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[WIP] Enable hrpsys collision detection. #238

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[WIP] Enable hrpsys collision detection. #238

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2 changes: 1 addition & 1 deletion nextage_ros_bridge/src/nextage_ros_bridge/nextage_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -322,7 +322,7 @@ def getRTCList(self):
['sh', "StateHolder"],
['fk', "ForwardKinematics"],
['el', "SoftErrorLimiter"],
# ['co', "CollisionDetector"],
['co', "CollisionDetector"],
# ['sc', "ServoController"],
['log', "DataLogger"]
]
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14 changes: 14 additions & 0 deletions nextage_ros_bridge/test/test_nxopen.py
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Original file line number Diff line number Diff line change
Expand Up @@ -95,6 +95,20 @@ def test_set_targetpose_relative_dz(self):
self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
assert(self._set_relative(dz=0.0001))

def test_hrpsys_collisiondetection(self):
'''
Passing the pose that left arm collides into the right arm, so
this test succeeds when the command fails (, which is hopefully due
to CollisionDetector of hrpsys.
Image: https://drive.google.com/file/d/0Bw_hbVS3wTLyc1FHclFxbkcydTA/view?usp=sharing
'''
_dx_collision = -0.1
_dy_collision = -0.4
self._robot.goInitial(_GOINITIAL_TIME_MIDSPEED)
result = self._robot.setTargetPoseRelative(
_ARMGROUP_TESTED, _LINK_TESTED, _dx_collision, _dy_collision, tm=3.0)
self.assertFalse(result)

if __name__ == '__main__':
import rostest
rostest.rosrun(_PKG, 'test_nxopen', TestNextageopen)