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tests.py
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import math
def test_upright(robot):
upright_j1 = math.radians(0)
upright_j2 = math.radians(-90)
upright_j3 = math.radians(0)
upright_j4 = math.radians(-90)
upright_j5 = math.radians(-180)
upright_j6 = math.radians(0)
# Test which should move the robo upright
robot.move_j_joints([upright_j1, upright_j2, upright_j3, upright_j4, upright_j5, upright_j6])
# Test to turn the first axis
robot.move_j_pose([math.radians(180), upright_j2, upright_j3, upright_j4, upright_j5, upright_j6])
# Test to turn the second axis
robot.move_j_pose([math.radians(180), math.radians(-180), upright_j3, upright_j4, upright_j5, upright_j6])
robot.move_j_pose([math.radians(180), math.radians(0), upright_j3, upright_j4, upright_j5, upright_j6])
# Test to turn the tool tip
robot.move_j_pose([math.radians(180), math.radians(0), upright_j3, upright_j4, upright_j5, math.radians(180)])
robot.move_j_pose([math.radians(180), math.radians(0), upright_j3, upright_j4, upright_j5, math.radians(0)])
def test_line(robot):
# Test1
pose1 = [-0.195975, -0.24307, 0.150455, -1.460951, -0.986934, 1.547573]
pose4 = [-0.299747, 0.1656, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose1)
robot.move_j_pose(pose4)
def test_box(robot):
# Test to move robo to a given position in the given time (seconds)
# robot.move_j_pose([0.21, -0.18, 0.50, 1.57, 0.3, 0.01], velocity=0.5, acceleration=0.2)
# Test1
pose1 = [-0.195975, -0.24307, 0.150455, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose1)
pose4 = [-0.299747, 0.1656, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose4)
# Test2
pose1 = [-0.195975, -0.24307, 0.150455, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose1)
pose2 = [-0.299747, -0.24307, 0.150455, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose2)
pose3 = [-0.299747, 0.1656, 0.150455, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose3)
pose4 = [-0.195975, 0.1656, 0.150455, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose4)
pose5 = [-0.195975, -0.24307, 0.150455, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose5)
pose1 = [-0.195975, -0.24307, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose1)
pose2 = [-0.299747, -0.24307, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose2)
pose3 = [-0.299747, 0.1656, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose3)
pose4 = [-0.195975, 0.1656, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose4)
pose5 = [-0.195975, -0.24307, 0.343826, -1.460951, -0.986934, 1.547573]
robot.move_j_pose(pose5)