Commit 8e662b06 authored by Mathias Haage's avatar Mathias Haage
Browse files

Add Ingmar test cases

parent b0920b27

catkin_ws/src/gbs/scripts/test/test1_failing.sh

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#!/bin/sh

rosservice call /gbs_ptpmove "{p: {j1: 19180.972656, j2: -2045.246704, j3: 1268.790039, j4: 90.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_naillinmove "{id: 1.000000, bstop: 0.000000, s: 1.000000, ac: 1.000000, p1: {pos: {x: 19.180973, y: 2.045247, z: 0.568310}, ori: {c: 0.000000, b: 3.141593, a: -0.000000}}, p2: {pos: {x: 19.180973, y: 4.545247, z: 0.668310}, ori: {c: 0.000000, b: 3.141593, a: -0.000000}}}"

rosservice call /gbs_ptpmove "{p: {j1: 19070.246094, j2: -5044.027344, j3: 1268.790039, j4: 180.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.070248, y: 5.044027, z: 0.568310}, ori: {c: 1.570796, b: -0.000000, a: 3.141593}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_readflange

catkin_ws/src/gbs/scripts/test/test1_working.sh

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#!/bin/sh

rosservice call /gbs_ptpmove "{p: {j1: 19180.972656, j2: -2045.246704, j3: 1268.790039, j4: 90.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.180973, y: 2.045247, z: 0.568310}, ori: {c: 0.000000, b: 3.141593, a: -0.000000}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.180973, y: 4.545247, z: 0.668310}, ori: {c: 0.000000, b: 3.141593, a: -0.000000}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_ptpmove "{p: {j1: 19070.246094, j2: -5044.027344, j3: 1268.790039, j4: 180.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.070248, y: 5.044027, z: 0.568310}, ori: {c: 1.570796, b: -0.000000, a: 3.141593}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_readflange

catkin_ws/src/gbs/scripts/test/test2_failing.sh

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#!/bin/sh

rosservice call /gbs_ptpmove "{p: {j1: 19070.246094, j2: -5044.027344, j3: 1268.790039, j4: 180.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.070248, y: 5.044027, z: 0.568310}, ori: {c: 1.573268, b: -0.000000, a: 3.141593}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_jointpose

rosservice call /gbs_readflange

catkin_ws/src/gbs/scripts/test/test2_working.sh

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#!/bin/sh

rosservice call /gbs_ptpmove "{p: {j1: 19010.246094, j2: -5044.027344, j3: 1268.790039, j4: 175.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.070248, y: 5.044027, z: 0.568310}, ori: {c: 1.573268, b: -0.000000, a: 3.141593}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_jointpose

rosservice call /gbs_readflange

catkin_ws/src/gbs/scripts/test/test3.sh

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#!/bin/sh

rosservice call /gbs_ptpmove "{p: {j1: 19010.246094, j2: -5044.027344, j3: 1268.790039, j4: 180.000000, j5: 0.000000, j6: 90.000000}, s: 1.000000, ac: 1.000000}"

#rosservice call /gbs_linmove "{p: {pos: {x: 19.070248, y: 5.044027, z: 0.568310}, ori: {c: 1.573268, b: -0.000000, a: 3.141593}}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_linmove "{p: {pos: {x: 19.070248, y: 5.044027, z: 0.568310}, ori: {c: 1.5, b: -0.000000, a: 3.2}, s: 1.000000, ac: 1.000000}"

rosservice call /gbs_jointpose

rosservice call /gbs_readflange