_dir, 'g_codes', 'g_code_logger_joint_positions.txt') g_code_logger.write_g_code( - g_code_logger.g_code_robot_view, robot_view_path) + g_code_logger.g_code_robot_view, robot_view_path, ) g_code_logger.write_g_code( g_code_logger.g_code_joint_position, joint_poisitions_path) diff --git a/examples/g_codes/g_code_logger_joint_positions.txt b/examples/g_codes/g_code_logger_joint_positions.txt index 157176b..79de930 100644 --- a/examples/g_codes/g_code_logger_joint_positions.txt +++ b/examples/g_codes/g_code_logger_joint_positions.txt @@ -1,176 +1,176 @@ -G1 RA1=0.24497266956475802 RA2=0.11875401542985865 RA3=-1.8809423568056562 RA4=-3.14159265358 RA5=-1.1420147515744512 RA6=0.2449502016092228 -G1 RA1=0.24497266958182318 RA2=0.1187623076267072 RA3=-1.88094235680345 RA5=-1.1420589204591798 RA6=0.24495020269607853 -G1 RA2=0.11876230762671285 RA5=-1.1420589204592093 -G1 RA1=0.24498582624817364 RA2=0.1187495636113982 RA3=-1.8809413128222452 RA5=-1.1420395792893498 RA6=0.2450086903048351 -G1 RA1=0.2407809988685064 RA2=0.1142155221442738 RA3=-1.8790527692851071 RA4=-3.107674178952319 RA5=-1.1410043097835043 RA6=0.22682621177118378 -G1 RA1=0.23651940158924634 RA2=0.10985551941223191 RA3=-1.8771576431363182 RA4=-3.0733394934546987 RA5=-1.1405324785454336 RA6=0.20854488668529753 -G1 RA1=0.23225725131636019 RA2=0.10565451657844742 RA3=-1.8752800609158369 RA4=-3.0389308215383117 RA5=-1.1405579241066395 RA6=0.19041398991042793 -G1 RA1=0.22799952712660843 RA2=0.10161495468146886 RA3=-1.8734233757195873 RA4=-3.004472573860054 RA5=-1.1411009276539386 RA6=0.17245864678874145 -G1 RA1=0.2237508070250738 RA2=0.09773108533884785 RA3=-1.8715904093661413 RA4=-2.969982685912362 RA5=-1.142136627807536 RA6=0.15469922260445473 -G1 RA1=0.2195157018376994 RA2=0.09399976721372907 RA3=-1.8697839964805487 RA4=-2.935479594829957 RA5=-1.1436541452541051 RA6=0.13715591953945236 -G1 RA1=0.2152988338436257 RA2=0.0904178287268861 RA3=-1.8680067698366423 RA4=-2.9009808581671366 RA5=-1.1456419632966366 RA6=0.11984802536050466 -G1 RA1=0.21110482890574986 RA2=0.08698203951351612 RA3=-1.8662612050544887 RA4=-2.866503068251733 RA5=-1.1480879364715817 RA6=0.10279383063368898 -G1 RA1=0.2069383096201002 RA2=0.08368911721916075 RA3=-1.8645496151650025 RA4=-2.832061786184815 RA5=-1.1509793453735038 RA6=0.08601056719309357 -G1 RA1=0.20280388847296069 RA2=0.0805357344609623 RA3=-1.862874145153311 RA4=-2.797671488630156 RA5=-1.154302953376878 RA6=0.06951435922944059 -G1 RA1=0.19869139192050875 RA2=0.07751186960847549 RA3=-1.861257173399351 RA4=-2.763291649230559 RA5=-1.158033009216723 RA6=0.05324796585904303 -G1 RA1=0.19463532114001625 RA2=0.07462700120172348 RA3=-1.8596610568115213 RA4=-2.7290425663496256 RA5=-1.162178950990157 RA6=0.03737000220363035 -G1 RA1=0.19062514227198962 RA2=0.07187159753691669 RA3=-1.8581061733111846 RA4=-2.6948813498595126 RA5=-1.166715067140832 RA6=0.021820900325552412 -G1 RA1=0.1866653063601828 RA2=0.06924213078075118 RA3=-1.8565941055519022 RA4=-2.6608176587936785 RA5=-1.171626511752639 RA6=0.006611848418718775 -G1 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RA5=-1.215231403642337 RA6=-0.08961548015445067 -G1 RA1=0.15732058802289653 RA2=0.05232348322899401 RA3=-1.8461470007729948 RA4=-2.3926144207649154 RA5=-1.2225974452800852 RA6=-0.10182827552126121 -G1 RA1=0.15400665524990761 RA2=0.05067250041764355 RA3=-1.8450527525341385 RA4=-2.35968643335395 RA5=-1.2302014349784252 RA6=-0.11364749114175451 -G1 RA1=0.15078451715527924 RA2=0.04911331529123391 RA3=-1.844004941537835 RA4=-2.32689489750983 RA5=-1.238028331436282 RA6=-0.12507191147942054 -G1 RA1=0.14766475395174178 RA2=0.04765178520766757 RA3=-1.8429755765918263 RA4=-2.2942772218648613 RA5=-1.2460740055313033 RA6=-0.1360469819574873 -G1 RA1=0.14463657466180035 RA2=0.04626663700186812 RA3=-1.8420180995021194 RA4=-2.2617533876519627 RA5=-1.2543019591767748 RA6=-0.146682460903184 -G1 RA1=0.14171083577527985 RA2=0.04496338164111377 RA3=-1.8411047351312175 RA4=-2.2293603054851325 RA5=-1.2627085153018414 RA6=-0.15692422950195786 -G1 RA1=0.13889089408183214 RA2=0.04373910500444377 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RA1=0.12236636764788979 RA2=0.037131597010624885 RA3=-1.835173309756006 RA4=-1.974469836328773 RA5=-1.3347364253791596 RA6=-0.22495212699098155 -G1 RA1=0.12049710836627434 RA2=0.03643455054072617 RA3=-1.8345711205238364 RA4=-1.9430663672079311 RA5=-1.3441395268972487 RA6=-0.23177002573923144 -G1 RA1=0.11875766773813354 RA2=0.035791442591774095 RA3=-1.8339909256993203 RA4=-1.911745673650442 RA5=-1.353589979052745 RA6=-0.238228110825684 -G1 RA1=0.11715000561940049 RA2=0.03519989041837528 RA3=-1.83342955475628 RA4=-1.8805015813948112 RA5=-1.3630760699887396 RA6=-0.2443315180418321 -G1 RA1=0.11567593164582686 RA2=0.034657601958650586 RA3=-1.8328836680354479 RA4=-1.8493278293979412 RA5=-1.372586347147862 RA6=-0.2500855807731606 -G1 RA1=0.11433710351825996 RA2=0.03416237836903644 RA3=-1.8323497603340422 RA4=-1.818218102561102 RA5=-1.3821096141541007 RA6=-0.2554958116854684 -G1 RA1=0.113135025462166 RA2=0.03371211641238826 RA3=-1.831824164717897 RA4=-1.7871660625469559 RA5=-1.3916349273518098 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RA5=-1.414548184091293 RA6=-0.200410203594256 +G1 RA1=0.096292087825479 RA2=0.416556787744072 RA3=-1.392215068629446 RA4=-1.857402158133954 RA5=-1.40837374137964 RA6=-0.199188664574183 +G1 RA1=0.097415771442072 RA2=0.409683280036533 RA3=-1.401741036613128 RA4=-1.879074048729554 RA5=-1.402131198947191 RA6=-0.197756687089803 +G1 RA1=0.098600832493184 RA2=0.402879270357151 RA3=-1.411172699006026 RA4=-1.90075784720482 RA5=-1.395831832192881 RA6=-0.196100738491458 +G1 RA1=0.099848747801863 RA2=0.396097627843388 RA3=-1.420585711016674 RA4=-1.922448160452515 RA5=-1.389457023715924 RA6=-0.194245972126746 +G1 RA1=0.101158865668183 RA2=0.389362496190781 RA3=-1.429946215175516 RA4=-1.94415441858444 RA5=-1.383027259362364 RA6=-0.192174269159149 +G1 RA1=0.102531181848894 RA2=0.382674302043998 RA3=-1.439256005424227 RA4=-1.965879581443216 RA5=-1.376548917032503 RA6=-0.189882403213848 +G1 RA1=0.103965667266765 RA2=0.376033108120881 RA3=-1.448517453264673 RA4=-1.987626471871406 RA5=-1.370028174483788 RA6=-0.187367566921975 +G1 RA1=0.105462313884601 RA2=0.369440597673444 RA3=-1.457732847455228 RA4=-2.009403683030275 RA5=-1.363476409207624 RA6=-0.184624633786305 +G1 RA1=0.107020927547641 RA2=0.362893799195274 RA3=-1.466904332361578 RA4=-2.031202461569144 RA5=-1.356889518998552 RA6=-0.181655739028273 +G1 RA1=0.108641436891666 RA2=0.356394503207393 RA3=-1.476034122371759 RA4=-2.053031582168358 RA5=-1.350279070530467 RA6=-0.17845590293899 +G1 RA1=0.110323687565094 RA2=0.349943037405806 RA3=-1.485124186212568 RA4=-2.074893967111956 RA5=-1.343651496202024 RA6=-0.175022572757914 +G1 RA1=0.112067493603458 RA2=0.343539751258269 RA3=-1.494176461493046 RA4=-2.096792520874317 RA5=-1.337013269830652 RA6=-0.171353303975243 +G1 RA1=0.113872707104124 RA2=0.337186753346648 RA3=-1.503192805893077 RA4=-2.118736488049544 RA5=-1.330376896329933 RA6=-0.167442976843243 +G1 RA1=0.115736880316188 RA2=0.330906175495245 RA3=-1.512141310019063 RA4=-2.140715849031007 RA5=-1.323756947635581 RA6=-0.163292222130421 +G1 RA1=0.117663804712052 RA2=0.324649519345008 RA3=-1.521091970737827 RA4=-2.162739310072831 RA5=-1.317126070283214 RA6=-0.158902587232352 +G1 RA1=0.11965121359002 RA2=0.318442523368851 RA3=-1.530012470644697 RA4=-2.184810091852885 RA5=-1.310510726064256 RA6=-0.154268499400517 +G1 RA1=0.121698755104553 RA2=0.312286243402493 RA3=-1.538903651544442 RA4=-2.206931148553958 RA5=-1.303918089232179 RA6=-0.149387640375843 +G1 RA1=0.123806048755947 RA2=0.306181327298643 RA3=-1.547766985443652 RA4=-2.229105153191446 RA5=-1.297355048350899 RA6=-0.144258161291809 +G1 RA1=0.125972768178539 RA2=0.30013028443441 RA3=-1.556603891436543 RA4=-2.251341445428072 RA5=-1.290835454033222 RA6=-0.138875264033609 +G1 RA1=0.128198293280725 RA2=0.294130172338627 RA3=-1.565415634782676 RA4=-2.273628788140144 RA5=-1.284352426751846 RA6=-0.133243583807346 +G1 RA1=0.130482231234914 RA2=0.28818353457239 RA3=-1.574203678152843 RA4=-2.295976499269321 RA5=-1.277919995752838 RA6=-0.127358623633562 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RA1=0.150788483689853 RA2=0.242642983652518 RA3=-1.643785359053817 RA4=-2.47717616100658 RA5=-1.229161639051167 RA6=-0.071042533104624 +G1 RA1=0.153571213045953 RA2=0.23721835489659 RA3=-1.652407033339011 RA4=-2.500148727557186 RA5=-1.223513433805063 RA6=-0.06284362212148 +G1 RA1=0.156405779635841 RA2=0.231856818762062 RA3=-1.661014460528192 RA4=-2.523196090313107 RA5=-1.217989770073582 RA6=-0.054387870858486 +G1 RA1=0.159291451991414 RA2=0.226561634004206 RA3=-1.669608287284865 RA4=-2.546325122040433 RA5=-1.212607765712697 RA6=-0.045672918470827 +G1 RA1=0.162227161359256 RA2=0.22132966612394 RA3=-1.678189027885677 RA4=-2.569521850036695 RA5=-1.20735581654071 RA6=-0.036706976857949 +G1 RA1=0.16521211233872 RA2=0.216164196852158 RA3=-1.686757389802739 RA4=-2.592792830697419 RA5=-1.202251142025975 RA6=-0.027488243504254 +G1 RA1=0.168245383787703 RA2=0.211066481280197 RA3=-1.695313783614662 RA4=-2.616137284516419 RA5=-1.197301388629045 RA6=-0.01801864695956 +G1 RA1=0.171326021183609 RA2=0.206037747780008 RA3=-1.703858651467181 RA4=-2.639554044705407 RA5=-1.192514126213187 RA6=-0.008300512784204 +G1 RA1=0.174453040630138 RA2=0.201079247113586 RA3=-1.712392387951004 RA4=-2.663041580422885 RA5=-1.187896891314355 RA6=0.001663474515697 +G1 RA1=0.177625429368545 RA2=0.196192252412297 RA3=-1.720915339562303 RA4=-2.686597984249867 RA5=-1.18345717583282 RA6=0.011870260978821 +G1 RA1=0.180842146281267 RA2=0.191378058393333 RA3=-1.729427805344115 RA4=-2.710220960313246 RA5=-1.179202414256382 RA6=0.022316413089257 +G1 RA1=0.184102209068552 RA2=0.186640239987988 RA3=-1.737930037570523 RA4=-2.733913321697537 RA5=-1.175151000330846 RA6=0.033000992242736 +G1 RA1=0.187404346169959 RA2=0.181975582356605 RA3=-1.746422173987121 RA4=-2.757660551569229 RA5=-1.171287937632117 RA6=0.043913839992952 +G1 RA1=0.190747518962934 RA2=0.17738768687617 RA3=-1.754904515361997 RA4=-2.781465015934094 RA5=-1.16763159425254 RA6=0.055053355351022 +G1 RA1=0.194130583000473 RA2=0.172877972555033 RA3=-1.763377106205746 RA4=-2.805322808407681 RA5=-1.164189089333309 RA6=0.066414555950692 +G1 RA1=0.197552363978873 RA2=0.168447831152181 RA3=-1.771840016773175 RA4=-2.829229566025274 RA5=-1.160967358743941 RA6=0.07799201009571 +G1 RA1=0.201011662805709 RA2=0.164098670954574 RA3=-1.780293274327276 RA4=-2.853180499563758 RA5=-1.157973192057508 RA6=0.089779878001211 +G1 RA1=0.20450725635668 RA2=0.159831916709491 RA3=-1.78873686271658 RA4=-2.877170394844711 RA5=-1.155213217287971 RA6=0.101771914590538 +G1 RA1=0.208037962404171 RA2=0.155651559948272 RA3=-1.797170722834794 RA4=-2.901197597379075 RA5=-1.152707063376714 RA6=0.113963604622272 +G1 RA1=0.211602379820335 RA2=0.151553913986252 RA3=-1.805594691262075 RA4=-2.925247634784235 RA5=-1.150434332934732 RA6=0.126343422210488 +G1 RA1=0.215199281841838 RA2=0.14754299919648 RA3=-1.814008751049016 RA4=-2.949318480875973 RA5=-1.14841449454113 RA6=0.138906277691901 +G1 RA1=0.218827360892978 RA2=0.143620343070928 RA3=-1.822412652128848 RA4=-2.973403304558324 RA5=-1.146653423325526 RA6=0.15164440752236 +G1 RA1=0.222485285195027 RA2=0.139787443709348 RA3=-1.830806166966813 RA4=-2.997494868747124 RA5=-1.145156701198826 RA6=0.164549661579007 +G1 RA1=0.22617170368186 RA2=0.136045811521258 RA3=-1.839189027684956 RA4=-3.021585570041116 RA5=-1.143929653744741 RA6=0.177613550599841 +G1 RA1=0.229885246929045 RA2=0.132396969119591 RA3=-1.847560925711253 RA4=-3.045667457988086 RA5=-1.142977336361827 RA6=0.190827266673997 +G1 RA1=0.233624528069824 RA2=0.128842450758277 RA3=-1.855921512081748 RA4=-3.069732256699095 RA5=-1.142304520581658 RA6=0.204181706004522 +G1 RA1=0.237388143768705 RA2=0.125383801759181 RA3=-1.864270397753163 RA4=-3.093771388976514 RA5=-1.141915681192551 RA6=0.217667494194972 +G1 RA1=0.241174675159616 RA2=0.122022577955033 RA3=-1.872607153890842 RA4=-3.117776002543748 RA5=-1.14181498432681 RA6=0.231275013568937 +G1 RA1=0.244982688983104 RA2=0.118763069457143 RA3=-1.88093131215734 RA4=-3.14159265358 RA5=-1.142020787949005 RA6=0.244994436285743 diff --git a/examples/g_codes/g_code_logger_robot_view.txt b/examples/g_codes/g_code_logger_robot_view.txt index 1bc1069..7d454ea 100644 --- a/examples/g_codes/g_code_logger_robot_view.txt +++ b/examples/g_codes/g_code_logger_robot_view.txt @@ -1,176 +1,176 @@ -G1 X4.000012844955127 Y-6.000009525250678 Z1.499996011167368 A-1.570621383874621 B0.00011493373658406066 C2.2466438921712582e-05 -G1 X4.0000036571777855 Y-6.000011822100228 Z1.499982732536868 A-1.5706341061071334 B0.000165828821332316 C2.2463583130813407e-05 -G1 X4.00000365717778 Y-6.000011822100229 Z1.4999827325368578 A-1.5706341061071432 B0.00016582882137049305 C2.2463583130673043e-05 -G1 X3.999998610754486 Y-5.999985125769192 Z1.5000046840476422 A-1.5706260798377585 B0.00013368662561697283 C-2.286615654360928e-05 -G1 X3.999988486570375 Y-5.9999618992062915 Z1.5101956484636925 A-1.5388522300959167 B3.6320780687238255e-05 C-6.610764905746299e-05 -G1 X3.9999898791541244 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100644 --- a/src/pybullet_industrial/g_code_logger.py +++ b/src/pybullet_industrial/g_code_logger.py @@ -21,7 +21,9 @@ def __init__(self, robot: RobotBase): self.g_code_joint_position = [] @staticmethod - def write_g_code(g_code: list, textfile: str, prefix: str = None, + def write_g_code(g_code: list, textfile: str, + translate: dict = {'M11': '%@example_call'}, + prefix: str = None, postfix: str = None): """ Write the given G-code commands to a text file, with optional prefix and postfix. @@ -29,6 +31,7 @@ def write_g_code(g_code: list, textfile: str, prefix: str = None, Args: g_code (list): List of dictionaries representing G-code commands. textfile (str): Path to the text file where G-code will be written. + translate (dict, optional): Dictionary for translating specific commands. prefix (str, optional): String to be written at the beginning of the file. Defaults to None. postfix (str, optional): String to be written at the end of the file. Defaults to None. """ @@ -58,8 +61,12 @@ def format_value(value): # Write keys that are not in the specified order for key in command: if key not in order: - formatted_value = format_value(command[key]) - line_items.append(f'{key}{formatted_value}') + check_translate = key + str(command[key]) + if check_translate in translate: + line_items.append(translate[check_translate]) + else: + formatted_value = format_value(command[key]) + line_items.append(f'{key}{formatted_value}') file.write(' '.join(line_items) + '\n') diff --git a/tests/test_g_code_logger.py b/tests/test_g_code_logger.py new file mode 100644 index 0000000..25e92c3 --- /dev/null +++ b/tests/test_g_code_logger.py @@ -0,0 +1,147 @@ +import os +import unittest +import pybullet_industrial as pi +import pybullet as p +import pybullet_data +import numpy as np +import tempfile + + +def run_simulation(iterator: pi.GCodeProcessor): + for _ in iterator: + for _ in range(200): + p.stepSimulation() + + +def round_float_values(g_code, decimals): + rounded_list = [] + for item in g_code: + rounded_item = {key: round(value, decimals) if isinstance( + value, float) else value for key, value in item.items()} + rounded_list.append(rounded_item) + return rounded_list + + +class Test_GCodeLogger(unittest.TestCase): + + def test_write_g_code(self): + # Create Test Object using the robot object created in setUpClass + dirname = os.path.dirname(__file__) + parentDir = os.path.dirname(dirname) + start_orientation = p.getQuaternionFromEuler([0, 0, 0]) + urdf_robot = os.path.join( + parentDir, 'examples', 'robot_descriptions', + 'comau_nj290_robot.urdf') + start_pos = np.array([2.0, -6.5, 0]) + robot = pi.RobotBase(urdf_robot, start_pos, start_orientation) + g_code_logger = pi.GCodeLogger(robot) + # Sample G-code commands + g_code = [ + {'G': 0, 'X': 10, 'Y': 20, 'Z': 30, 'A': 0, 'B': 0, 'C': 0}, + {'G': 1, 'X': 15, 'Y': 25, 'Z': 35, 'A': 0, 'B': 0, 'C': 0}, + {'G': 1, 'RA1': 0.5, 'RA2': 1.2, 'RA3': 0.8, + 'RA4': 1.5, 'RA5': 1.0, 'RA6': 1.8}, + {'T': 2, 'M': 5} + ] + # Create a temporary text file + with tempfile.NamedTemporaryFile(mode='w', delete=False) as temp_file: + temp_file_path = temp_file.name + # Write G-code to the temporary text file + g_code_logger.write_g_code(g_code, temp_file_path) + # Check if the file was created and contains the expected content + self.assertTrue(os.path.isfile(temp_file_path)) + with open(temp_file_path, 'r') as file: + written_content = file.readlines() + expected_content = [ + 'G0 X10 Y20 Z30 A0 B0 C0\n', + 'G1 X15 Y25 Z35 A0 B0 C0\n', + 'G1 RA1=0.5 RA2=1.2 RA3=0.8 RA4=1.5 RA5=1 RA6=1.8\n', + 'T2 M5\n' + ] + self.assertEqual(written_content, expected_content) + # Delete the temporary file + os.remove(temp_file_path) + + def test_uppdate_g_code(self): + dirname = os.path.dirname(__file__) + parentDir = os.path.dirname(dirname) + start_orientation = p.getQuaternionFromEuler([0, 0, 0]) + urdf_robot = os.path.join( + parentDir, 'examples', 'robot_descriptions', + 'comau_nj290_robot.urdf') + # urdf_fofa = os.path.join( + # parentDir, 'examples', 'Objects', 'FoFa', 'FoFa.urdf') + # Setting up the simulation + start_pos = np.array([2.0, -6.5, 0]) + # p.connect(p.GUI, options='--background_color_red=1 ' + + # '--background_color_green=1 ' + + # '--background_color_blue=1') + p.connect(p.DIRECT) + # p.resetDebugVisualizerCamera( + # cameraDistance=2.0, cameraYaw=50.0, + # cameraPitch=-30, + # cameraTargetPosition=np.array([1.9, 0, 1]) + start_pos) + p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0) + p.setPhysicsEngineParameter(numSolverIterations=5000) + p.setAdditionalSearchPath(pybullet_data.getDataPath()) + p.setGravity(0, 0, -10) + # p.loadURDF(urdf_fofa, useFixedBase=True, globalScaling=0.001) + # Setting up robot position + robot = pi.RobotBase(urdf_robot, start_pos, start_orientation) + robot.set_joint_position( + {'q2': np.deg2rad(-15.0), 'q3': np.deg2rad(-90.0)}) + for _ in range(100): + p.stepSimulation() + new_point = robot.get_endeffector_pose()[0] + robot.set_endeffector_pose( + new_point, p.getQuaternionFromEuler([0, 0, 0])) + for _ in range(100): + p.stepSimulation() + + # Create test objects using the robot object created in setUpClass + g_code_logger = pi.GCodeLogger(robot) + g_code_processor = pi.GCodeProcessor( + robot=robot) + g_code_iterator = iter(g_code_processor) + # Test G-Code robot view + input_g_code = [ + {'G': 1, 'X': 4.0, 'Y': -5.5, 'Z': 1.8, + 'A': -1.57, 'B': 0.0, 'C': 0.0}, + {'G': 1, 'X': 4.5, 'Y': -6.0, 'Z': 1.5, + 'A': -0.79, 'B': 0.0, 'C': 0.0}, + ] + # Run first entry + g_code_processor.g_code = [input_g_code[0]] + run_simulation(g_code_iterator) + g_code_logger.update_g_code_robot_view() + # Run second entry + g_code_processor.g_code = [input_g_code[1]] + run_simulation(g_code_iterator) + g_code_logger.update_g_code_robot_view() + # Compare G-Codes + output_g_code_robot_view = round_float_values( + g_code_logger.g_code_robot_view, 2) + self.assertEqual(input_g_code, output_g_code_robot_view) + # Test G-Code joint position + input_g_code = [ + {'G': 1, 'RA1': 0.46, 'RA2': 0.24, 'RA3': -1.55, + 'RA4': -3.14, 'RA5': -1.36, 'RA6': 0.46}, + {'G': 1, 'RA1': 0.12, 'RA2': 0.57, 'RA3': -1.38, + 'RA4': -2.3, 'RA5': -1.22, 'RA6': -0.19} + ] + # Run first entry + g_code_processor.g_code = [input_g_code[0]] + run_simulation(g_code_iterator) + g_code_logger.update_g_code_joint_position() + # Run second entry + g_code_processor.g_code = [input_g_code[1]] + run_simulation(g_code_iterator) + g_code_logger.update_g_code_joint_position() + # Compare G-Codes + output_g_code_joint_position = round_float_values( + g_code_logger.g_code_joint_position, 2) + self.assertEqual(input_g_code, output_g_code_joint_position) + + +if __name__ == '__main__': + unittest.main()