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Integration tests for cubic and quintic splines with dynamics #1801

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Integration tests for cubic and quintic splines with dynamics #1801

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fae832d
tests: add integration tests for cubic and quintic splines with expli…
srvald May 27, 2026
7176a82
fix: Adjust file's format
srvald Jun 18, 2026
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136 changes: 133 additions & 3 deletions ur_robot_driver/test/integration_test_passthrough_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -70,14 +70,33 @@ def generate_test_description(tf_prefix):
"wrist_2_joint": 0.0,
"wrist_3_joint": 0.0,
}
waypts = [[HOME[joint] + i * pi / 4 for joint in ROBOT_JOINTS] for i in [0, -1, 1]]
waypts = [[HOME[joint] + i * pi / 4 for joint in ROBOT_JOINTS] for i in [0.25, 0.5, 1, 0]]
time_vec = [
Duration(sec=4, nanosec=0),
Duration(sec=8, nanosec=0),
Duration(sec=3, nanosec=0),
Duration(sec=6, nanosec=0),
Duration(sec=9, nanosec=0),
Duration(sec=12, nanosec=0),
]
TEST_TRAJECTORY = [(time_vec[i], waypts[i]) for i in range(len(waypts))]

waypts_vel = [
[0.0561 for _ in ROBOT_JOINTS],
[0.1683 for _ in ROBOT_JOINTS],
[-0.1402 for _ in ROBOT_JOINTS],
[0.0 for _ in ROBOT_JOINTS],
]

waypts_acc = [
[-0.0561 for _ in ROBOT_JOINTS],
[0.1309 for _ in ROBOT_JOINTS],
[-0.3366 for _ in ROBOT_JOINTS],
[0.0 for _ in ROBOT_JOINTS],
]

TEST_TRAJECTORY_FULL = [
(time_vec[i], waypts[i], waypts_vel[i], waypts_acc[i]) for i in range(len(waypts))
]


class PassthroughControllerTest(unittest.TestCase):
@classmethod
Expand Down Expand Up @@ -161,6 +180,79 @@ def test_passthrough_trajectory(self, tf_prefix):
)
self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)

def test_cubic_trajectory(self, tf_prefix):
# Full cubic trajectory
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=["passthrough_trajectory_controller"],
deactivate_controllers=["joint_trajectory_controller"],
).ok
)
trajectory = JointTrajectory(
points=[
JointTrajectoryPoint(
positions=pos,
time_from_start=times,
velocities=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
)
for (times, pos) in TEST_TRAJECTORY
],
joint_names=[tf_prefix + joint for joint in ROBOT_JOINTS],
)
goal_time_tolerance = Duration(sec=1, nanosec=0)
goal_tolerance = [
JointTolerance(position=0.01, name=tf_prefix + joint) for joint in ROBOT_JOINTS
]
goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
trajectory=trajectory,
goal_time_tolerance=goal_time_tolerance,
goal_tolerance=goal_tolerance,
)

self.assertTrue(goal_handle.accepted)
if goal_handle.accepted:
result = self._passthrough_forward_joint_trajectory.get_result(
goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
)
self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)

def test_cubic_trajectory_with_velocities(self, tf_prefix):
# Full cubic trajectory with vel and acc
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=["passthrough_trajectory_controller"],
deactivate_controllers=["joint_trajectory_controller"],
).ok
)
trajectory = JointTrajectory(
points=[
JointTrajectoryPoint(
positions=pos,
time_from_start=times,
velocities=vel,
)
for (times, pos, vel, _) in TEST_TRAJECTORY_FULL
],
joint_names=[tf_prefix + joint for joint in ROBOT_JOINTS],
)
goal_time_tolerance = Duration(sec=1, nanosec=0)
goal_tolerance = [
JointTolerance(position=0.01, name=tf_prefix + joint) for joint in ROBOT_JOINTS
]
goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
trajectory=trajectory,
goal_time_tolerance=goal_time_tolerance,
goal_tolerance=goal_tolerance,
)
self.assertTrue(goal_handle.accepted)
if goal_handle.accepted:
result = self._passthrough_forward_joint_trajectory.get_result(
goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
)
self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)

def test_quintic_trajectory(self, tf_prefix):
# Full quintic trajectory
self.assertTrue(
Expand Down Expand Up @@ -199,6 +291,44 @@ def test_quintic_trajectory(self, tf_prefix):
)
self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)

def test_quintic_trajectory_with_velocities(self, tf_prefix):
# Full quintic trajectory with vel and acc
self.assertTrue(
self._controller_manager_interface.switch_controller(
strictness=SwitchController.Request.BEST_EFFORT,
activate_controllers=["passthrough_trajectory_controller"],
deactivate_controllers=["joint_trajectory_controller"],
).ok
)
trajectory = JointTrajectory(
points=[
JointTrajectoryPoint(
positions=pos,
time_from_start=times,
velocities=vel,
accelerations=acc,
)
for (times, pos, vel, acc) in TEST_TRAJECTORY_FULL
],
joint_names=[tf_prefix + joint for joint in ROBOT_JOINTS],
)
goal_time_tolerance = Duration(sec=1, nanosec=0)
goal_tolerance = [
JointTolerance(position=0.01, name=tf_prefix + joint) for joint in ROBOT_JOINTS
]
goal_handle = self._passthrough_forward_joint_trajectory.send_goal(
trajectory=trajectory,
goal_time_tolerance=goal_time_tolerance,
goal_tolerance=goal_tolerance,
)

self.assertTrue(goal_handle.accepted)
if goal_handle.accepted:
result = self._passthrough_forward_joint_trajectory.get_result(
goal_handle, TIMEOUT_EXECUTE_TRAJECTORY
)
self.assertEqual(result.error_code, FollowJointTrajectory.Result.SUCCESSFUL)

def test_impossible_goal_tolerance_fails(self, tf_prefix):
# Test impossible goal tolerance, should fail.
self.assertTrue(
Expand Down
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