`_.
+
+ Parameters
+ ----------
+ Tep
+ The desired end-effector pose
+ end
+ the link considered as the end-effector
+ start
+ the link considered as the base frame, defaults to the robots's base frame
+ q0
+ The initial joint coordinate vector
+ ilimit
+ How many iterations are allowed within a search before a new search
+ is started
+ slimit
+ How many searches are allowed before being deemed unsuccessful
+ tol
+ Maximum allowed residual error E
+ mask
+ A 6 vector which assigns weights to Cartesian degrees-of-freedom
+ error priority
+ joint_limits
+ Reject solutions with joint limit violations
+ seed
+ A seed for the private RNG used to generate random joint coordinate
+ vectors
+ kj
+ A gain for joint velocity norm minimisation
+ ks
+ A gain which adjusts the cost of slack (intentional error)
+ kq
+ The gain for joint limit avoidance. Setting to 0.0 will remove this
+ completely from the solution
+ km
+ The gain for maximisation. Setting to 0.0 will remove this completely
+ from the solution
+ ps
+ The minimum angle/distance (in radians or metres) in which the joint is
+ allowed to approach to its limit
+ pi
+ The influence angle/distance (in radians or metres) in null space motion
+ becomes active
+
+ Raises
+ ------
+ ImportError
+ If the package ``qpsolvers`` is not installed
+
+ Synopsis
+ --------
+ Each iteration uses the following approach
+
+ .. math::
+
+ \vec{q}_{k+1} = \vec{q}_{k} + \dot{\vec{q}}.
+
+ where the QP is defined as
+
+ .. math::
+
+ \min_x \quad f_o(\vec{x}) &= \frac{1}{2} \vec{x}^\top \mathcal{Q} \vec{x}+ \mathcal{C}^\top \vec{x}, \\
+ \text{subject to} \quad \mathcal{J} \vec{x} &= \vec{\nu}, \\
+ \mathcal{A} \vec{x} &\leq \mathcal{B}, \\
+ \vec{x}^- &\leq \vec{x} \leq \vec{x}^+
+
+ with
+
+ .. math::
+
+ \vec{x} &=
+ \begin{pmatrix}
+ \dvec{q} \\ \vec{\delta}
+ \end{pmatrix} \in \mathbb{R}^{(n+6)} \\
+ \mathcal{Q} &=
+ \begin{pmatrix}
+ \lambda_q \mat{1}_{n} & \mathbf{0}_{6 \times 6} \\ \mathbf{0}_{n \times n} & \lambda_\delta \mat{1}_{6}
+ \end{pmatrix} \in \mathbb{R}^{(n+6) \times (n+6)} \\
+ \mathcal{J} &=
+ \begin{pmatrix}
+ \mat{J}(\vec{q}) & \mat{1}_{6}
+ \end{pmatrix} \in \mathbb{R}^{6 \times (n+6)} \\
+ \mathcal{C} &=
+ \begin{pmatrix}
+ \mat{J}_m \\ \bf{0}_{6 \times 1}
+ \end{pmatrix} \in \mathbb{R}^{(n + 6)} \\
+ \mathcal{A} &=
+ \begin{pmatrix}
+ \mat{1}_{n \times n + 6} \\
+ \end{pmatrix} \in \mathbb{R}^{(l + n) \times (n + 6)} \\
+ \mathcal{B} &=
+ \eta
+ \begin{pmatrix}
+ \frac{\rho_0 - \rho_s}
+ {\rho_i - \rho_s} \\
+ \vdots \\
+ \frac{\rho_n - \rho_s}
+ {\rho_i - \rho_s}
+ \end{pmatrix} \in \mathbb{R}^{n} \\
+ \vec{x}^{-, +} &=
+ \begin{pmatrix}
+ \dvec{q}^{-, +} \\
+ \vec{\delta}^{-, +}
+ \end{pmatrix} \in \mathbb{R}^{(n+6)},
+
+ where :math:`\vec{\delta} \in \mathbb{R}^6` is the slack vector,
+ :math:`\lambda_\delta \in \mathbb{R}^+` is a gain term which adjusts the
+ cost of the norm of the slack vector in the optimiser,
+ :math:`\dvec{q}^{-,+}` are the minimum and maximum joint velocities, and
+ :math:`\dvec{\delta}^{-,+}` are the minimum and maximum slack velocities.
+
+ Examples
+ --------
+ The following example gets a ``panda`` robot object, makes a goal
+ pose ``Tep``, and then solves for the joint coordinates which result in the pose
+ ``Tep`` using the `ikine_QP` method.
+
+ .. runblock:: pycon
+ >>> import roboticstoolbox as rtb
+ >>> panda = rtb.models.Panda()
+ >>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
+ >>> panda.ikine_QP(Tep)
+
+ Notes
+ -----
+ When using the this method, the initial joint coordinates :math:`q_0`, should correspond
+ to a non-singular manipulator pose, since it uses the manipulator Jacobian.
+
+ This class supports null-space motion to assist with maximising manipulability and
+ avoiding joint limits. These are enabled by setting kq and km to non-zero values.
+
+ References
+ ----------
+ - J. Haviland, and P. Corke. "Manipulator Differential Kinematics Part I:
+ Kinematics, Velocity, and Applications." arXiv preprint arXiv:2207.01796 (2022).
+ - J. Haviland, and P. Corke. "Manipulator Differential Kinematics Part II:
+ Acceleration and Advanced Applications." arXiv preprint arXiv:2207.01794 (2022).
+
+ See Also
+ --------
+ :py:class:`~roboticstoolbox.robot.IK.IK_NR`
+ An IK Solver class which implements the Newton-Raphson optimisation technique
+ ikine_LM
+ Implements the :py:class:`~roboticstoolbox.robot.IK.IK_LM` class as a method within the :py:class:`ETS` class
+ ikine_GN
+ Implements the :py:class:`~roboticstoolbox.robot.IK.IK_GN` class as a method within the :py:class:`ETS` class
+ ikine_NR
+ Implements the :py:class:`~roboticstoolbox.robot.IK.IK_NR` class as a method within the :py:class:`ETS` class
+
+
+ .. versionchanged:: 1.0.4
+ Added the Quadratic Programming IK solver method on the `Robot` class
+
+ """ # noqa: E501
+
+ return self.ets(start, end).ikine_QP(
+ Tep=Tep,
+ q0=q0,
+ ilimit=ilimit,
+ slimit=slimit,
+ tol=tol,
+ joint_limits=joint_limits,
+ mask=mask,
+ seed=seed,
+ ks=ks,
+ kj=kj,
+ kq=kq,
+ km=km,
+ ps=ps,
+ pi=pi,
+ **kwargs,
+ )
diff --git a/roboticstoolbox/robot/RobotProto.py b/roboticstoolbox/robot/RobotProto.py
new file mode 100644
index 000000000..0f9768c53
--- /dev/null
+++ b/roboticstoolbox/robot/RobotProto.py
@@ -0,0 +1,113 @@
+import numpy as np
+from roboticstoolbox.tools.types import ArrayLike, NDArray
+
+from typing import Any, Callable, Generic, List, Set, TypeVar, Union, Dict, Tuple, Type
+from typing_extensions import Protocol, Self
+
+from roboticstoolbox.robot.Link import Link, BaseLink
+from roboticstoolbox.robot.Gripper import Gripper
+from roboticstoolbox.robot.ETS import ETS
+from spatialmath import SE3
+import roboticstoolbox as rtb
+
+
+class KinematicsProtocol(Protocol):
+ @property
+ def _T(self) -> NDArray:
+ ...
+
+ def ets(
+ self,
+ start: Union[Link, Gripper, str, None] = None,
+ end: Union[Link, Gripper, str, None] = None,
+ ) -> ETS:
+ ...
+
+
+class RobotProto(Protocol):
+ @property
+ def links(self) -> List[BaseLink]:
+ ...
+
+ @property
+ def n(self) -> int:
+ ...
+
+ @property
+ def q(self) -> NDArray:
+ ...
+
+ @property
+ def name(self) -> str:
+ ...
+
+ @name.setter
+ def name(self, new_name: str):
+ ...
+
+ @property
+ def gravity(self) -> NDArray:
+ ...
+
+ def dynchanged(self):
+ ...
+
+ def jacobe(
+ self,
+ q: ArrayLike,
+ end: Union[str, BaseLink, Gripper, None] = None,
+ start: Union[str, BaseLink, Gripper, None] = None,
+ tool: Union[NDArray, SE3, None] = None,
+ ) -> NDArray:
+ ...
+
+ def jacob0(
+ self,
+ q: ArrayLike,
+ end: Union[str, BaseLink, Gripper, None] = None,
+ start: Union[str, BaseLink, Gripper, None] = None,
+ tool: Union[NDArray, SE3, None] = None,
+ ) -> NDArray:
+ ...
+
+ def copy(self) -> Self:
+ ...
+
+ def accel(self, q, qd, torque, gravity=None) -> NDArray:
+ ...
+
+ def nofriction(self, coulomb: bool, viscous: bool) -> Self:
+ ...
+
+ def _fdyn(
+ self,
+ t: float,
+ x: NDArray,
+ torqfun: Callable[[Any], NDArray],
+ targs: Dict,
+ ) -> NDArray:
+ ...
+
+ def rne(
+ self,
+ q: NDArray,
+ qd: NDArray,
+ qdd: NDArray,
+ symbolic: bool = False,
+ gravity: Union[None, ArrayLike] = None,
+ ) -> NDArray:
+ ...
+
+ def gravload(
+ self, q: Union[None, ArrayLike] = None, gravity: Union[None, ArrayLike] = None
+ ):
+ ...
+
+ def pay(
+ self,
+ W: ArrayLike,
+ q: Union[NDArray, None] = None,
+ J: Union[NDArray, None] = None,
+ frame: int = 1,
+ ):
+ ...
diff --git a/roboticstoolbox/robot/__init__.py b/roboticstoolbox/robot/__init__.py
index 3be2454f1..ecf0b51f2 100644
--- a/roboticstoolbox/robot/__init__.py
+++ b/roboticstoolbox/robot/__init__.py
@@ -1,4 +1,4 @@
-from roboticstoolbox.robot.Robot import Robot
+from roboticstoolbox.robot.Robot import BaseRobot, Robot, Robot2
from roboticstoolbox.robot.Link import Link, Link2
from roboticstoolbox.robot.DHRobot import SerialLink, DHRobot
from roboticstoolbox.robot.DHLink import (
@@ -8,23 +8,19 @@
RevoluteMDH,
PrismaticMDH,
)
-from roboticstoolbox.robot.PoERobot import (
- PoELink,
- PoERobot,
- PoERevolute,
- PoEPrismatic
-)
+from roboticstoolbox.robot.PoERobot import PoELink, PoERobot, PoERevolute, PoEPrismatic
from roboticstoolbox.robot.ERobot import ERobot, ERobot2
-# from roboticstoolbox.robot.FastRobot import FastRobot
from roboticstoolbox.robot.ELink import ELink, ELink2
from roboticstoolbox.robot.ETS import ETS, ETS2
from roboticstoolbox.robot.Gripper import Gripper
-# from roboticstoolbox.robot.KinematicCache import KinematicCache
from roboticstoolbox.robot.ET import ET, ET2
+from roboticstoolbox.robot.IK import IKSolution, IKSolver, IK_LM, IK_NR, IK_GN, IK_QP
+
__all__ = [
"Robot",
+ "Robot2",
"SerialLink",
"DHRobot",
"Link",
@@ -33,22 +29,26 @@
"PrismaticDH",
"RevoluteMDH",
"PrismaticMDH",
- "ERobot",
+ "BaseRobot",
"ELink",
"ELink2",
"Link",
"Link2",
"ERobot",
"ERobot2",
- # "FastRobot",
"ETS",
"ETS2",
"Gripper",
- # "KinematicCache",
"PoERobot",
"PoELink",
"PoEPrismatic",
"PoERevolute",
"ET",
"ET2",
+ "IKSolution",
+ "IKSolver",
+ "IK_LM",
+ "IK_NR",
+ "IK_GN",
+ "IK_QP",
]
diff --git a/roboticstoolbox/tools/__init__.py b/roboticstoolbox/tools/__init__.py
index e943b3051..54e9da371 100644
--- a/roboticstoolbox/tools/__init__.py
+++ b/roboticstoolbox/tools/__init__.py
@@ -1,5 +1,5 @@
from roboticstoolbox.tools.null import null
-from roboticstoolbox.tools.p_servo import p_servo, angle_axis
+from roboticstoolbox.tools.p_servo import p_servo, angle_axis, angle_axis_python
from roboticstoolbox.tools.Ticker import Ticker
from roboticstoolbox.tools.urdf import * # noqa
from roboticstoolbox.tools.trajectory import (
@@ -22,10 +22,12 @@
)
from roboticstoolbox.tools.plot import xplot
from roboticstoolbox.tools.params import rtb_set_param, rtb_get_param
+from roboticstoolbox.tools.types import ArrayLike, NDArray, PyArrayLike
__all__ = [
"null",
"p_servo",
+ "angle_axis_python",
"angle_axis",
"Ticker",
"quintic",
@@ -46,4 +48,7 @@
"rtb_path_to_datafile",
"rtb_set_param",
"rtb_get_param",
+ "PyArrayLike",
+ "ArrayLike",
+ "NDArray",
]
diff --git a/roboticstoolbox/tools/data.py b/roboticstoolbox/tools/data.py
index d3e168b6c..a7f25716a 100644
--- a/roboticstoolbox/tools/data.py
+++ b/roboticstoolbox/tools/data.py
@@ -103,7 +103,7 @@ def rtb_load_data(filename, handler, **kwargs):
:seealso: :func:`path_to_datafile`
"""
- path = rtb_path_to_datafile(filename)
+ path = rtb_path_to_datafile(filename, local=False)
return handler(path, **kwargs)
def rtb_path_to_datafile(*filename, local=True):
diff --git a/roboticstoolbox/tools/p_servo.py b/roboticstoolbox/tools/p_servo.py
index e1b785464..d0c3e24ec 100644
--- a/roboticstoolbox/tools/p_servo.py
+++ b/roboticstoolbox/tools/p_servo.py
@@ -4,11 +4,22 @@
from spatialmath import SE3, base
import math
from typing import Union
+from roboticstoolbox.fknm import Angle_Axis
ArrayLike = Union[list, np.ndarray, tuple, set]
def angle_axis(T, Td):
+
+ try:
+ e = Angle_Axis(T, Td)
+ except BaseException:
+ e = angle_axis_python(T, Td)
+
+ return e
+
+
+def angle_axis_python(T, Td):
e = np.empty(6)
e[:3] = Td[:3, -1] - T[:3, -1]
R = Td[:3, :3] @ T[:3, :3].T
diff --git a/roboticstoolbox/tools/plot.py b/roboticstoolbox/tools/plot.py
index c201672a4..5c3f2f074 100644
--- a/roboticstoolbox/tools/plot.py
+++ b/roboticstoolbox/tools/plot.py
@@ -1,6 +1,7 @@
import numpy as np
import matplotlib.pyplot as plt
+
def xplot(
x,
y=None,
@@ -101,7 +102,7 @@ def xplot(
plt.grid(grid)
ax.set_xlabel("Time (s)")
ax.set_ylabel("Joint coordinates (rad,m)")
- ax.set_xlim(t[0], t[-1])
+ # ax.set_xlim(t[0], t[-1]) fails with RVC3 Sec 3.3.3
plt.show(block=block)
diff --git a/roboticstoolbox/tools/trajectory.py b/roboticstoolbox/tools/trajectory.py
index 380020765..1cff59ad7 100644
--- a/roboticstoolbox/tools/trajectory.py
+++ b/roboticstoolbox/tools/trajectory.py
@@ -48,6 +48,10 @@ def __init__(self, name, t, s, sd=None, sdd=None, istime=False):
with respect to ``t``.
.. note:: Data is stored with timesteps as rows and axes as columns.
+
+ :References:
+
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
"""
self.name = name
self.t = t
@@ -57,7 +61,10 @@ def __init__(self, name, t, s, sd=None, sdd=None, istime=False):
self.istime = istime
def __str__(self):
- s = f"Trajectory created by {self.name}: {len(self)} time steps x {self.naxes} axes"
+ s = (
+ f"Trajectory created by {self.name}: {len(self)} time steps x"
+ f" {self.naxes} axes"
+ )
return s
def __repr__(self):
@@ -162,11 +169,15 @@ def plot(self, block=False, plotargs=None, textargs=None):
if textargs is not None:
textopts = {**textopts, **textargs}
+ nplots = 3
+ if self.name == "mstraj":
+ nplots = 1
+
plt.figure()
- ax = plt.subplot(3, 1, 1)
+ ax = plt.subplot(nplots, 1, 1)
# plot position
- if self.name == "quintic":
+ if self.name in "quintic":
ax.plot(self.t, self.s, **plotopts)
elif self.name == "trapezoidal":
@@ -214,29 +225,30 @@ def plot(self, block=False, plotargs=None, textargs=None):
else:
ax.set_ylabel("$q(k)$", **textopts)
- # plot velocity
- ax = plt.subplot(3, 1, 2)
- ax.plot(self.t, self.sd, **plotopts)
- ax.grid(True)
- ax.set_xlim(0, max(self.t))
+ if nplots > 1:
+ # plot velocity
+ ax = plt.subplot(3, 1, 2)
+ ax.plot(self.t, self.sd, **plotopts)
+ ax.grid(True)
+ ax.set_xlim(0, max(self.t))
- if self.istime:
- ax.set_ylabel("$\dot{{q}}(t)$", **textopts)
- else:
- ax.set_ylabel("$dq/dk$", **textopts)
+ if self.istime:
+ ax.set_ylabel("$\dot{{q}}(t)$", **textopts)
+ else:
+ ax.set_ylabel("$dq/dk$", **textopts)
- # plot acceleration
- ax = plt.subplot(3, 1, 3)
- ax.plot(self.t, self.sdd, **plotopts)
- ax.grid(True)
- ax.set_xlim(0, max(self.t))
+ # plot acceleration
+ ax = plt.subplot(3, 1, 3)
+ ax.plot(self.t, self.sdd, **plotopts)
+ ax.grid(True)
+ ax.set_xlim(0, max(self.t))
- if self.istime:
- ax.set_ylabel(f"$\ddot{{q}}(t)$", **textopts)
- ax.set_xlabel("t (seconds)")
- else:
- ax.set_ylabel("$d^2q/dk^2$", **textopts)
- ax.set_xlabel("k (step)")
+ if self.istime:
+ ax.set_ylabel(f"$\ddot{{q}}(t)$", **textopts)
+ ax.set_xlabel("t (seconds)")
+ else:
+ ax.set_ylabel("$d^2q/dk^2$", **textopts)
+ ax.set_xlabel("k (step)")
plt.show(block=block)
@@ -253,6 +265,9 @@ def qplot(self, **kwargs):
xplot(self.t, self.q, **kwargs)
+# -------------------------------------------------------------------------- #
+
+
def quintic(q0, qf, t, qd0=0, qdf=0):
"""
Generate scalar polynomial trajectory
@@ -268,7 +283,7 @@ def quintic(q0, qf, t, qd0=0, qdf=0):
:param qdf: final velocity, optional
:type q0: float
:return: trajectory
- :rtype: Trajectory instance
+ :rtype: :class:`Trajectory` instance
- ``tg = quintic(q0, q1, m)`` is a scalar trajectory (Mx1) that varies
smoothly from ``q0`` to ``qf`` using a quintic polynomial. The initial
@@ -289,13 +304,31 @@ def quintic(q0, qf, t, qd0=0, qdf=0):
The return value is an object that contains position, velocity and
acceleration data.
+ Example:
+
+ .. runblock:: pycon
+
+ >>> from roboticstoolbox import quintic
+ >>> tg = quintic(1, 2, 10)
+ >>> tg
+ >>> len(tg)
+ >>> tg.q
+ >>> tg.plot()
+
+ .. plot::
+
+ from roboticstoolbox import quintic
+ tg = quintic(1, 2, 10)
+ tg.plot()
+
+
.. note:: The time vector T is assumed to be monotonically increasing, and
time scaling is based on the first and last element.
- References:
+ :References:
+
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
- - Robotics, Vision & Control, Chap 3,
- P. Corke, Springer 2011.
:seealso: :func:`trapezoidal`, :func:`mtraj`.
"""
@@ -321,16 +354,49 @@ def quintic(q0, qf, t, qd0=0, qdf=0):
def quintic_func(q0, qf, T, qd0=0, qdf=0):
+ """
+ Quintic scalar polynomial as a function
+
+ :param q0: initial value
+ :type q0: float
+ :param qf: final value
+ :type qf: float
+ :param T: trajectory time
+ :type T: float
+ :param qd0: initial velocity, defaults to 0
+ :type q0: float, optional
+ :param qdf: final velocity, defaults to 0
+ :type q0: float, optional
+ :return: polynomial function :math:`f: t \mapsto (q(t), \dot{q}(t), \ddot{q}(t))`
+ :rtype: callable
+
+ Returns a function which computes the specific quintic polynomial, and its
+ derivatives, as described by the parameters.
+
+ Example:
+
+ .. runblock:: pycon
+
+ >>> from roboticstoolbox import quintic_func
+ >>> f = quintic_func(1, 2, 5)
+ >>> f(0)
+ >>> f(5)
+ >>> f(2.5)
+
+ :seealso: :func:`quintic` :func:`trapezoidal_func`
+ """
# solve for the polynomial coefficients using least squares
+ # fmt: off
X = [
- [0, 0, 0, 0, 0, 1],
- [T**5, T**4, T**3, T**2, T, 1],
- [0, 0, 0, 0, 1, 0],
- [5 * T**4, 4 * T**3, 3 * T**2, 2 * T, 1, 0],
- [0, 0, 0, 2, 0, 0],
- [20 * T**3, 12 * T**2, 6 * T, 2, 0, 0],
+ [ 0.0, 0.0, 0.0, 0.0, 0.0, 1.0],
+ [ T**5, T**4, T**3, T**2, T, 1.0],
+ [ 0.0, 0.0, 0.0, 0.0, 1.0, 0.0],
+ [ 5.0 * T**4, 4.0 * T**3, 3.0 * T**2, 2.0 * T, 1.0, 0.0],
+ [ 0.0, 0.0, 0.0, 2.0, 0.0, 0.0],
+ [20.0 * T**3, 12.0 * T**2, 6.0 * T, 2.0, 0.0, 0.0],
]
+ # fmt: on
coeffs, resid, rank, s = np.linalg.lstsq(
X, np.r_[q0, qf, qd0, qdf, 0, 0], rcond=None
)
@@ -350,10 +416,16 @@ def quintic_func(q0, qf, T, qd0=0, qdf=0):
def lspb(*args, **kwargs):
+ """
+ .. warning:: Deprecated, use ``trapezoidal`` instead.
+ """
warnings.warn("lsp is deprecated, use trapezoidal", FutureWarning)
return trapezoidal(*args, **kwargs)
+# -------------------------------------------------------------------------- #
+
+
def trapezoidal(q0, qf, t, V=None):
"""
Scalar trapezoidal trajectory
@@ -367,7 +439,7 @@ def trapezoidal(q0, qf, t, V=None):
:param V: velocity of linear segment, optional
:type V: float
:return: trajectory
- :rtype: Trajectory instance
+ :rtype: :class:`Trajectory` instance
Computes a trapezoidal trajectory, which has a linear motion segment with
parabolic blends.
@@ -393,19 +465,34 @@ def trapezoidal(q0, qf, t, V=None):
The return value is an object that contains position, velocity and
acceleration data.
+ Example:
+
+ .. runblock:: pycon
+
+ >>> from roboticstoolbox import trapezoidal
+ >>> tg = trapezoidal(1, 2, 10)
+ >>> tg
+ >>> len(tg)
+ >>> tg.q
+
+ .. plot::
+
+ from roboticstoolbox import trapezoidal
+ tg = trapezoidal(1, 2, 10)
+ tg.plot()
+
.. note::
- - For some values of V no solution is possible and an error is flagged.
+ - For some values of ``V`` no solution is possible and an error is flagged.
- The time vector, if given, is assumed to be monotonically increasing,
and time scaling is based on the first and last element.
- ``tg`` has an extra attribute ``xblend`` which is the blend duration.
:References:
- - Robotics, Vision & Control, Chap 3,
- P. Corke, Springer 2011.
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
- :seealso: :func:`quintic`, :func:`mtraj`.
+ :seealso: :func:`quintic`, :func:`trapezoidal_func` :func:`mtraj`.
"""
if isinstance(t, int):
@@ -432,27 +519,51 @@ def trapezoidal(q0, qf, t, V=None):
return traj
-def trapezoidal_func(q0, qf, tf, V=None):
+def trapezoidal_func(q0, qf, T, V=None):
+ r"""
+ Trapezoidal scalar profile as a function
+
+ :param q0: initial value
+ :type q0: float
+ :param qf: final value
+ :type qf: float
+ :param T: maximum time
+ :type T: float
+ :param V: velocity of linear segment
+ :type V: float, optional
+ :return: trapezoidal profile function :math:`f: t \mapsto (q(t), \dot{q}(t), \ddot{q}(t))`
+ :rtype: callable
+
+ Returns a function which computes the specific trapezoidal profile, and its
+ derivatives, as described by the parameters.
+
+ Example:
+
+ .. runblock:: pycon
+
+ >>> from roboticstoolbox import trapezoidal_func
+ >>> f = trapezoidal_func(1, 2, 5)
+ >>> f(0)
+ >>> f(5)
+ >>> f(2.5)
+ """
if V is None:
# if velocity not specified, compute it
- V = (qf - q0) / tf * 1.5
+ V = (qf - q0) / T * 1.5
else:
V = abs(V) * np.sign(qf - q0)
- if abs(V) < (abs(qf - q0) / tf):
+ if abs(V) < (abs(qf - q0) / T):
raise ValueError("V too small")
- elif abs(V) > (2 * abs(qf - q0) / tf):
+ elif abs(V) > (2 * abs(qf - q0) / T):
raise ValueError("V too big")
- if q0 == qf:
- # Commented these because they arent used anywhere
- # s = np.ones((len(t), len(t))) @ q0
- # sd = np.zeros((len(t), len(t)))
- # sdd = np.zeros((len(t), len(t)))
- return
-
- tb = (q0 - qf + V * tf) / V
- a = V / tb
+ if V == 0:
+ tb = np.inf
+ a = 0
+ else:
+ tb = (q0 - qf + V * T) / V
+ a = V / tb
def trapezoidalfunc(t):
@@ -472,15 +583,15 @@ def trapezoidalfunc(t):
pk = q0 + a / 2 * tk**2
pdk = a * tk
pddk = a
- elif tk <= (tf - tb):
+ elif tk <= (T - tb):
# linear motion
- pk = (qf + q0 - V * tf) / 2 + V * tk
+ pk = (qf + q0 - V * T) / 2 + V * tk
pdk = V
pddk = 0
- elif tk <= tf:
+ elif tk <= T:
# final blend
- pk = qf - a / 2 * tf**2 + a * tf * tk - a / 2 * tk**2
- pdk = a * tf - a * tk
+ pk = qf - a / 2 * T**2 + a * T * tk - a / 2 * tk**2
+ pdk = a * T - a * tk
pddk = -a
else:
pk = qf
@@ -503,6 +614,75 @@ def trapezoidalfunc(t):
# -------------------------------------------------------------------------- #
+def mtraj(tfunc, q0, qf, t):
+ """
+ Multi-axis trajectory
+
+ :param tfunc: a 1D trajectory function, eg. :func:`quintic` or :func:`trapezoidal`
+ :type tfunc: callable
+ :param q0: initial configuration
+ :type q0: ndarray(m)
+ :param qf: final configuration
+ :type qf: ndarray(m)
+ :param t: time vector or number of steps
+ :type t: array_like or int
+ :raises TypeError: ``tfunc`` is not callable
+ :raises ValueError: length of ``q0`` and ``qf`` are different
+ :return: trajectory
+ :rtype: :class:`Trajectory` instance
+
+ - ``tg = mtraj(func, q0, qf, n)`` is a multi-axis trajectory varying
+ from configuration ``q0`` (M) to ``qf`` (M) according to the scalar trajectory
+ function ``tfunc`` in ``n`` steps.
+
+ - ``tg = mtraj(func, q0, qf, t)`` as above but ``t`` is a uniformly-spaced time
+ vector
+
+ The scalar trajectory function is applied to each axis::
+
+ tg = tfunc(s0, sF, n)
+
+ and possible values of ``tfunc`` include ``trapezoidal`` for a trapezoidal trajectory, or
+ ``quintic`` for a polynomial trajectory.
+
+ The return value is an object that contains position, velocity and
+ acceleration data.
+
+ .. note:: The time vector, if given, is assumed to be monotonically increasing, and
+ time scaling is based on the first and last element.
+
+ :References:
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
+
+ :seealso: :func:`quintic`, :func:`trapezoidal`
+ """
+
+ if not callable(tfunc):
+ raise TypeError("first argument must be a function reference")
+
+ q0 = getvector(q0)
+ qf = getvector(qf)
+ if len(q0) != len(qf):
+ raise ValueError("must be same number of elements in q0 and qf")
+
+ traj = []
+ for i in range(len(q0)):
+ # for each axis
+ traj.append(tfunc(q0[i], qf[i], t))
+
+ x = traj[0].t
+ y = np.array([tg.s for tg in traj]).T
+ yd = np.array([tg.sd for tg in traj]).T
+ ydd = np.array([tg.sdd for tg in traj]).T
+
+ istime = traj[0].istime
+
+ return Trajectory("mtraj", x, y, yd, ydd, istime)
+
+
+# -------------------------------------------------------------------------- #
+
+
def jtraj(q0, qf, t, qd0=None, qd1=None):
"""
Compute a joint-space trajectory
@@ -518,7 +698,7 @@ def jtraj(q0, qf, t, qd0=None, qd1=None):
:param qd1: final velocity, defaults to zero
:type qd1: array_like(n), optional
:return: trajectory
- :rtype: Trajectory instance
+ :rtype: :class:`Trajectory` instance
- ``tg = jtraj(q0, qf, N)`` is a joint space trajectory where the joint
coordinates vary from ``q0`` (M) to ``qf`` (M). A quintic (5th order)
@@ -531,11 +711,12 @@ def jtraj(q0, qf, t, qd0=None, qd1=None):
The return value is an object that contains position, velocity and
acceleration data.
- Notes:
+ .. note:: The time vector, if given, scales the velocity and acceleration outputs
+ assuming that the time vector starts at zero and increases linearly.
+
+ :References:
- - The time vector, if given, scales the velocity and acceleration outputs
- assuming that the time vector starts at zero and increases
- linearly.
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
:seealso: :func:`ctraj`, :func:`qplot`, :func:`~SerialLink.jtraj`
"""
@@ -595,69 +776,6 @@ def jtraj(q0, qf, t, qd0=None, qd1=None):
return Trajectory("jtraj", tv, qt, qdt, qddt, istime=True)
-def mtraj(tfunc, q0, qf, t):
- """
- Multi-axis trajectory
-
- :param tfunc: a 1D trajectory function, eg. :func:`quintic` or :func:`trapezoidal`
- :type tfunc: callable
- :param q0: initial configuration
- :type q0: ndarray(m)
- :param qf: final configuration
- :type qf: ndarray(m)
- :param t: time vector or number of steps
- :type t: array_like or int
- :raises TypeError: ``tfunc`` is not callable
- :raises ValueError: length of ``q0`` and ``qf`` are different
- :return: trajectory
- :rtype: Trajectory instance
-
- - ``tg = mtraj(func, q0, qf, n)`` is a multi-axis trajectory varying
- from configuration ``q0`` (M) to ``qf`` (M) according to the scalar trajectory
- function ``tfunc`` in ``n``` steps.
-
- - ``tg = mtraj(func, q0, qf, t)`` as above but ``t`` is a uniformly-spaced time
- vector
-
- The scalar trajectory function is applied to each axis::
-
- tg = tfunc(s0, sF, n)
-
- and possible values of TFUNC include ``trapezoidal`` for a trapezoidal trajectory, or
- ``quintic`` for a polynomial trajectory.
-
- The return value is an object that contains position, velocity and
- acceleration data.
-
- .. note:: The time vector, if given, is assumed to be monotonically increasing, and
- time scaling is based on the first and last element.
-
- :seealso: :func:`quintic`, :func:`trapezoidal`
- """
-
- if not callable(tfunc):
- raise TypeError("first argument must be a function reference")
-
- q0 = getvector(q0)
- qf = getvector(qf)
- if len(q0) != len(qf):
- raise ValueError("must be same number of elements in q0 and qf")
-
- traj = []
- for i in range(len(q0)):
- # for each axis
- traj.append(tfunc(q0[i], qf[i], t))
-
- x = traj[0].t
- y = np.array([tg.s for tg in traj]).T
- yd = np.array([tg.sd for tg in traj]).T
- ydd = np.array([tg.sdd for tg in traj]).T
-
- istime = traj[0].istime
-
- return Trajectory("mtraj", x, y, yd, ydd, istime)
-
-
# -------------------------------------------------------------------------- #
@@ -695,17 +813,15 @@ def ctraj(T0, T1, t=None, s=None):
>>> len(tg)
20
- Notes:
-
- - In the second case ``s`` could be generated by a scalar trajectory
- generator such as ``quintic`` or ``trapezoidal`` (default).
- - Orientation interpolation is performed using unit-quaternion
- interpolation.
+ .. note::
- Reference:
+ - In the second case ``s`` could be generated by a scalar trajectory
+ generator such as ``quintic`` or ``trapezoidal`` (default).
+ - Orientation interpolation is performed using unit-quaternion
+ interpolation.
- - Robotics, Vision & Control, Sec 3.1.5,
- Peter Corke, Springer 2011
+ :References:
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
:seealso: :func:`~roboticstoolbox.trajectory.trapezoidal`,
:func:`~spatialmath.unitquaternion.interp`
@@ -725,6 +841,8 @@ def ctraj(T0, T1, t=None, s=None):
def cmstraj():
+ # Cartesian version of mstraj, via points are SE3
+ # perhaps refactor mstraj to allow interpolation of any type
pass
@@ -765,7 +883,7 @@ def mstraj(
:param verbose: print debug information, defaults to False
:type verbose: bool, optional
:return: trajectory
- :rtype: Trajectory instance
+ :rtype: :class:`Trajectory` instance
Computes a trajectory for N axes moving smoothly through a set of
viapoints.
@@ -784,7 +902,7 @@ def mstraj(
#. In terms of segment time where ``tsegment`` is an array of segment times
which is the number of via points minus one::
- ``traj = mstraj(viapoints, dt, tacc, tsegment=TS)``
+ traj = mstraj(viapoints, dt, tacc, tsegment=TS)
#. Governed by the speed of the slowest axis for the segment. The axis
speed is a scalar (all axes have the same speed) or an N-vector of speed
@@ -804,22 +922,24 @@ def mstraj(
The trajectory proper is (``traj.t``, ``traj.q``). The trajectory is a
matrix has one row per time step, and one column per axis.
- Notes:
+ .. note::
- - Only one of ``qdmag`` or ``tsegment`` can be specified
- - If ``tacc`` is greater than zero then the path smoothly accelerates
- between segments using a polynomial blend. This means that the the via
- point is not actually reached.
- - The path length K is a function of the number of via
- points and the time or velocity limits that apply.
- - Can be used to create joint space trajectories where each axis is a
- joint coordinate.
- - Can be used to create Cartesian trajectories where the "axes"
- correspond to translation and orientation in RPY or Euler angle form.
- - If ``qdmax`` is a scalar then all axes are assumed to have the same
- maximum speed.
- - ``tg`` has extra attributes ``arrive``, ``info`` and ``via``
+ - Only one of ``qdmag`` or ``tsegment`` can be specified
+ - If ``tacc`` is greater than zero then the path smoothly accelerates
+ between segments using a polynomial blend. This means that the the via
+ point is not actually reached.
+ - The path length K is a function of the number of via
+ points and the time or velocity limits that apply.
+ - Can be used to create joint space trajectories where each axis is a
+ joint coordinate.
+ - Can be used to create Cartesian trajectories where the "axes"
+ correspond to translation and orientation in RPY or Euler angle form.
+ - If ``qdmax`` is a scalar then all axes are assumed to have the same
+ maximum speed.
+ - ``tg`` has extra attributes ``arrive``, ``info`` and ``via``
+ :References:
+ - Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 3.
:seealso: :func:`trapezoidal`, :func:`ctraj`, :func:`mtraj`
"""
@@ -970,10 +1090,13 @@ def mrange(start, stop, step):
qd = dq / tseg
# add the blend polynomial
- qb = jtraj(q0, q_prev + tacc2 * qd, mrange(0, taccx, dt), qd0=qd_prev, qd1=qd).s
- if verbose: # pragma nocover
- print(qb)
- tg = np.vstack([tg, qb[1:, :]])
+ if taccx > 0:
+ qb = jtraj(
+ q0, q_prev + tacc2 * qd, mrange(0, taccx, dt), qd0=qd_prev, qd1=qd
+ ).s
+ if verbose: # pragma nocover
+ print(qb)
+ tg = np.vstack([tg, qb[1:, :]])
clock = clock + taccx # update the clock
@@ -990,8 +1113,9 @@ def mrange(start, stop, step):
qd_prev = qd
# add the final blend
- qb = jtraj(q0, q_next, mrange(0, tacc2, dt), qd0=qd_prev, qd1=qdf).s
- tg = np.vstack([tg, qb[1:, :]])
+ if tacc2 > 0:
+ qb = jtraj(q0, q_next, mrange(0, tacc2, dt), qd0=qd_prev, qd1=qdf).s
+ tg = np.vstack([tg, qb[1:, :]])
infolist.append(info(None, tseg, clock))
@@ -1001,9 +1125,6 @@ def mrange(start, stop, step):
traj.via = viapoints
return traj
- # return namedtuple(
- # 'mstraj', 't q arrive info via')(
- # dt * np.arange(0, tg.shape[0]), tg, arrive, infolist, viapoints)
if __name__ == "__main__":
@@ -1020,8 +1141,14 @@ def mrange(start, stop, step):
# t.plot(block=True)
from roboticstoolbox import *
+ from spatialmath import SO2
+
+ # puma = models.DH.Puma560()
- puma = models.DH.Puma560()
+ # traj = jtraj(puma.qz, puma.qr, 100)
+ # traj.plot(block=True)
- traj = jtraj(puma.qz, puma.qr, 100)
- traj.plot(block=True)
+ via = SO2(30, unit="deg") * np.array([[-1, 1, 1, -1, -1], [1, 1, -1, -1, 1]])
+ traj0 = mstraj(via.T, dt=0.2, tacc=0.5, qdmax=[2, 1])
+ xplot(traj0.q[:, 0], traj0.q[:, 1], color="red")
+ traj0.plot(block=True)
diff --git a/roboticstoolbox/tools/types.py b/roboticstoolbox/tools/types.py
new file mode 100644
index 000000000..193984cae
--- /dev/null
+++ b/roboticstoolbox/tools/types.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+"""
+@author Jesse Haviland
+"""
+
+from typing import Tuple, Union, List, Set
+from numpy import ndarray
+
+NDArray = ndarray
+
+PyArrayLike = Union[List[float], Tuple[float], Set[float]]
+
+ArrayLike = Union[NDArray, PyArrayLike]
diff --git a/rtb-data/rtbdata/data/hershey.json b/rtb-data/rtbdata/data/hershey.json
new file mode 100644
index 000000000..3b69d16e3
--- /dev/null
+++ b/rtb-data/rtbdata/data/hershey.json
@@ -0,0 +1 @@
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+EDGE2 1927 704 4.186771 0.783635 2.900815 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1927 1918 4.066641 0.692257 2.819845 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1927 946 0.855372 1.240060 0.033770 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1927 1917 5.197301 0.309218 2.830655 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 1927 -0.409320 0.172736 -0.617819 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1928 703 4.030278 -2.329752 2.197545 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 704 3.413419 -1.549056 2.290895 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 1918 3.262607 -1.555147 2.209925 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 946 0.944133 0.733304 -0.576150 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 1917 3.969997 -2.516766 2.220735 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 944 -1.050364 0.849414 0.132020 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1928 945 0.016961 0.903976 0.009690 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1929 1928 -0.377850 0.068893 -0.582546 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1929 944 -0.858822 1.416860 -0.451820 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1929 945 0.061779 0.874041 -0.574150 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1930 1929 -0.395655 0.121010 -0.609646 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1930 943 -0.678433 2.022152 -0.534605 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1930 1921 0.855553 -0.458555 1.141840 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1931 1930 -0.485011 0.102116 -0.588524 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1931 1920 -0.996134 -1.141870 0.395060 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1931 1921 -0.009660 -0.700936 0.548080 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1931 1922 0.816243 -0.072290 0.889600 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1932 1931 -0.390844 0.170644 -0.573659 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1932 1921 -0.786583 -0.390707 -0.028780 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1932 1922 0.248533 -0.314232 0.312740 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1933 1932 -0.530197 0.184125 -0.574959 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1933 707 -1.068699 1.061026 -0.299239 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1933 942 2.025478 2.150266 -2.135359 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1933 941 2.603459 2.976629 -2.127139 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1933 1923 0.243898 -0.292012 0.299459 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1933 708 -0.066622 0.791602 -0.006797 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1933 1922 -0.424206 -0.249133 -0.279759 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1934 1933 -0.276313 0.096180 -0.569458 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1934 706 -1.333314 2.376017 -0.869610 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1934 707 -0.679968 1.605299 -0.856110 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1934 942 2.522418 0.894596 -2.692230 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
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+EDGE2 1934 1924 0.253188 -0.211304 0.338144 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
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+EDGE2 1934 1923 -0.280812 -0.237063 -0.257412 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1934 708 0.028309 0.846951 -0.563668 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1934 709 0.983311 0.468097 -0.160364 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1935 1934 -0.230336 0.088319 -0.766036 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1935 1925 0.498354 -0.324085 0.186975 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1935 1924 -0.115284 -0.233394 -0.423299 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1936 1935 -0.117329 0.074918 -0.637817 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1936 1926 0.521017 -0.587120 0.154278 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1936 1925 -0.026736 -0.473029 -0.450024 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1937 1936 -0.735085 -0.115215 0.009682 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1937 1926 -0.227480 -0.711848 0.155698 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1938 1937 -0.469906 0.187922 -0.399888 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1938 703 4.179595 1.914407 -3.106820 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1938 1927 -0.435000 -0.402479 0.368900 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1938 1917 4.301150 1.760029 -3.083630 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1939 1938 -0.450090 -0.180581 0.405809 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1939 1926 -1.183040 -0.928966 0.163514 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1939 1937 -0.961130 -0.215361 0.007816 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
+EDGE2 1940 1939 -1.001252 0.004312 0.360007 20.000000 0.000000 20.000000 100000.000 0.000000 0.000000
+EDGE2 1940 1937 -1.811508 -0.546236 0.365244 100.000000 0.000000 100.000000 1000000.000 0.000000 0.000000
diff --git a/rtb-data/rtbdata/data/piano.png b/rtb-data/rtbdata/data/piano.png
new file mode 100644
index 000000000..174d7dca4
Binary files /dev/null and b/rtb-data/rtbdata/data/piano.png differ
diff --git a/rtb-data/rtbdata/data/queensland.json b/rtb-data/rtbdata/data/queensland.json
new file mode 100644
index 000000000..3dc055702
--- /dev/null
+++ b/rtb-data/rtbdata/data/queensland.json
@@ -0,0 +1 @@
+{"places": {"Brisbane": {"lat": -27.4697707, "lon": 153.0251235, "utm": [1095.9145867144744, 6947.043658018596]}, "Camooweal": {"lat": -19.920667, "lon": 138.1213324, "utm": [-432.103885525028, 7772.551709375787]}, "Mount Isa": {"lat": -20.7255748, "lon": 139.4927085, "utm": [-283.3325926415254, 7689.989162769402]}, "Cloncurry": {"lat": -20.7063927, "lon": 140.5093258, "utm": [-176.971789275437, 7696.747610678524]}, "Hughenden": {"lat": -20.85, "lon": 144.2, "utm": [208.62239381884905, 7691.917660932694]}, "Charters Towers": {"lat": -20.0769637, "lon": 146.2601362, "utm": [422.6424087047931, 7779.8303889114595]}, "Townsville": {"lat": -19.2589635, "lon": 146.8169483, "utm": [480.763802457357, 7870.508270739987]}, "Boulia": {"lat": -22.911306, "lon": 139.910444, "utm": [-228.32608073938195, 7448.695027567425]}, "Winton": {"lat": -22.3913, "lon": 143.0381, "utm": [91.94835708401399, 7518.4805284370905]}, "Bedourie": {"lat": -24.3322136, "lon": 139.4619731, "utm": [-266.1888714830168, 7288.1442884511625]}, "Birdsville": {"lat": -25.898889, "lon": 139.351667, "utm": [-267.4995506033434, 7113.050218941856]}, "Windorah": {"lat": -25.420556, "lon": 142.654722, "utm": [62.757101391285715, 7181.357095348933]}, "Longreach": {"lat": -23.4421917, "lon": 144.2555041, "utm": [219.59058651533368, 7404.855248041811]}, "Barcaldine": {"lat": -23.5563211, "lon": 145.293339, "utm": [325.80609588169665, 7393.856437148137]}, "Blackall": {"lat": -24.416667, "lon": 145.466667, "utm": [344.536995644389, 7298.781327301602]}, "Charleville": {"lat": -26.4020616, "lon": 146.2453597, "utm": [424.73496995957424, 7079.568728198133]}, "Roma": {"lat": -26.5694477, "lon": 148.7837619, "utm": [677.6626252021844, 7060.013692193939]}, "Emerald": {"lat": -23.527291, "lon": 148.164573, "utm": [618.884226692918, 7397.6249803609235]}, "Mackay": {"lat": -21.1424956, "lon": 149.1821469, "utm": [726.6128025478556, 7660.524831465281]}, "Rockhampton": {"lat": -23.3790772, "lon": 150.510016, "utm": [858.8543105393574, 7410.150034537044]}}, "routes": [{"start": "Camooweal", "end": "Mount Isa", "distance": 188, "speed": 100}, {"start": "Mount Isa", "end": "Cloncurry", "distance": 118, "speed": 100}, {"start": "Cloncurry", "end": "Hughenden", "distance": 401, "speed": 100}, {"start": "Cloncurry", "end": "Winton", "distance": 350, "speed": 100}, {"start": "Hughenden", "end": "Charters Towers", "distance": 248, "speed": 100}, {"start": "Charters Towers", "end": "Townsville", "distance": 135, "speed": 100}, {"start": "Townsville", "end": "Mackay", "distance": 388, "speed": 100}, {"start": "Mackay", "end": "Rockhampton", "distance": 334, "speed": 100}, {"start": "Mackay", "end": "Emerald", "distance": 384, "speed": 100}, {"start": "Rockhampton", "end": "Brisbane", "distance": 682, "speed": 100}, {"start": "Rockhampton", "end": "Emerald", "distance": 270, "speed": 100}, {"start": "Brisbane", "end": "Roma", "distance": 482, "speed": 100}, {"start": "Roma", "end": "Charleville", "distance": 266, "speed": 100}, {"start": "Charleville", "end": "Blackall", "distance": 305, "speed": 100}, {"start": "Blackall", "end": "Barcaldine", "distance": 106, "speed": 100}, {"start": "Blackall", "end": "Windorah", "distance": 530, "speed": 50}, {"start": "Barcaldine", "end": "Emerald", "distance": 307, "speed": 100}, {"start": "Barcaldine", "end": "Hughenden", "distance": 500, "speed": 50}, {"start": "Barcaldine", "end": "Longreach", "distance": 106, "speed": 100}, {"start": "Longreach", "end": "Windorah", "distance": 311, "speed": 50}, {"start": "Longreach", "end": "Winton", "distance": 180, "speed": 100}, {"start": "Winton", "end": "Hughenden", "distance": 216, "speed": 100}, {"start": "Winton", "end": "Boulia", "distance": 363, "speed": 50}, {"start": "Winton", "end": "Windorah", "distance": 487, "speed": 50}, {"start": "Boulia", "end": "Mount Isa", "distance": 304, "speed": 50}, {"start": "Boulia", "end": "Bedourie", "distance": 194, "speed": 50}, {"start": "Bedourie", "end": "Birdsville", "distance": 193, "speed": 50}, {"start": "Birdsville", "end": "Windorah", "distance": 380, "speed": 50}, {"start": "Bedourie", "end": "Windorah", "distance": 411, "speed": 50}]}
\ No newline at end of file
diff --git a/rtb-data/rtbdata/xacro/kortex_description/robots/gen3.xacro b/rtb-data/rtbdata/xacro/kortex_description/robots/gen3.xacro
index 163b8ee74..03e34ea97 100644
--- a/rtb-data/rtbdata/xacro/kortex_description/robots/gen3.xacro
+++ b/rtb-data/rtbdata/xacro/kortex_description/robots/gen3.xacro
@@ -5,7 +5,7 @@
-
+
diff --git a/rtb-data/setup.py b/rtb-data/setup.py
index 1bcfb219f..6318a0fb2 100644
--- a/rtb-data/setup.py
+++ b/rtb-data/setup.py
@@ -8,7 +8,7 @@
with open(os.path.join(here, "README.md"), encoding="utf-8") as f:
long_description = f.read()
-release = "1.0.0"
+release = "1.1.0"
# list all data folders here, to ensure they get packaged
diff --git a/setup.py b/setup.py
index eb65d04bb..3de45fce7 100644
--- a/setup.py
+++ b/setup.py
@@ -1,49 +1,8 @@
-from setuptools import setup, find_packages, Extension
+from setuptools import setup, Extension
import os
-
-# fmt: off
-import pip
-pip.main(['install', 'numpy>=1.17.4'])
import numpy
-# fmt: on
-
-here = os.path.abspath(os.path.dirname(__file__))
-
-req = [
- "numpy>=1.17.4",
- "spatialmath-python~=1.0.0",
- "spatialgeometry~=1.0.0",
- "pgraph-python",
- "scipy",
- "matplotlib",
- "ansitable",
- "swift-sim~=1.0.0",
- "rtb-data",
- "progress",
-]
-
-collision_req = ["pybullet"]
-
-vp_req = ["vpython", "numpy-stl", "imageio", "imageio-ffmpeg"]
-
-dev_req = ["pytest", "pytest-cov", "flake8", "pyyaml", "sympy"]
-
-docs_req = [
- "sphinx",
- "sphinx_rtd_theme",
- "sphinx-autorun",
-]
-
-# Get the long description from the README file
-with open(os.path.join(here, "README.md"), encoding="utf-8") as f:
- long_description = f.read()
-
-# list all data folders here, to ensure they get packaged
extra_folders = [
- # 'roboticstoolbox/models/URDF/xacro',
- # 'roboticstoolbox/models/DH/meshes',
- # 'roboticstoolbox/data',
"roboticstoolbox/core",
]
@@ -61,7 +20,7 @@ def package_files(directory):
extra_files += package_files(extra_folder)
frne = Extension(
- "frne",
+ "roboticstoolbox.frne",
sources=[
"./roboticstoolbox/core/vmath.c",
"./roboticstoolbox/core/ne.c",
@@ -70,9 +29,8 @@ def package_files(directory):
include_dirs=["./roboticstoolbox/core/"],
)
-# eig = "./roboticstoolbox/core/Eigen"
fknm = Extension(
- "fknm",
+ "roboticstoolbox.fknm",
sources=[
"./roboticstoolbox/core/methods.cpp",
"./roboticstoolbox/core/ik.cpp",
@@ -80,72 +38,9 @@ def package_files(directory):
"./roboticstoolbox/core/fknm.cpp",
],
include_dirs=["./roboticstoolbox/core/", numpy.get_include()],
- # define_macros=[("EIGEN_USE_MKL_ALL", "1")],
- # extra_compile_args=["-Werror"],
- # extra_compile_args=["-fopenmp"],
- # extra_compile_args=["-Ofast"],
- # extra_link_args=["-lgomp"],
- # extra_compile_args=["-I/opt/intel/oneapi/mkl/2022.0.2/include"],
- # extra_link_args=[
- # "-L/opt/intel/oneapi/mkl/2022.0.2/lib/intel64 -lmkl_rt -Wl,--no-as-needed -lpthread -lm -ldl"
- # ],
)
setup(
- name="roboticstoolbox-python",
- version="1.0.2",
- description="A Python library for robotic education and research",
- long_description=long_description,
- long_description_content_type="text/markdown",
- url="https://github.com/petercorke/robotics-toolbox-python",
- author="Jesse Haviland and Peter Corke",
- license="MIT",
- classifiers=[
- # 3 - Alpha
- # 4 - Beta
- # 5 - Production/Stable
- "Development Status :: 5 - Production/Stable",
- # Indicate who your project is intended for
- "Intended Audience :: Developers",
- # Pick your license as you wish (should match "license" above)
- "License :: OSI Approved :: MIT License",
- # Specify the Python versions you support here. In particular, ensure
- # that you indicate whether you support Python 2, Python 3 or both.
- "Programming Language :: Python :: 3.6",
- "Programming Language :: Python :: 3.7",
- "Programming Language :: Python :: 3.8",
- "Programming Language :: Python :: 3.9",
- "Programming Language :: Python :: 3.10",
- ],
- python_requires=">=3.6",
- project_urls={
- "Documentation": "https://petercorke.github.io/roboticstoolbox-python",
- "Source": "https://github.com/petercorke/roboticstoolbox-python",
- "Tracker": "https://github.com/petercorke/roboticstoolbox-python/issues",
- "Coverage": "https://codecov.io/gh/petercorke/roboticstoolbox-python",
- },
- # cmdclass={"build_ext": build_ext_subclass},
ext_modules=[frne, fknm],
- keywords="python robotics robotics-toolbox kinematics dynamics"
- " motion-planning trajectory-generation jacobian hessian"
- " control simulation robot-manipulator mobile-robot",
- packages=find_packages(exclude=["tests", "notebooks"]),
package_data={"roboticstoolbox": extra_files},
- scripts=[
- "roboticstoolbox/bin/rtbtool",
- ],
- entry_points={
- "console_scripts": [
- "eigdemo=roboticstoolbox.examples.eigdemo:main",
- "tripleangledemo=roboticstoolbox.examples.tripleangledemo:main",
- "twistdemo=roboticstoolbox.examples.twistdemo:main",
- ]
- },
- install_requires=req,
- extras_require={
- "collision": collision_req,
- "dev": dev_req,
- "docs": docs_req,
- "vpython": vp_req,
- },
)
diff --git a/tests/test_BaseRobot.py b/tests/test_BaseRobot.py
new file mode 100644
index 000000000..937b69dbd
--- /dev/null
+++ b/tests/test_BaseRobot.py
@@ -0,0 +1,631 @@
+"""
+Created on Fri May 1 14:04:04 2020
+@author: Jesse Haviland
+"""
+
+import numpy.testing as nt
+import numpy as np
+import roboticstoolbox as rtb
+from roboticstoolbox import Link, ETS, ET, Robot
+from spatialmath import SE3
+import unittest
+from copy import deepcopy
+from swift import Swift
+
+from roboticstoolbox.robot.Robot import BaseRobot
+
+
+class TestBaseRobot(unittest.TestCase):
+ def test_init(self):
+
+ links, name, urdf_string, urdf_filepath = rtb.Robot.URDF_read(
+ "franka_description/robots/panda_arm_hand.urdf.xacro"
+ )
+
+ robot = rtb.Robot(
+ links,
+ name=name,
+ manufacturer="Franka Emika",
+ gripper_links=links[9],
+ urdf_string=urdf_string,
+ urdf_filepath=urdf_filepath,
+ )
+
+ robot.grippers[0].tool = SE3(0, 0, 0.1034)
+
+ def test_init2(self):
+ ets = rtb.ETS(rtb.ET.Rz())
+ robot = rtb.Robot(
+ ets, name="myname", manufacturer="I made it", comment="other stuff"
+ )
+ self.assertEqual(robot.name, "myname")
+ self.assertEqual(robot.manufacturer, "I made it")
+ self.assertEqual(robot.comment, "other stuff")
+
+ def test_init3(self):
+ l0 = Link()
+ # l1 = Link(parent=l0)
+ # r = Robot([l0, l1], base=SE3.Rx(1.3))
+ # r.base_link = l1
+
+ with self.assertRaises(TypeError):
+ Robot(l0, base=SE3.Rx(1.3)) # type: ignore
+
+ with self.assertRaises(TypeError):
+ Robot([1, 2], base=SE3.Rx(1.3)) # type: ignore
+
+ def test_init4(self):
+ ets = ETS(rtb.ET.Rz())
+ robot = Robot(
+ ets, name="myname", manufacturer="I made it", comment="other stuff"
+ )
+ self.assertEqual(robot.name, "myname")
+ self.assertEqual(robot.manufacturer, "I made it")
+ self.assertEqual(robot.comment, "other stuff")
+
+ def test_init5(self):
+
+ base = SE3.Trans(0, 0, 0.1).A
+ ets = ETS(rtb.ET.Rz())
+ robot = Robot(ets, base=base, tool=base)
+ nt.assert_almost_equal(robot.base.A, base)
+ nt.assert_almost_equal(robot.tool.A, base)
+
+ def test_init6(self):
+
+ base = SE3.Trans(0, 0, 0.1)
+ ets = ETS(rtb.ET.Rz())
+ robot = Robot(ets, base=base, tool=base)
+ nt.assert_almost_equal(robot.base.A, base.A)
+ nt.assert_almost_equal(robot.tool.A, base.A)
+
+ def test_init7(self):
+
+ keywords = 2
+ ets = ETS(rtb.ET.Rz())
+
+ with self.assertRaises(TypeError):
+ Robot(ets, keywords=keywords) # type: ignore
+
+ def test_init8(self):
+
+ links = [2, 3, 4, 5]
+
+ with self.assertRaises(TypeError):
+ BaseRobot(links=links) # type: ignore
+
+ def test_init9(self):
+
+ robot = rtb.models.Panda()
+ robot2 = rtb.models.PR2()
+
+ self.assertTrue(robot2._hasdynamics)
+ self.assertTrue(robot._hasgeometry)
+ self.assertTrue(robot._hascollision)
+
+ def test_init10(self):
+
+ links = [Link(name="link1"), Link(name="link1"), Link(name="link1")]
+
+ with self.assertRaises(ValueError):
+ Robot(links)
+
+ def test_init11(self):
+
+ l1 = Link(parent="l3")
+ l2 = Link(parent=l1)
+ l3 = Link(parent=l2, name="l3")
+
+ links = [l1, l2, l3]
+
+ with self.assertRaises(ValueError):
+ Robot(links)
+
+ def test_init12(self):
+
+ l1 = Link(jindex=1, ets=rtb.ET.Rz())
+ l2 = Link(jindex=2, parent=l1, ets=rtb.ET.Rz())
+ l3 = Link(parent=l2, ets=rtb.ET.Rz())
+
+ links = [l1, l2, l3]
+
+ with self.assertRaises(ValueError):
+ Robot(links)
+
+ def test_iter(self):
+ robot = rtb.models.Panda()
+ for link in robot:
+ self.assertIsInstance(link, Link)
+
+ def test_get(self):
+ panda = rtb.models.ETS.Panda()
+ self.assertIsInstance(panda[1], Link)
+ self.assertIsInstance(panda["link0"], Link)
+
+ def test_init_ets(self):
+
+ ets = (
+ rtb.ET.tx(-0.0825)
+ * rtb.ET.Rz()
+ * rtb.ET.tx(-0.0825)
+ * rtb.ET.tz()
+ * rtb.ET.tx(0.1)
+ )
+
+ robot = rtb.Robot(ets)
+
+ self.assertEqual(robot.n, 2)
+ self.assertIsInstance(robot.links[0], rtb.Link)
+ self.assertIsInstance(robot.links[1], rtb.Link)
+ self.assertTrue(robot.links[0].isrevolute)
+ self.assertTrue(robot.links[1].isprismatic)
+
+ self.assertIs(robot.links[0].parent, None)
+ self.assertIs(robot.links[1].parent, robot.links[0])
+ self.assertIs(robot.links[2].parent, robot.links[1])
+
+ self.assertEqual(robot.links[0].children, [robot.links[1]])
+ self.assertEqual(robot.links[1].children, [robot.links[2]])
+ self.assertEqual(robot.links[2].children, [])
+
+ def test_init_elink(self):
+ link1 = Link(ETS(ET.Rx()), name="link1")
+ link2 = Link(ET.tx(1) * ET.ty(-0.5) * ET.tz(), name="link2", parent=link1)
+ link3 = Link(ETS(ET.tx(1)), name="ee_1", parent=link2)
+ robot = Robot([link1, link2, link3])
+ self.assertEqual(robot.n, 2)
+ self.assertIsInstance(robot.links[0], Link)
+ self.assertIsInstance(robot.links[1], Link)
+ self.assertIsInstance(robot.links[2], Link)
+ self.assertTrue(robot.links[0].isrevolute)
+ self.assertTrue(robot.links[1].isprismatic)
+
+ self.assertFalse(robot.links[2].isrevolute)
+ self.assertFalse(robot.links[2].isprismatic)
+
+ self.assertIs(robot.links[0].parent, None)
+ self.assertIs(robot.links[1].parent, robot.links[0])
+ self.assertIs(robot.links[2].parent, robot.links[1])
+
+ self.assertEqual(robot.links[0].children, [robot.links[1]])
+ self.assertEqual(robot.links[1].children, [robot.links[2]])
+ self.assertEqual(robot.links[2].children, [])
+
+ link1 = Link(ETS(ET.Rx()), name="link1")
+ link2 = Link(ET.tx(1) * ET.ty(-0.5) * ET.tz(), name="link2", parent="link1")
+ link3 = Link(ETS(ET.tx(1)), name="ee_1", parent="link2")
+ robot = Robot([link1, link2, link3])
+ self.assertEqual(robot.n, 2)
+ self.assertIsInstance(robot.links[0], Link)
+ self.assertIsInstance(robot.links[1], Link)
+ self.assertIsInstance(robot.links[2], Link)
+ self.assertTrue(robot.links[0].isrevolute)
+ self.assertTrue(robot.links[1].isprismatic)
+
+ self.assertIs(robot.links[0].parent, None)
+ self.assertIs(robot.links[1].parent, robot.links[0])
+ self.assertIs(robot.links[2].parent, robot.links[1])
+
+ self.assertEqual(robot[0].children, [robot[1]])
+ self.assertEqual(robot[1].children, [robot[2]])
+ self.assertEqual(robot[2].children, [])
+
+ def test_init_elink_autoparent(self):
+ links = [
+ Link(ETS(ET.Rx()), name="link1"),
+ Link(ET.tx(1) * ET.ty(-0.5) * ET.tz(), name="link2"),
+ Link(ETS(ET.tx(1)), name="ee_1"),
+ ]
+ robot = Robot(links)
+ self.assertEqual(robot.n, 2)
+ self.assertIsInstance(robot[0], Link)
+ self.assertIsInstance(robot[1], Link)
+ self.assertIsInstance(robot[2], Link)
+ self.assertTrue(robot[0].isrevolute)
+ self.assertTrue(robot[1].isprismatic)
+ self.assertIs(robot[0].parent, None)
+ self.assertIs(robot[1].parent, robot[0])
+ self.assertIs(robot[2].parent, robot[1])
+
+ self.assertEqual(robot[0].children, [robot[1]])
+ self.assertEqual(robot[1].children, [robot[2]])
+ self.assertEqual(robot[2].children, [])
+
+ def test_init_elink_branched(self):
+ robot = Robot(
+ [
+ Link(ETS(ET.Rz()), name="link1"),
+ Link(
+ ETS(ET.tx(1)) * ET.ty(-0.5) * ET.Rz(), name="link2", parent="link1"
+ ),
+ Link(ETS(ET.tx(1)), name="ee_1", parent="link2"),
+ Link(ET.tx(1) * ET.ty(0.5) * ET.Rz(), name="link3", parent="link1"),
+ Link(ETS(ET.tx(1)), name="ee_2", parent="link3"),
+ ]
+ )
+ self.assertEqual(robot.n, 3)
+ for i in range(5):
+ self.assertIsInstance(robot[i], Link)
+ self.assertTrue(robot[0].isrevolute)
+ self.assertTrue(robot[1].isrevolute)
+ self.assertTrue(robot[3].isrevolute)
+
+ self.assertIs(robot[0].parent, None)
+ self.assertIs(robot[1].parent, robot[0])
+ self.assertIs(robot[2].parent, robot[1])
+ self.assertIs(robot[3].parent, robot[0])
+ self.assertIs(robot[4].parent, robot[3])
+
+ self.assertEqual(robot[0].children, [robot[1], robot[3]])
+ self.assertEqual(robot[1].children, [robot[2]])
+ self.assertEqual(robot[2].children, [])
+ self.assertEqual(robot[3].children, [robot[4]])
+ self.assertEqual(robot[2].children, [])
+
+ def test_init_bases(self):
+ e1 = Link()
+ e2 = Link()
+ e3 = Link(parent=e1)
+ e4 = Link(parent=e2)
+
+ with self.assertRaises(ValueError):
+ Robot([e1, e2, e3, e4])
+
+ def test_jindex(self):
+ e1 = Link(ETS(ET.Rz()), jindex=0)
+ e2 = Link(ETS(ET.Rz()), jindex=1, parent=e1)
+ e3 = Link(ETS(ET.Rz()), jindex=2, parent=e2)
+ e4 = Link(ETS(ET.Rz()), jindex=0, parent=e3)
+
+ # with self.assertRaises(ValueError):
+ Robot([e1, e2, e3, e4], gripper_links=e4)
+
+ def test_jindex_fail(self):
+ e1 = Link(rtb.ETS(rtb.ET.Rz()), jindex=0)
+ e2 = Link(rtb.ETS(rtb.ET.Rz()), jindex=1, parent=e1)
+ e3 = Link(rtb.ETS(rtb.ET.Rz()), jindex=2, parent=e2)
+ e4 = Link(rtb.ETS(rtb.ET.Rz()), jindex=5, parent=e3)
+
+ with self.assertRaises(ValueError):
+ Robot([e1, e2, e3, e4])
+
+ e1 = Link(rtb.ETS(rtb.ET.Rz()), jindex=0)
+ e2 = Link(rtb.ETS(rtb.ET.Rz()), jindex=1, parent=e1)
+ e3 = Link(rtb.ETS(rtb.ET.Rz()), jindex=2, parent=e2)
+ e4 = Link(rtb.ETS(rtb.ET.Rz()), parent=e3)
+
+ with self.assertRaises(ValueError):
+ Robot([e1, e2, e3, e4])
+
+ def test_panda(self):
+ panda = rtb.models.ETS.Panda()
+ qz = np.array([0, 0, 0, 0, 0, 0, 0])
+ qr = panda.qr
+
+ nt.assert_array_almost_equal(panda.qr, qr)
+ nt.assert_array_almost_equal(panda.qz, qz)
+ nt.assert_array_almost_equal(panda.gravity, np.array([0, 0, -9.81]))
+
+ def test_q(self):
+ panda = rtb.models.ETS.Panda()
+
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+ q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
+ q3 = np.expand_dims(q1, 0)
+
+ panda.q = q1
+ nt.assert_array_almost_equal(panda.q, q1)
+ panda.q = q2
+ nt.assert_array_almost_equal(panda.q, q2)
+ panda.q = q3
+ nt.assert_array_almost_equal(np.expand_dims(panda.q, 0), q3)
+
+ def test_getters(self):
+ panda = rtb.models.ETS.Panda()
+
+ panda.qdd = np.ones((7, 1))
+ panda.qd = np.ones((1, 7))
+ panda.qdd = panda.qd
+ panda.qd = panda.qdd
+
+ def test_control_mode(self):
+ panda = rtb.models.ETS.Panda()
+ panda.control_mode = "v"
+ self.assertEqual(panda.control_mode, "v")
+
+ def test_base(self):
+ panda = rtb.models.ETS.Panda()
+
+ pose = SE3()
+
+ panda.base = pose.A
+ nt.assert_array_almost_equal(np.eye(4), panda.base.A)
+
+ panda.base = pose
+ nt.assert_array_almost_equal(np.eye(4), panda.base.A)
+
+ def test_control_mode2(self):
+ panda = rtb.models.ETS.Panda()
+
+ panda.control_mode = "p"
+
+ with self.assertRaises(ValueError):
+ panda.control_mode = "z"
+
+ def test_manuf(self):
+ panda = rtb.models.ETS.Panda()
+
+ self.assertIsInstance(panda.manufacturer, str)
+
+ def test_str(self):
+ panda = rtb.models.Panda()
+ pr2 = rtb.models.PR2()
+ self.assertIsInstance(str(panda), str)
+ self.assertIsInstance(str(pr2), str)
+ self.assertIsInstance(repr(panda), str)
+ self.assertIsInstance(repr(pr2), str)
+
+ def test_nlinks(self):
+ panda = rtb.models.Panda()
+ self.assertEqual(panda.nlinks, 12)
+
+ def test_configs(self):
+ panda = rtb.models.Panda()
+ configs = panda.configs
+
+ nt.assert_equal(configs["qr"], panda.qr)
+ nt.assert_equal(configs["qz"], panda.qz)
+
+ def test_keywords(self):
+ panda = Robot(
+ ETS([ET.Rz(qlim=[-1, 1]), ET.tz(qlim=[-1, 1]), ET.SE3(SE3.Trans(1, 2, 3))]),
+ keywords=["test"],
+ )
+ self.assertEqual(panda.keywords, ["test"])
+ self.assertFalse(panda.symbolic)
+ self.assertFalse(panda.hasdynamics)
+ self.assertFalse(panda.hasgeometry)
+ self.assertFalse(panda.hascollision)
+ self.assertEqual(panda.default_backend, None)
+ panda.default_backend = "Swift"
+
+ self.assertEqual(panda.qlim[0, 0], -1.0)
+
+ def test_qlim(self):
+ panda = Robot(ETS([ET.Rz(qlim=[-1, 1]), ET.tz()]), keywords=["test"])
+
+ with self.assertRaises(ValueError):
+ panda.qlim
+
+ def test_joint_types(self):
+ panda = Robot(
+ ETS([ET.Rz(qlim=[-1, 1]), ET.tz(qlim=[-1, 1]), ET.SE3(SE3.Trans(1, 2, 3))]),
+ )
+
+ self.assertTrue(panda.prismaticjoints[1])
+ self.assertTrue(panda.revolutejoints[0])
+
+ def test_urdf_string(self):
+ panda = rtb.models.Panda()
+ self.assertIsInstance(panda.urdf_string, str)
+ self.assertIsInstance(panda.urdf_filepath, str)
+
+ def test_manipulability_fail(self):
+ puma = rtb.models.Puma560()
+ puma.q = puma.qr
+
+ with self.assertRaises(ValueError):
+ puma.manipulability(method="notamethod") # type: ignore
+
+ def test_tool(self):
+ panda = rtb.models.Panda()
+
+ panda.tool = SE3.Ry(0.5)
+ nt.assert_almost_equal(panda.tool.A, SE3.Ry(0.5).A)
+
+ panda.tool = SE3.Ry(0.5).A
+ nt.assert_almost_equal(panda.tool.A, SE3.Ry(0.5).A)
+
+ def test_get_path(self):
+ panda = rtb.models.Panda()
+
+ links, n, tool = panda.get_path(end="panda_link1", start="panda_link4")
+
+ for link in links:
+ print(link.name)
+
+ self.assertEqual(links[0].name, "panda_link4")
+ self.assertEqual(links[1].name, "panda_link3")
+ self.assertEqual(links[2].name, "panda_link2")
+ self.assertEqual(links[3].name, "panda_link1")
+
+ self.assertEqual(n, 4)
+ nt.assert_equal(tool, np.eye(4))
+
+ def test_get_path2(self):
+ panda = rtb.models.Panda()
+
+ links, n, tool = panda.get_path(end="panda_link4", start="panda_link1")
+
+ for link in links:
+ print(link.name)
+
+ self.assertEqual(links[0].name, "panda_link1")
+ self.assertEqual(links[1].name, "panda_link2")
+ self.assertEqual(links[2].name, "panda_link3")
+ self.assertEqual(links[3].name, "panda_link4")
+
+ self.assertEqual(n, 4)
+ nt.assert_equal(tool, np.eye(4))
+
+ def test_get_path_fail(self):
+ panda = rtb.models.Panda()
+
+ with self.assertRaises(ValueError):
+ _, _, _ = panda.get_path(end="panda", start="panda")
+
+ def test_getlink(self):
+ panda = rtb.models.Panda()
+
+ l0 = panda._getlink(panda.grippers[0])
+
+ self.assertEqual(l0.name, "panda_hand")
+
+ def test_getlink_fail(self):
+ panda = rtb.models.Panda()
+
+ with self.assertRaises(ValueError):
+ panda._getlink(rtb.Link(rtb.ETS()))
+
+ def test_getlink_fail2(self):
+ panda = rtb.models.Panda()
+
+ with self.assertRaises(ValueError):
+ panda._getlink(rtb.Gripper([rtb.Link(rtb.ETS())]))
+
+ def test_getlink_fail3(self):
+ panda = rtb.models.Panda()
+
+ with self.assertRaises(TypeError):
+ panda._getlink(2.0)
+
+ def test_limits(self):
+ r = rtb.models.YuMi()
+
+ end, _, _ = r._get_limit_links()
+
+ self.assertEqual(end.name, "r_gripper")
+
+ def test_limits2(self):
+ r = rtb.models.Panda()
+
+ end, _, _ = r._get_limit_links()
+
+ self.assertEqual(end.name, "panda_hand")
+
+ def test_limits3(self):
+ l1 = rtb.Link(rtb.ETS(), name="l1")
+ l2 = rtb.Link(rtb.ETS(), parent=l1, name="l2")
+ l3 = rtb.Link(rtb.ETS(), parent=l1, name="l3")
+
+ r = rtb.Robot([l1, l2, l3])
+
+ end, _, _ = r._get_limit_links()
+
+ self.assertEqual(end.name, "l2")
+
+ def test_limits4(self):
+ r = rtb.models.Panda()
+
+ end, _, _ = r._get_limit_links(end=r.grippers[0])
+
+ self.assertEqual(end.name, "panda_hand")
+
+ def test_ets_gripper(self):
+ r = rtb.models.Panda()
+
+ ets = r.ets(start=r.grippers[0])
+
+ self.assertEqual(ets.n, 0)
+
+ def test_ets_gripper2(self):
+ r = rtb.models.YuMi()
+
+ ets = r.ets()
+
+ self.assertEqual(ets.n, 7)
+
+ def test_ets_gripper3(self):
+ l1 = rtb.Link(rtb.ETS(), name="l1")
+ l2 = rtb.Link(rtb.ETS(), parent=l1, name="l2")
+ l3 = rtb.Link(rtb.ETS(), parent=l1, name="l3")
+
+ r = rtb.Robot([l1, l2, l3])
+
+ ets = r.ets()
+
+ self.assertEqual(ets.n, 0)
+
+ def test_ets_gripper4(self):
+ r = rtb.models.Panda()
+
+ ets = r.ets(end=r.grippers[0])
+
+ self.assertEqual(ets.n, 7)
+
+ def test_ets(self):
+ r = rtb.models.Panda()
+
+ ets = r.ets(end=r.links[4], start=r.links[4])
+
+ self.assertEqual(ets.n, 1)
+
+ def test_copy(self):
+ r = rtb.models.Panda()
+
+ r2 = deepcopy(r)
+
+ self.assertTrue(r2.links[2] != r.links[2])
+
+ def test_copy2(self):
+ r = rtb.models.DH.Panda()
+
+ r2 = deepcopy(r)
+
+ self.assertTrue(r2.links[2] != r.links[2])
+
+ def test_copy3(self):
+ r = rtb.Robot2(rtb.ETS2(rtb.ET2.R()))
+
+ r2 = deepcopy(r)
+
+ self.assertTrue(r2.links[0] != r.links[0])
+
+ def test_toradians(self):
+ r = rtb.models.Panda()
+
+ q = np.ones((2, 7))
+
+ qn = r.toradians(q)
+
+ nt.assert_equal(qn, q * np.pi / 180.0)
+
+ def test_todegrees(self):
+ r = rtb.models.Panda()
+
+ q = np.ones((2, 7))
+
+ qn = r.todegrees(q)
+
+ nt.assert_equal(qn, q * 180.0 / np.pi)
+
+ def test_random_q(self):
+ r = rtb.models.Panda()
+
+ q = r.random_q()
+
+ self.assertEqual(q.shape[0], 7)
+
+ def test_heirarchy(self):
+ r = rtb.models.Panda()
+
+ r.hierarchy()
+
+ def test_segments2(self):
+ r = rtb.models.YuMi()
+
+ segs = r.segments()
+
+ self.assertEqual(len(segs), 7)
+
+ def test_get_backend(self):
+ r = rtb.models.Panda()
+
+ be = r._get_graphical_backend()
+
+ self.assertTrue(isinstance(be, Swift))
+
+ def test_teach(self):
+ robot = rtb.models.ETS.Panda()
+ e = robot.teach(q=None, block=False, vellipse=True, fellipse=True)
+ e.close()
diff --git a/tests/test_CustomXacro.py b/tests/test_CustomXacro.py
index 3f21344a0..61aee8189 100755
--- a/tests/test_CustomXacro.py
+++ b/tests/test_CustomXacro.py
@@ -6,7 +6,7 @@
import numpy.testing as nt
import numpy as np
import unittest
-from roboticstoolbox import ERobot
+from roboticstoolbox import Robot
from spatialmath import SE3
from roboticstoolbox.tools.data import rtb_path_to_datafile
from distutils.dir_util import copy_tree
@@ -16,7 +16,7 @@
class TestCustomXacro(unittest.TestCase):
def test_custom(self):
- class CustomPanda(ERobot):
+ class CustomPanda(Robot):
def __init__(self, xacro_path):
links, name, urdf_string, urdf_filepath = self.URDF_read(
diff --git a/tests/test_DHRobot.py b/tests/test_DHRobot.py
index 4228b0d9f..8144f00ec 100644
--- a/tests/test_DHRobot.py
+++ b/tests/test_DHRobot.py
@@ -629,7 +629,7 @@ def test_friction(self):
l0 = rp.RevoluteDH(d=2, B=3, G=2, Tc=[2, -1])
qd = [1, 2, 3, 4]
- r0 = rp.DHRobot([l0, l0, l0, l0])
+ r0 = rp.DHRobot([l0, l0.copy(), l0.copy(), l0.copy()])
tau = np.array([-16, -28, -40, -52])
@@ -969,44 +969,44 @@ def test_ikine_LM(self):
sol = puma.ikine_LM(T)
self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=6)
+ self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=4)
- def test_ikine_LMS(self):
- puma = rp.models.DH.Puma560()
+ # def test_ikine_LMS(self):
+ # puma = rp.models.DH.Puma560()
- T = puma.fkine(puma.qn)
+ # T = puma.fkine(puma.qn)
- sol = puma.ikine_LM(T)
- self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=6)
+ # sol = puma.ikine_LM(T)
+ # self.assertTrue(sol.success)
+ # self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=6)
- def test_ikine_unc(self):
- puma = rp.models.DH.Puma560()
+ # def test_ikine_unc(self):
+ # puma = rp.models.DH.Puma560()
- T = puma.fkine(puma.qn)
+ # T = puma.fkine(puma.qn)
- sol = puma.ikine_min(T)
- self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+ # sol = puma.ikine_min(T)
+ # self.assertTrue(sol.success)
+ # self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
- q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
- sol = puma.ikine_min(T, q0=q0)
- self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+ # q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
+ # sol = puma.ikine_min(T, q0=q0)
+ # self.assertTrue(sol.success)
+ # self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
- def test_ikine_con(self):
- puma = rp.models.DH.Puma560()
+ # def test_ikine_con(self):
+ # puma = rp.models.DH.Puma560()
- T = puma.fkine(puma.qn)
+ # T = puma.fkine(puma.qn)
- sol = puma.ikine_min(T, qlim=True)
- self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+ # sol = puma.ikine_min(T, qlim=True)
+ # self.assertTrue(sol.success)
+ # self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
- q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
- sol = puma.ikine_min(T, q0=q0, qlim=True)
- self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
+ # q0 = np.r_[0.1, 0.1, 0.1, 0.2, 0.3, 0.4]
+ # sol = puma.ikine_min(T, q0=q0, qlim=True)
+ # self.assertTrue(sol.success)
+ # self.assertAlmostEqual(np.linalg.norm(T - puma.fkine(sol.q)), 0, places=5)
# def test_ikine_min(self):
# puma = rp.models.DH.Puma560()
@@ -1403,7 +1403,7 @@ def test_perturb(self):
def test_teach(self):
panda = rp.models.DH.Panda()
- e = panda.teach(block=False)
+ e = panda.teach(panda.q, block=False)
e.close()
def test_teach_withq(self):
@@ -1418,8 +1418,8 @@ def test_plot(self):
def test_teach_basic(self):
l0 = rp.DHLink(d=2)
- r0 = rp.DHRobot([l0, l0])
- e = r0.teach(block=False)
+ r0 = rp.DHRobot([l0, l0.copy()])
+ e = r0.teach(r0.q, block=False)
e.step()
e.close()
@@ -1440,35 +1440,23 @@ def test_control_type(self):
def test_plot_vellipse(self):
panda = rp.models.DH.Panda()
- e = panda.plot_vellipse(block=False, limits=[1, 2, 1, 2, 1, 2])
+ e = panda.plot_vellipse(panda.q, block=False, limits=[1, 2, 1, 2, 1, 2])
e.close()
- e = panda.plot_vellipse(block=False, q=panda.qr, centre="ee", opt="rot")
+ e = panda.plot_vellipse(panda.q, block=False, centre="ee", opt="rot")
e.step()
e.close()
- with self.assertRaises(TypeError):
- panda.plot_vellipse(q=panda.qr, vellipse=10)
-
- with self.assertRaises(ValueError):
- panda.plot_vellipse(q=panda.qr, centre="ff")
-
def test_plot_fellipse(self):
panda = rp.models.DH.Panda()
e = panda.plot_fellipse(q=panda.qr, block=False, limits=[1, 2, 1, 2, 1, 2])
e.close()
- e = panda.plot_fellipse(block=False, q=panda.qr, centre="ee", opt="rot")
+ e = panda.plot_fellipse(panda.qr, block=False, centre="ee", opt="rot")
e.step()
e.close()
- with self.assertRaises(TypeError):
- panda.plot_fellipse(q=panda.qr, fellipse=10)
-
- with self.assertRaises(ValueError):
- panda.plot_fellipse(q=panda.qr, centre="ff")
-
def test_plot_with_vellipse(self):
panda = rp.models.DH.Panda()
e = panda.plot(panda.qr, block=False, vellipse=True, backend="pyplot")
diff --git a/tests/test_ELink.py b/tests/test_ELink.py
index 2415b136f..4710bd9ac 100644
--- a/tests/test_ELink.py
+++ b/tests/test_ELink.py
@@ -10,6 +10,7 @@
import spatialgeometry as gm
import unittest
import spatialmath as sm
+from roboticstoolbox.robot.Link import BaseLink
class TestLink(unittest.TestCase):
@@ -86,6 +87,13 @@ def test_Tc(self):
nt.assert_array_almost_equal(l1.Tc, Tc1)
nt.assert_array_almost_equal(l2.Tc, Tc2)
+ def test_B(self):
+ l0 = rtb.Link(B=1.0)
+ l1 = rtb.Link(B=None)
+
+ nt.assert_array_almost_equal(l0.B, 1.0)
+ nt.assert_array_almost_equal(l1.B, 0.0)
+
def test_I(self):
l0 = rtb.Link(I=[1, 2, 3])
l1 = rtb.Link(I=[0, 1, 2, 3, 4, 5])
@@ -147,7 +155,7 @@ def test_dyn(self):
B = 0
Tc = 0.4(+) -0.43(-)
G = -63
-qlim = -2.8 to 2.8""",
+qlim = -2.8 to 2.8""", # noqa
)
def test_properties(self):
@@ -158,7 +166,6 @@ def test_properties(self):
self.assertEqual(l0.Jm, 0.0)
def test_fail_parent(self):
-
with self.assertRaises(TypeError):
rtb.Link(parent=1)
@@ -231,7 +238,116 @@ def test_collided(self):
self.assertTrue(c0)
self.assertFalse(c1)
+ def test_init_ets2(self):
+ e1 = rtb.ET2.R()
+ link = BaseLink(e1)
-if __name__ == "__main__":
+ self.assertEqual(link.Ts, None)
+
+ def test_get_ets(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ link = rtb.Link(e1)
+
+ self.assertEqual(link.ets, e1)
+
+ def test_set_ets_fail(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ e2 = rtb.ET.Ry() * rtb.ET.Rx(1.0)
+ link = rtb.Link(e1)
+
+ with self.assertRaises(ValueError):
+ link.ets = e2
+
+ def test_set_robot(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ link = rtb.Link(e1)
+
+ robot = rtb.models.Panda()
+
+ link.robot = robot
+
+ self.assertEqual(link.robot, robot)
+
+ def test_set_qlim_fail(self):
+ e1 = rtb.ETS(rtb.ET.Ry(1.0))
+ link = rtb.Link(e1)
+
+ with self.assertRaises(ValueError):
+ link.qlim = [1.0, 2.0]
+
+ def test_set_collision(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ link = rtb.Link(e1)
+
+ s1 = gm.Cuboid([1.0, 1.0, 1.0])
+
+ link.collision = s1
+
+ self.assertEqual(link.collision[0], s1)
+
+ def test_set_collision2(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ link = rtb.Link(e1)
+
+ s1 = gm.Cuboid([1.0, 1.0, 1.0])
+
+ sg = gm.SceneGroup()
+ sg.append(s1)
+
+ link.collision = sg
+ self.assertEqual(link.collision[0], sg[0])
+
+ def test_set_geometry(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ link = rtb.Link(e1)
+
+ s1 = gm.Cuboid([1.0, 1.0, 1.0])
+
+ link.geometry = s1
+
+ self.assertEqual(link.geometry[0], s1)
+
+ def test_set_geometry2(self):
+ e1 = rtb.ETS(rtb.ET.Ry())
+ link = rtb.Link(e1)
+
+ s1 = gm.Cuboid([1.0, 1.0, 1.0])
+
+ sg = gm.SceneGroup()
+ sg.append(s1)
+
+ link.geometry = sg
+
+ self.assertEqual(link.geometry[0], sg[0])
+
+ def test_dyn2list(self):
+ l1 = rtb.Link(I=[0, 1, 2, 3, 4, 5])
+
+ s = l1._dyn2list()
+
+ print(s)
+
+ ans = [" 0", " 0, 0, 0", " 0, 1, 2, 3, 4, 5", " 0", " 0", " 0, 0", " 0"]
+
+ self.assertEqual(s, ans)
+
+ def test_init_fail4(self):
+ with self.assertRaises(TypeError):
+ rtb.Link(2.0) # type: ignore
+
+ def test_ets2_A(self):
+ e1 = rtb.ETS2(rtb.ET2.R())
+ link = rtb.Link2(e1)
+
+ nt.assert_almost_equal(link.A(1.0).A, sm.SE2(0.0, 0.0, 1.0).A)
+
+ def test_ets2_A2(self):
+ e1 = rtb.ETS2(rtb.ET2.R(1.0))
+ link = rtb.Link2(e1)
+
+ nt.assert_almost_equal(link.A().A, sm.SE2(0.0, 0.0, 1.0).A)
+
+
+if __name__ == "__main__":
unittest.main()
diff --git a/tests/test_ERobot.py b/tests/test_ERobot.py
index b59d765aa..be698bbb7 100644
--- a/tests/test_ERobot.py
+++ b/tests/test_ERobot.py
@@ -7,742 +7,23 @@
import numpy.testing as nt
import numpy as np
import roboticstoolbox as rtb
-from roboticstoolbox import ERobot, ET, ETS, ERobot2, Link
-from spatialmath import SE2, SE3
+from roboticstoolbox import ERobot, ET, ETS, Link
+
+# from spatialmath import SE2, SE3
import unittest
import spatialmath as sm
import spatialgeometry as gm
from math import pi, sin, cos
+try:
+ from sympy import symbols
-class TestERobot(unittest.TestCase):
- def test_init(self):
- ets = ETS(rtb.ET.Rz())
- robot = ERobot(
- ets, name="myname", manufacturer="I made it", comment="other stuff"
- )
- self.assertEqual(robot.name, "myname")
- self.assertEqual(robot.manufacturer, "I made it")
- self.assertEqual(robot.comment, "other stuff")
-
- def test_init_ets(self):
- ets = (
- rtb.ET.tx(-0.0825)
- * rtb.ET.Rz()
- * rtb.ET.tx(-0.0825)
- * rtb.ET.tz()
- * rtb.ET.tx(0.1)
- )
-
- robot = ERobot(ets)
- self.assertEqual(robot.n, 2)
- self.assertIsInstance(robot[0], Link)
- self.assertIsInstance(robot[1], Link)
- self.assertTrue(robot[0].isrevolute)
- self.assertTrue(robot[1].isprismatic)
-
- self.assertIs(robot[0].parent, None)
- self.assertIs(robot[1].parent, robot[0])
- self.assertIs(robot[2].parent, robot[1])
-
- self.assertEqual(robot[0].children, [robot[1]])
- self.assertEqual(robot[1].children, [robot[2]])
- self.assertEqual(robot[2].children, [])
-
- def test_init_elink(self):
- link1 = Link(ETS(ET.Rx()), name="link1")
- link2 = Link(ET.tx(1) * ET.ty(-0.5) * ET.tz(), name="link2", parent=link1)
- link3 = Link(ETS(ET.tx(1)), name="ee_1", parent=link2)
- robot = ERobot([link1, link2, link3])
- self.assertEqual(robot.n, 2)
- self.assertIsInstance(robot[0], Link)
- self.assertIsInstance(robot[1], Link)
- self.assertIsInstance(robot[2], Link)
- self.assertTrue(robot[0].isrevolute)
- self.assertTrue(robot[1].isprismatic)
-
- self.assertFalse(robot[2].isrevolute)
- self.assertFalse(robot[2].isprismatic)
-
- self.assertIs(robot[0].parent, None)
- self.assertIs(robot[1].parent, robot[0])
- self.assertIs(robot[2].parent, robot[1])
-
- self.assertEqual(robot[0].children, [robot[1]])
- self.assertEqual(robot[1].children, [robot[2]])
- self.assertEqual(robot[2].children, [])
-
- link1 = Link(ETS(ET.Rx()), name="link1")
- link2 = Link(ET.tx(1) * ET.ty(-0.5) * ET.tz(), name="link2", parent="link1")
- link3 = Link(ETS(ET.tx(1)), name="ee_1", parent="link2")
- robot = ERobot([link1, link2, link3])
- self.assertEqual(robot.n, 2)
- self.assertIsInstance(robot[0], Link)
- self.assertIsInstance(robot[1], Link)
- self.assertIsInstance(robot[2], Link)
- self.assertTrue(robot[0].isrevolute)
- self.assertTrue(robot[1].isprismatic)
-
- self.assertIs(robot[0].parent, None)
- self.assertIs(robot[1].parent, robot[0])
- self.assertIs(robot[2].parent, robot[1])
-
- self.assertEqual(robot[0].children, [robot[1]])
- self.assertEqual(robot[1].children, [robot[2]])
- self.assertEqual(robot[2].children, [])
-
- def test_init_elink_autoparent(self):
- links = [
- Link(ETS(ET.Rx()), name="link1"),
- Link(ET.tx(1) * ET.ty(-0.5) * ET.tz(), name="link2"),
- Link(ETS(ET.tx(1)), name="ee_1"),
- ]
- robot = ERobot(links)
- self.assertEqual(robot.n, 2)
- self.assertIsInstance(robot[0], Link)
- self.assertIsInstance(robot[1], Link)
- self.assertIsInstance(robot[2], Link)
- self.assertTrue(robot[0].isrevolute)
- self.assertTrue(robot[1].isprismatic)
- self.assertIs(robot[0].parent, None)
- self.assertIs(robot[1].parent, robot[0])
- self.assertIs(robot[2].parent, robot[1])
-
- self.assertEqual(robot[0].children, [robot[1]])
- self.assertEqual(robot[1].children, [robot[2]])
- self.assertEqual(robot[2].children, [])
-
- def test_init_elink_branched(self):
- robot = ERobot(
- [
- Link(ETS(ET.Rz()), name="link1"),
- Link(
- ETS(ET.tx(1)) * ET.ty(-0.5) * ET.Rz(), name="link2", parent="link1"
- ),
- Link(ETS(ET.tx(1)), name="ee_1", parent="link2"),
- Link(ET.tx(1) * ET.ty(0.5) * ET.Rz(), name="link3", parent="link1"),
- Link(ETS(ET.tx(1)), name="ee_2", parent="link3"),
- ]
- )
- self.assertEqual(robot.n, 3)
- for i in range(5):
- self.assertIsInstance(robot[i], Link)
- self.assertTrue(robot[0].isrevolute)
- self.assertTrue(robot[1].isrevolute)
- self.assertTrue(robot[3].isrevolute)
-
- self.assertIs(robot[0].parent, None)
- self.assertIs(robot[1].parent, robot[0])
- self.assertIs(robot[2].parent, robot[1])
- self.assertIs(robot[3].parent, robot[0])
- self.assertIs(robot[4].parent, robot[3])
-
- self.assertEqual(robot[0].children, [robot[1], robot[3]])
- self.assertEqual(robot[1].children, [robot[2]])
- self.assertEqual(robot[2].children, [])
- self.assertEqual(robot[3].children, [robot[4]])
- self.assertEqual(robot[2].children, [])
-
- def test_init_bases(self):
- e1 = Link()
- e2 = Link()
- e3 = Link(parent=e1)
- e4 = Link(parent=e2)
-
- with self.assertRaises(ValueError):
- ERobot([e1, e2, e3, e4])
-
- def test_jindex(self):
- e1 = Link(ETS(ET.Rz()), jindex=0)
- e2 = Link(ETS(ET.Rz()), jindex=1, parent=e1)
- e3 = Link(ETS(ET.Rz()), jindex=2, parent=e2)
- e4 = Link(ETS(ET.Rz()), jindex=0, parent=e3)
-
- # with self.assertRaises(ValueError):
- ERobot([e1, e2, e3, e4], gripper_links=e4)
-
- def test_jindex_fail(self):
- e1 = Link(rtb.ETS(rtb.ET.Rz()), jindex=0)
- e2 = Link(rtb.ETS(rtb.ET.Rz()), jindex=1, parent=e1)
- e3 = Link(rtb.ETS(rtb.ET.Rz()), jindex=2, parent=e2)
- e4 = Link(rtb.ETS(rtb.ET.Rz()), jindex=5, parent=e3)
-
- with self.assertRaises(ValueError):
- ERobot([e1, e2, e3, e4])
-
- e1 = Link(rtb.ETS(rtb.ET.Rz()), jindex=0)
- e2 = Link(rtb.ETS(rtb.ET.Rz()), jindex=1, parent=e1)
- e3 = Link(rtb.ETS(rtb.ET.Rz()), jindex=2, parent=e2)
- e4 = Link(rtb.ETS(rtb.ET.Rz()), parent=e3)
-
- with self.assertRaises(ValueError):
- ERobot([e1, e2, e3, e4])
-
- def test_panda(self):
- panda = rtb.models.ETS.Panda()
- qz = np.array([0, 0, 0, 0, 0, 0, 0])
- qr = panda.qr
-
- nt.assert_array_almost_equal(panda.qr, qr)
- nt.assert_array_almost_equal(panda.qz, qz)
- nt.assert_array_almost_equal(panda.gravity, np.r_[0, 0, -9.81])
-
- def test_q(self):
- panda = rtb.models.ETS.Panda()
-
- q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
- q3 = np.expand_dims(q1, 0)
-
- panda.q = q1
- nt.assert_array_almost_equal(panda.q, q1)
- panda.q = q2
- nt.assert_array_almost_equal(panda.q, q2)
- panda.q = q3
- nt.assert_array_almost_equal(np.expand_dims(panda.q, 0), q3)
-
- def test_getters(self):
- panda = rtb.models.ETS.Panda()
-
- panda.qdd = np.ones((7, 1))
- panda.qd = np.ones((1, 7))
- panda.qdd = panda.qd
- panda.qd = panda.qdd
-
- def test_control_mode(self):
- panda = rtb.models.ETS.Panda()
- panda.control_mode = "v"
- self.assertEqual(panda.control_mode, "v")
-
- def test_base(self):
- panda = rtb.models.ETS.Panda()
-
- pose = sm.SE3()
-
- panda.base = pose.A
- nt.assert_array_almost_equal(np.eye(4), panda.base.A)
-
- panda.base = pose
- nt.assert_array_almost_equal(np.eye(4), panda.base.A)
-
- def test_fkine(self):
- panda = rtb.models.ETS.Panda()
- q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
- q3 = np.expand_dims(q1, 0)
-
- ans = np.array(
- [
- [-0.50827907, -0.57904589, 0.63746234, 0.44682295],
- [0.83014553, -0.52639462, 0.18375824, 0.16168396],
- [0.22915229, 0.62258699, 0.74824773, 0.96798113],
- [0.0, 0.0, 0.0, 1.0],
- ]
- )
-
- # panda.q = q1
- nt.assert_array_almost_equal(panda.fkine(q1).A, ans)
-
- def test_jacob0(self):
- panda = rtb.models.ETS.Panda()
- q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
- q3 = np.expand_dims(q1, 0)
- q4 = np.expand_dims(q1, 1)
-
- ans = np.array(
- [
- [
- -1.61683957e-01,
- 1.07925929e-01,
- -3.41453006e-02,
- 3.35029257e-01,
- -1.07195463e-02,
- 1.03187865e-01,
- 0.00000000e00,
- ],
- [
- 4.46822947e-01,
- 6.25741987e-01,
- 4.16474664e-01,
- -8.04745724e-02,
- 7.78257566e-02,
- -1.17720983e-02,
- 0.00000000e00,
- ],
- [
- 0.00000000e00,
- -2.35276631e-01,
- -8.20187641e-02,
- -5.14076923e-01,
- -9.98040745e-03,
- -2.02626953e-01,
- 0.00000000e00,
- ],
- [
- 1.29458954e-16,
- -9.85449730e-01,
- 3.37672585e-02,
- -6.16735653e-02,
- 6.68449878e-01,
- -1.35361558e-01,
- 6.37462344e-01,
- ],
- [
- 9.07021273e-18,
- 1.69967143e-01,
- 1.95778638e-01,
- 9.79165111e-01,
- 1.84470262e-01,
- 9.82748279e-01,
- 1.83758244e-01,
- ],
- [
- 1.00000000e00,
- -2.26036604e-17,
- 9.80066578e-01,
- -1.93473657e-01,
- 7.20517510e-01,
- -1.26028049e-01,
- 7.48247732e-01,
- ],
- ]
- )
+ _sympy = True
+except ModuleNotFoundError:
+ _sympy = False
- panda.q = q1
- # nt.assert_array_almost_equal(panda.jacob0(), ans)
- nt.assert_array_almost_equal(panda.jacob0(q2), ans)
- nt.assert_array_almost_equal(panda.jacob0(q3), ans)
- nt.assert_array_almost_equal(panda.jacob0(q4), ans)
- self.assertRaises(TypeError, panda.jacob0, "Wfgsrth")
-
- def test_hessian0(self):
- panda = rtb.models.ETS.Panda()
- q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
- q3 = np.expand_dims(q1, 0)
- q4 = np.expand_dims(q1, 1)
-
- ans = np.array(
- [
- [
- [
- -4.46822947e-01,
- -6.25741987e-01,
- -4.16474664e-01,
- 8.04745724e-02,
- -7.78257566e-02,
- 1.17720983e-02,
- 0.00000000e00,
- ],
- [
- -6.25741987e-01,
- -3.99892968e-02,
- -1.39404950e-02,
- -8.73761859e-02,
- -1.69634134e-03,
- -3.44399243e-02,
- 0.00000000e00,
- ],
- [
- -4.16474664e-01,
- -1.39404950e-02,
- -4.24230421e-01,
- -2.17748413e-02,
- -7.82283735e-02,
- -2.81325889e-02,
- 0.00000000e00,
- ],
- [
- 8.04745724e-02,
- -8.73761859e-02,
- -2.17748413e-02,
- -5.18935898e-01,
- 5.28476698e-03,
- -2.00682834e-01,
- 0.00000000e00,
- ],
- [
- -7.78257566e-02,
- -1.69634134e-03,
- -7.82283735e-02,
- 5.28476698e-03,
- -5.79159088e-02,
- -2.88966443e-02,
- 0.00000000e00,
- ],
- [
- 1.17720983e-02,
- -3.44399243e-02,
- -2.81325889e-02,
- -2.00682834e-01,
- -2.88966443e-02,
- -2.00614904e-01,
- 0.00000000e00,
- ],
- [
- 0.00000000e00,
- 0.00000000e00,
- 0.00000000e00,
- 0.00000000e00,
- 0.00000000e00,
- 0.00000000e00,
- 0.00000000e00,
- ],
- ],
- [
- [
- -1.61683957e-01,
- 1.07925929e-01,
- -3.41453006e-02,
- 3.35029257e-01,
- -1.07195463e-02,
- 1.03187865e-01,
- 0.00000000e00,
- ],
- [
- 1.07925929e-01,
- -2.31853293e-01,
- -8.08253690e-02,
- -5.06596965e-01,
- -9.83518983e-03,
- -1.99678676e-01,
- 0.00000000e00,
- ],
- [
- -3.41453006e-02,
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- ],
- [
- 0.00000000e00,
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- -5.20417043e-18,
- -5.55111512e-17,
- ],
- [
- 0.00000000e00,
- -9.45442009e-01,
- 5.96856167e-02,
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- 6.81888149e-01,
- -2.77555756e-17,
- 1.04083409e-17,
- ],
- [
- 0.00000000e00,
- -2.89432165e-01,
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- 5.24032975e-03,
- -6.51338823e-01,
- 0.00000000e00,
- ],
- ],
- ]
- )
-
- ans_new = np.empty((7, 6, 7))
-
- for i in range(7):
- ans_new[i, :, :] = ans[:, :, i]
-
- nt.assert_array_almost_equal(panda.hessian0(q1), ans_new)
- nt.assert_array_almost_equal(panda.hessian0(q2), ans_new)
- nt.assert_array_almost_equal(panda.hessian0(q3), ans_new)
- nt.assert_array_almost_equal(panda.hessian0(q4), ans_new)
- nt.assert_array_almost_equal(panda.hessian0(J0=panda.jacob0(q1)), ans_new)
- nt.assert_array_almost_equal(panda.hessian0(q1, J0=panda.jacob0(q1)), ans_new)
-
- def test_manipulability(self):
- panda = rtb.models.ETS.Panda()
- q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
-
- ans = 0.006559178039088341
-
- panda.q = q1
- nt.assert_array_almost_equal(panda.manipulability(q2), ans)
- # self.assertRaises(ValueError, panda.manipulability)
- self.assertRaises(TypeError, panda.manipulability, "Wfgsrth")
- self.assertRaises(ValueError, panda.manipulability, [1, 3])
+class TestERobot(unittest.TestCase):
def test_jacobm(self):
panda = rtb.models.ETS.Panda()
q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
@@ -777,27 +58,6 @@ def test_jacobm(self):
ValueError, panda.jacobm, [1, 3], panda.jacob0(q1), np.array([1, 2, 3])
)
- # def test_jacobe(self):
- # pdh = rtb.models.DH.Panda()
- # panda = rtb.models.ETS.Panda()
- # q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- # panda.q = q1
-
- # # nt.assert_array_almost_equal(panda.jacobe(), pdh.jacobe(q1))
- # nt.assert_array_almost_equal(panda.jacobe(q1), pdh.jacobe(q1))
-
- def test_init2(self):
- l0 = Link()
- l1 = Link(parent=l0)
- r = ERobot([l0, l1], base=sm.SE3.Rx(1.3))
- # r.base_link = l1
-
- with self.assertRaises(TypeError):
- ERobot(l0, base=sm.SE3.Rx(1.3))
-
- with self.assertRaises(TypeError):
- ERobot([1, 2], base=sm.SE3.Rx(1.3))
-
def test_dict(self):
panda = rtb.models.Panda()
panda.grippers[0].links[0].collision.append(gm.Cuboid([1, 1, 1]))
@@ -811,81 +71,6 @@ def test_fkdict(self):
panda.grippers[0].links[0].collision.append(gm.Cuboid([1, 1, 1]))
panda._fk_dict()
- def test_elinks(self):
- panda = rtb.models.Panda()
- self.assertEqual(panda.elinks[0], panda.link_dict[panda.elinks[0].name])
-
- def test_base_link_setter(self):
- panda = rtb.models.Panda()
-
- with self.assertRaises(TypeError):
- panda.base_link = [1]
-
- def test_ee_link_setter(self):
- panda = rtb.models.Panda()
-
- panda.ee_links = panda.links[5]
-
- with self.assertRaises(TypeError):
- panda.ee_links = [1] # type: ignore
-
- def test_qlim(self):
- panda = rtb.models.ETS.Panda()
-
- self.assertEqual(panda.qlim.shape[0], 2)
- self.assertEqual(panda.qlim.shape[1], panda.n)
-
- def test_manuf(self):
- panda = rtb.models.ETS.Panda()
-
- self.assertIsInstance(panda.manufacturer, str)
-
- def test_complex(self):
- l0 = Link(rtb.ET.tx(0.1) * rtb.ET.Rx())
- l1 = Link(rtb.ET.tx(0.1) * rtb.ET.Ry(), parent=l0)
- l2 = Link(rtb.ET.tx(0.1) * rtb.ET.Rz(), parent=l1)
- l3 = Link(rtb.ET.tx(0.1) * rtb.ET.tx(), parent=l2)
- l4 = Link(rtb.ET.tx(0.1) * rtb.ET.ty(), parent=l3)
- l5 = Link(rtb.ET.tx(0.1) * rtb.ET.tz(), parent=l4)
-
- r = ERobot([l0, l1, l2, l3, l4, l5])
- q = [1, 2, 3, 1, 2, 3]
-
- ans = np.array(
- [
- [-0.0, 0.08752679, -0.74761985, 0.41198225, 0.05872664, 0.90929743],
- [
- 1.46443609,
- 2.80993063,
- 0.52675075,
- -0.68124272,
- -0.64287284,
- 0.35017549,
- ],
- [
- -1.04432,
- -1.80423571,
- -2.20308833,
- 0.60512725,
- -0.76371834,
- -0.2248451,
- ],
- [1.0, 0.0, 0.90929743, 0.0, 0.0, 0.0],
- [0.0, 0.54030231, 0.35017549, 0.0, 0.0, 0.0],
- [0.0, 0.84147098, -0.2248451, 0.0, 0.0, 0.0],
- ]
- )
-
- nt.assert_array_almost_equal(r.jacob0(q), ans)
-
- def test_control_mode2(self):
- panda = rtb.models.ETS.Panda()
-
- panda.control_mode = "p"
-
- with self.assertRaises(ValueError):
- panda.control_mode = "z"
-
def test_dist(self):
s0 = gm.Cuboid([1, 1, 1], pose=sm.SE3(0, 0, 0))
s1 = gm.Cuboid([1, 1, 1], pose=sm.SE3(3, 0, 0))
@@ -922,30 +107,30 @@ def test_invdyn(self):
tau = robot.rne(z, z, z) / 9.81
nt.assert_array_almost_equal(tau, np.r_[-2, -0.5])
- tau = robot.rne([0, -pi / 2], z, z) / 9.81
+ tau = robot.rne(np.array([0.0, -pi / 2.0]), z, z) / 9.81
nt.assert_array_almost_equal(tau, np.r_[-1.5, 0])
- tau = robot.rne([-pi / 2, pi / 2], z, z) / 9.81
+ tau = robot.rne(np.array([-pi / 2, pi / 2]), z, z) / 9.81
nt.assert_array_almost_equal(tau, np.r_[-0.5, -0.5])
- tau = robot.rne([-pi / 2, 0], z, z) / 9.81
+ tau = robot.rne(np.array([-pi / 2, 0]), z, z) / 9.81
nt.assert_array_almost_equal(tau, np.r_[0, 0])
# check velocity terms
robot.gravity = [0, 0, 0]
- q = [0, -pi / 2]
+ q = np.array([0, -pi / 2])
h = -0.5 * sin(q[1])
- tau = robot.rne(q, [0, 0], z)
+ tau = robot.rne(q, np.array([0, 0]), z)
nt.assert_array_almost_equal(tau, np.r_[0, 0] * h)
- tau = robot.rne(q, [1, 0], z)
+ tau = robot.rne(q, np.array([1, 0]), z)
nt.assert_array_almost_equal(tau, np.r_[0, -1] * h)
- tau = robot.rne(q, [0, 1], z)
+ tau = robot.rne(q, np.array([0, 1]), z)
nt.assert_array_almost_equal(tau, np.r_[1, 0] * h)
- tau = robot.rne(q, [1, 1], z)
+ tau = robot.rne(q, np.array([1, 1]), z)
nt.assert_array_almost_equal(tau, np.r_[3, -1] * h)
# check inertial terms
@@ -955,16 +140,16 @@ def test_invdyn(self):
d21 = d12
d22 = 0.25
- tau = robot.rne(q, z, [0, 0])
+ tau = robot.rne(q, z, np.array([0, 0]))
nt.assert_array_almost_equal(tau, np.r_[0, 0])
- tau = robot.rne(q, z, [1, 0])
+ tau = robot.rne(q, z, np.array([1, 0]))
nt.assert_array_almost_equal(tau, np.r_[d11, d21])
- tau = robot.rne(q, z, [0, 1])
+ tau = robot.rne(q, z, np.array([0, 1]))
nt.assert_array_almost_equal(tau, np.r_[d12, d22])
- tau = robot.rne(q, z, [1, 1])
+ tau = robot.rne(q, z, np.array([1, 1]))
nt.assert_array_almost_equal(tau, np.r_[d11 + d12, d21 + d22])
@@ -976,16 +161,16 @@ def test_plot(self):
def test_teach(self):
robot = rtb.models.ETS.Planar2()
- e = robot.teach(block=False, name=True)
+ e = robot.teach(robot.qz, block=False)
e.close()
- e = robot.teach(robot.qz, block=False, name=True)
+ e = robot.teach(robot.qz, block=False)
e.close()
def test_plot_with_vellipse(self):
robot = rtb.models.ETS.Planar2()
e = robot.plot(
- robot.qz, block=False, name=True, vellipse=True, limits=[1, 2, 1, 2]
+ robot.qb, block=False, name=True, vellipse=True, limits=[1, 2, 1, 2]
)
e.step()
e.close()
@@ -998,6 +183,40 @@ def test_plot_with_fellipse(self):
e.step()
e.close()
+ def test_base(self):
+ robot = rtb.models.ETS.Planar2()
+ nt.assert_almost_equal(robot.base.A, sm.SE2().A)
+
+ def test_jacobe(self):
+ robot = rtb.models.ETS.Planar2()
+ J = robot.jacobe(robot.qz)
+
+ a1 = np.array([[0.0, 0.0], [2.0, 1.0], [1.0, 1.0]])
+
+ nt.assert_almost_equal(J, a1)
+
+ @unittest.skipUnless(_sympy, "sympy not installed")
+ def test_symdyn(self):
+
+ a1, a2, r1, r2, m1, m2, g = symbols("a1 a2 r1 r2 m1 m2 g")
+ link1 = Link(ET.Ry(flip=True), m=m1, r=[r1, 0, 0], name="link0")
+ link2 = Link(ET.tx(a1) * ET.Ry(flip=True), m=m2, r=[r2, 0, 0], name="link1")
+ robot = ERobot([link1, link2])
+
+ q = symbols("q:2")
+ qd = symbols("qd:2")
+ qdd = symbols("qdd:2")
+ Q = robot.rne(q, qd, qdd, gravity=[0, 0, g], symbolic=True)
+
+ self.assertEqual(
+ str(Q[0]),
+ "a1**2*m2*qd0**2*sin(q1)*cos(q1) + a1*qd0*(-a1*m2*qd0*cos(q1) - m2*r2*(qd0 + qd1))*sin(q1) - a1*(m2*(a1*qd0*qd1*cos(q1) - a1*qdd0*sin(q1) - g*sin(q0)*cos(q1) - g*sin(q1)*cos(q0)) + (qd0 + qd1)*(-a1*m2*qd0*cos(q1) - m2*r2*(qd0 + qd1)))*sin(q1) - a1*(-a1*m2*qd0*(-qd0 - qd1)*sin(q1) - m2*r2*(qdd0 + qdd1) + m2*(-a1*qd0*qd1*sin(q1) - a1*qdd0*cos(q1) + g*sin(q0)*sin(q1) - g*cos(q0)*cos(q1)))*cos(q1) + g*m1*r1*cos(q0) + m1*qdd0*r1**2 + m2*r2**2*(qdd0 + qdd1) - m2*r2*(-a1*qd0*qd1*sin(q1) - a1*qdd0*cos(q1) + g*sin(q0)*sin(q1) - g*cos(q0)*cos(q1))",
+ )
+ self.assertEqual(
+ str(Q[1]),
+ "a1**2*m2*qd0**2*sin(q1)*cos(q1) + a1*qd0*(-a1*m2*qd0*cos(q1) - m2*r2*(qd0 + qd1))*sin(q1) + m2*r2**2*(qdd0 + qdd1) - m2*r2*(-a1*qd0*qd1*sin(q1) - a1*qdd0*cos(q1) + g*sin(q0)*sin(q1) - g*cos(q0)*cos(q1))",
+ )
+
if __name__ == "__main__": # pragma nocover
diff --git a/tests/test_ET.py b/tests/test_ET.py
index a86bdb1d3..f820ad098 100644
--- a/tests/test_ET.py
+++ b/tests/test_ET.py
@@ -106,9 +106,7 @@ def test_str_se3(self):
self.assertEqual(str(a), "SE3(1, 0, 0)")
self.assertEqual(str(b), "SE3(-122.7°, 65.41°, -8.113°)")
- self.assertEqual(
- str(c), "SE3(1, 0, 0; -122.7°, 65.41°, -8.113°)"
- )
+ self.assertEqual(str(c), "SE3(1, 0, 0; -122.7°, 65.41°, -8.113°)")
def test_repr(self):
rx = rtb.ET.Rx(1.543, jindex=5, flip=True, qlim=[-1, 1])
diff --git a/tests/test_ETS.py b/tests/test_ETS.py
index 14460149a..680bf4c69 100644
--- a/tests/test_ETS.py
+++ b/tests/test_ETS.py
@@ -29,8 +29,8 @@ def test_bad_arg(self):
def test_args(self):
deg = np.pi / 180
- mm = 1e-3
- tool_offset = (103) * mm
+ # mm = 1e-3
+ # tool_offset = (103) * mm
l0 = rtb.ET.tz(0.333) * rtb.ET.Rz(jindex=0)
@@ -54,7 +54,7 @@ def test_args(self):
r3 = rtb.ETS(l0 + l1 + l2 + l3 + l3 + l4 + l5)
r4 = rtb.ETS([l0, l1, l2, l3, l3, l4, l5])
r5 = rtb.ETS([l0, l1, l2, l3, l3, l4, rtb.ET.Rx(90 * deg), rtb.ET.Rz(jindex=5)])
- r6 = rtb.ETS([r1])
+ # r6 = rtb.ETS([r1])
r7 = rtb.ETS(rtb.ET.Rx(1.0))
self.assertEqual(r1, r2)
@@ -109,7 +109,7 @@ def test_str_flip(self):
def test_str_sym(self):
x = sympy.Symbol("x")
- rx = rtb.ET.Rx(x)
+ rx = rtb.ET.Rx(x) # type: ignore
a = rtb.ET.Rx(jindex=2)
b = rtb.ET.Ry(jindex=5)
c = rtb.ET.Rz(jindex=7)
@@ -138,7 +138,7 @@ def ets_mul(self):
def test_n(self):
rx = rtb.ET.Rx(1.543)
ry = rtb.ET.Ry(1.543)
- rz = rtb.ET.Rz(1.543)
+ # rz = rtb.ET.Rz(1.543)
a = rtb.ET.Rx()
b = rtb.ET.Ry()
@@ -184,7 +184,7 @@ def test_fkine(self):
* SE3.Tz(q[5])
)
- nt.assert_almost_equal(r.fkine(q), ans.A)
+ nt.assert_almost_equal(r.fkine(q).A, ans.A)
def test_fkine_sym(self):
x = sympy.Symbol("x")
@@ -193,7 +193,7 @@ def test_fkine_sym(self):
q = np.array([y, z])
qt = np.array([[1.0, y], [z, y], [x, 2.0]])
- a = rtb.ET.Rx(x)
+ a = rtb.ET.Rx(x) # type: ignore
b = rtb.ET.Ry(jindex=0)
c = rtb.ET.tz(jindex=1)
@@ -227,9 +227,37 @@ def test_fkine_sym(self):
q2 = [y]
ans6 = SE3.Rx(y) * tool
- nt.assert_almost_equal(r2.fkine(q2, tool=tool).A, sympy.simplify(ans6.A)) # type: ignore
+ nt.assert_almost_equal(
+ r2.fkine(q2, tool=tool).A, sympy.simplify(ans6.A) # type: ignore
+ )
# nt.assert_almost_equal(r2.fkine(q2, tool=tool), ans6) # type: ignore
+ def test_fkine_traj(self):
+ robot = rtb.ERobot(
+ [
+ rtb.Link(rtb.ET.Rx()),
+ rtb.Link(rtb.ET.Ry()),
+ rtb.Link(rtb.ET.Rz()),
+ rtb.Link(rtb.ET.tx()),
+ rtb.Link(rtb.ET.ty()),
+ rtb.Link(rtb.ET.tz()),
+ ]
+ )
+
+ ets = robot.ets()
+
+ qt = np.arange(10 * ets.n).reshape(10, ets.n)
+
+ T_individual = []
+
+ for q in qt:
+ T_individual.append(ets.eval(q))
+
+ T_traj = ets.eval(qt)
+
+ for i in range(10):
+ nt.assert_allclose(T_traj[i, :, :], T_individual[i])
+
def test_jacob0_panda(self):
deg = np.pi / 180
mm = 1e-3
@@ -360,9 +388,9 @@ def test_jacobe_panda(self):
r = l0 + l1 + l2 + l3 + l4 + l5 + l6 + ee
q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
- q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
- q3 = np.expand_dims(q1, 0)
- q4 = np.expand_dims(q1, 1)
+ # q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
+ # q3 = np.expand_dims(q1, 0)
+ # q4 = np.expand_dims(q1, 1)
ans = tr2jac(r.eval(q1).T) @ r.jacob0(q1)
@@ -381,14 +409,14 @@ def test_pop(self):
r = a + b + c + d
- nt.assert_almost_equal(r.fkine(q), ans1.A)
+ nt.assert_almost_equal(r.fkine(q).A, ans1.A)
et = r.pop(1)
- nt.assert_almost_equal(r.fkine(q), ans2.A)
+ nt.assert_almost_equal(r.fkine(q).A, ans2.A)
nt.assert_almost_equal(et.A(q[1]), SE3.Ry(q[1]).A)
et = r.pop()
- nt.assert_almost_equal(r.fkine(q), ans3.A)
+ nt.assert_almost_equal(r.fkine(q).A, ans3.A)
nt.assert_almost_equal(et.A(), SE3.Tz(1.543).A)
def test_inv(self):
@@ -403,10 +431,10 @@ def test_inv(self):
r = a + b + c + d
r_inv = r.inv()
- nt.assert_almost_equal(r_inv.fkine(q), ans1.inv().A)
+ nt.assert_almost_equal(r_inv.fkine(q).A, ans1.inv().A)
def test_jointset(self):
- q = [1.0, 2.0, 3.0]
+ # q = [1.0, 2.0, 3.0]
a = rtb.ET.Rx(jindex=0)
b = rtb.ET.Ry(jindex=1)
c = rtb.ET.Rz(jindex=2)
@@ -559,7 +587,7 @@ def test_insert(self):
nt.assert_almost_equal(r.fkine(q).A, r5.fkine(q).A)
def test_jacob0(self):
- q = [0]
+ q = [0.0]
rx = rtb.ETS(rtb.ET.Rx())
ry = rtb.ETS(rtb.ET.Ry())
rz = rtb.ETS(rtb.ET.Rz())
@@ -578,7 +606,7 @@ def test_jacob0(self):
nt.assert_almost_equal(r.jacob0(q), np.eye(6))
def test_jacobe(self):
- q = [0]
+ q = [0.0]
rx = rtb.ETS(rtb.ET.Rx())
ry = rtb.ETS(rtb.ET.Ry())
rz = rtb.ETS(rtb.ET.Rz())
@@ -1749,10 +1777,10 @@ def test_plot(self):
tz = rtb.ETS(rtb.ET.tz(jindex=5, qlim=[-1, 1]))
a = rtb.ETS(rtb.ET.SE3(np.eye(4)))
r = tx + ty + tz + rx + ry + rz + a
- r.plot(q=q2, block=False)
+ r.plot(q=q2, block=False, backend="pyplot")
def test_teach(self):
- x = sympy.Symbol("x")
+ # x = sympy.Symbol("x")
q2 = np.array([0, 1, 2, 3, 4, 5])
rx = rtb.ETS(rtb.ET.Rx(jindex=0))
ry = rtb.ETS(rtb.ET.Ry(jindex=1))
@@ -1762,9 +1790,2582 @@ def test_teach(self):
tz = rtb.ETS(rtb.ET.tz(jindex=5, qlim=[-1, 1]))
a = rtb.ETS(rtb.ET.SE3(np.eye(4)))
r = tx + ty + tz + rx + ry + rz + a
- r.teach(q=q2, block=False)
+ r.teach(q=q2, block=False, backend="pyplot")
+ def test_partial_fkine(self):
+ deg = np.pi / 180
+ mm = 1e-3
+ tool_offset = (103) * mm
-if __name__ == "__main__":
+ l0 = rtb.ET.tz(0.333) * rtb.ET.Rz(jindex=0)
+
+ l1 = rtb.ET.Rx(-90 * deg) * rtb.ET.Rz(jindex=1)
+
+ l2 = rtb.ET.Rx(90 * deg) * rtb.ET.tz(0.316) * rtb.ET.Rz(jindex=2)
+
+ l3 = rtb.ET.tx(0.0825) * rtb.ET.Rx(90 * deg) * rtb.ET.Rz(jindex=3)
+
+ l4 = (
+ rtb.ET.tx(-0.0825)
+ * rtb.ET.Rx(-90 * deg)
+ * rtb.ET.tz(0.384)
+ * rtb.ET.Rz(jindex=4)
+ )
+
+ l5 = rtb.ET.Rx(90 * deg) * rtb.ET.Rz(jindex=5)
+
+ l6 = (
+ rtb.ET.tx(0.088)
+ * rtb.ET.Rx(90 * deg)
+ * rtb.ET.tz(0.107)
+ * rtb.ET.Rz(jindex=6)
+ )
+
+ ee = rtb.ET.tz(tool_offset) * rtb.ET.Rz(-np.pi / 4)
+
+ r = l0 + l1 + l2 + l3 + l4 + l5 + l6 + ee
+ r2 = rtb.Robot(r)
+
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+
+ ans = np.array(
+ [
+ [
+ [
+ [
+ 1.61683957e-01,
+ -1.07925929e-01,
+ 3.41453006e-02,
+ -3.35029257e-01,
+ 1.07195463e-02,
+ -1.03187865e-01,
+ 0.00000000e00,
+ ],
+ [
+ -4.46822947e-01,
+ -6.25741987e-01,
+ -4.16474664e-01,
+ 8.04745724e-02,
+ -7.78257566e-02,
+ 1.17720983e-02,
+ 0.00000000e00,
+ ],
+ [
+ -3.17334834e-18,
+ 1.10026604e-17,
+ 2.42699171e-18,
+ 1.47042021e-17,
+ 2.53075280e-19,
+ 4.65397353e-18,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 9.85449730e-01,
+ -3.37672585e-02,
+ 6.16735653e-02,
+ -6.68449878e-01,
+ 1.35361558e-01,
+ -6.37462344e-01,
+ ],
+ [
+ 0.00000000e00,
+ -1.69967143e-01,
+ -1.95778638e-01,
+ -9.79165111e-01,
+ -1.84470262e-01,
+ -9.82748279e-01,
+ -1.83758244e-01,
+ ],
+ [
+ 0.00000000e00,
+ -4.38924163e-17,
+ 3.44245060e-18,
+ 6.56556980e-18,
+ 3.26553464e-17,
+ 3.19571960e-18,
+ 3.12169108e-17,
+ ],
+ ],
+ [
+ [
+ -7.73258609e-18,
+ 2.31853293e-01,
+ 8.08253690e-02,
+ 5.06596965e-01,
+ 9.83518983e-03,
+ 1.99678676e-01,
+ 0.00000000e00,
+ ],
+ [
+ 5.05851038e-17,
+ -3.99892968e-02,
+ -1.39404950e-02,
+ -8.73761859e-02,
+ -1.69634134e-03,
+ -3.44399243e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ -1.38777878e-17,
+ -1.38777878e-17,
+ 5.55111512e-17,
+ 0.00000000e00,
+ -1.38777878e-17,
+ 0.00000000e00,
+ ],
+ [
+ -9.85449730e-01,
+ 0.00000000e00,
+ -9.65806345e-01,
+ 1.90658563e-01,
+ -7.10033786e-01,
+ 1.24194307e-01,
+ -7.37360525e-01,
+ ],
+ [
+ 1.69967143e-01,
+ 0.00000000e00,
+ 1.66579116e-01,
+ -3.28841647e-02,
+ 1.22464303e-01,
+ -2.14206274e-02,
+ 1.27177529e-01,
+ ],
+ [
+ 4.38924163e-17,
+ 0.00000000e00,
+ 4.85722573e-17,
+ 2.77555756e-17,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ ],
+ [
+ [
+ 1.58461042e-01,
+ -1.13719243e-01,
+ 3.06951191e-02,
+ -3.45709946e-01,
+ 1.01688580e-02,
+ -1.07973135e-01,
+ 0.00000000e00,
+ ],
+ [
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+ -6.59330946e-01,
+ -4.24230421e-01,
+ -2.17748413e-02,
+ -7.82283735e-02,
+ -2.81325889e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 1.38777878e-17,
+ 1.73472348e-17,
+ 0.00000000e00,
+ 6.07153217e-18,
+ 0.00000000e00,
+ ],
+ [
+ 3.37672585e-02,
+ 9.65806345e-01,
+ 0.00000000e00,
+ 5.39111251e-02,
+ -6.30795483e-01,
+ 1.28407717e-01,
+ -5.99489263e-01,
+ ],
+ [
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+ 0.00000000e00,
+ -9.97525009e-01,
+ -3.97312016e-02,
+ -9.87832342e-01,
+ -3.36043908e-02,
+ ],
+ [
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+ 0.00000000e00,
+ 0.00000000e00,
+ 4.16333634e-17,
+ 0.00000000e00,
+ 3.46944695e-17,
+ ],
+ ],
+ [
+ [
+ -3.12815864e-02,
+ 3.53911729e-02,
+ -1.54782657e-03,
+ 9.65242924e-02,
+ -1.45842251e-03,
+ 3.24608603e-02,
+ 0.00000000e00,
+ ],
+ [
+ 8.64484696e-02,
+ -1.09310078e-01,
+ 2.66964059e-04,
+ -5.18935898e-01,
+ 5.28476698e-03,
+ -2.00682834e-01,
+ 0.00000000e00,
+ ],
+ [
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+ 0.00000000e00,
+ 0.00000000e00,
+ -1.38777878e-17,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -6.16735653e-02,
+ -1.90658563e-01,
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+ 0.00000000e00,
+ 8.48905588e-02,
+ -1.84162966e-02,
+ 7.71850655e-02,
+ ],
+ [
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+ 0.00000000e00,
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+ 7.68210453e-01,
+ ],
+ [
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+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
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+ ],
+ ],
+ [
+ [
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+ ],
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+ ],
+ [
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+ 0.00000000e00,
+ 1.38777878e-17,
+ 0.00000000e00,
+ ],
+ [
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+ 6.30795483e-01,
+ -8.48905588e-02,
+ 0.00000000e00,
+ 1.32869389e-02,
+ 4.08633244e-02,
+ ],
+ [
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+ 5.62842325e-03,
+ ],
+ [
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+ -4.16333634e-17,
+ 0.00000000e00,
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+ ],
+ ],
+ [
+ [
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+ 6.79892209e-03,
+ 1.11809337e-01,
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+ ],
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+ -6.50029553e-03,
+ -7.75419986e-02,
+ -2.83646224e-03,
+ -7.78257566e-02,
+ 0.00000000e00,
+ ],
+ [
+ 6.68043138e-02,
+ -1.27122045e-01,
+ 7.73642547e-02,
+ 1.53215570e-02,
+ 1.45567764e-01,
+ 9.98040745e-03,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -1.35244491e-01,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 9.81898349e-01,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -1.25919053e-01,
+ ],
+ ],
+ [
+ [
+ 1.30045653e-02,
+ -3.10004133e-02,
+ -6.63647108e-03,
+ -1.02672356e-01,
+ 3.46944695e-18,
+ -1.03187865e-01,
+ 0.00000000e00,
+ ],
+ [
+ -1.48361458e-03,
+ 3.53665533e-03,
+ 7.57116061e-04,
+ 1.17132869e-02,
+ 7.80625564e-18,
+ 1.17720983e-02,
+ 0.00000000e00,
+ ],
+ [
+ -2.55366795e-02,
+ 6.08745931e-02,
+ 1.30318416e-02,
+ 2.01614663e-01,
+ 5.20417043e-17,
+ 2.02626953e-01,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -6.37462344e-01,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -1.83758244e-01,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -7.48247732e-01,
+ ],
+ ],
+ [
+ [
+ 2.13823046e-01,
+ 5.50959991e-01,
+ 1.84972186e-01,
+ -5.73283670e-02,
+ -1.11440324e-01,
+ 5.20417043e-18,
+ 0.00000000e00,
+ ],
+ [
+ 1.14119484e-01,
+ 8.61759621e-02,
+ 7.65324714e-02,
+ 8.54932885e-02,
+ 1.00807085e-02,
+ 1.38777878e-17,
+ 0.00000000e00,
+ ],
+ [
+ 4.05916016e-01,
+ 3.51404343e-01,
+ 3.90608748e-01,
+ -5.18727125e-02,
+ 1.98301371e-01,
+ 4.51028104e-17,
+ 0.00000000e00,
+ ],
+ [
+ 2.09458434e-02,
+ 1.10706199e-01,
+ 1.48046549e-01,
+ 6.33715782e-01,
+ 1.35244491e-01,
+ 6.37462344e-01,
+ 0.00000000e00,
+ ],
+ [
+ -7.58497864e-01,
+ 6.41861667e-01,
+ -7.65372332e-01,
+ 1.86919743e-01,
+ -9.81898349e-01,
+ 1.83758244e-01,
+ 0.00000000e00,
+ ],
+ [
+ 6.32539630e-18,
+ 1.49560791e-01,
+ 1.47790395e-01,
+ 7.43986450e-01,
+ 1.25919053e-01,
+ 7.48247732e-01,
+ 0.00000000e00,
+ ],
+ ],
+ ],
+ [
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ],
+ ],
+ ]
+ )
+
+ fk = r.partial_fkine0(q1, 3)
+ fk2 = r2.partial_fkine0(q1, 3)
+
+ nt.assert_almost_equal(fk, ans)
+ nt.assert_almost_equal(fk2, ans)
+
+ def test_qlim1(self):
+ rx = rtb.ETS(rtb.ET.Rx())
+
+ q = rx.qlim
+ nt.assert_equal(q, np.array([[-np.pi], [np.pi]]))
+
+ def test_qlim2(self):
+ rx = rtb.ETS(rtb.ET.Rx(qlim=[-1, 1]))
+
+ q = rx.qlim
+ nt.assert_equal(q, np.array([[-1], [1]]))
+
+ def test_qlim3(self):
+ rx = rtb.ETS(rtb.ET.tx(qlim=[-1, 1]))
+
+ q = rx.qlim
+ nt.assert_equal(q, np.array([[-1], [1]]))
+
+ def test_qlim4(self):
+ rx = rtb.ETS(rtb.ET.tx())
+
+ with self.assertRaises(ValueError):
+ rx.qlim
+ def test_random_q(self):
+ rx = rtb.ETS(rtb.ET.Rx(qlim=[-1, 1]))
+
+ q = rx.random_q()
+ self.assertTrue(-1 <= q <= 1)
+
+ def test_random_q2(self):
+ rx = rtb.ETS([rtb.ET.Rx(qlim=[-1, 1]), rtb.ET.Rx(qlim=[1, 2])])
+
+ q = rx.random_q(10)
+
+ self.assertTrue(np.all(-1 <= q[:, 0]) and np.all(q[:, 0] <= 1))
+ self.assertTrue(np.all(1 <= q[:, 1]) and np.all(q[:, 1] <= 2))
+
+ def test_manip(self):
+ r = rtb.models.Panda()
+ ets = r.ets()
+ q = r.qr
+
+ m1 = ets.manipulability(q)
+ m2 = ets.manipulability(q, axes="trans")
+ m3 = ets.manipulability(q, axes="rot")
+
+ nt.assert_almost_equal(m1, 0.0837, decimal=4)
+ nt.assert_almost_equal(m2, 0.1438, decimal=4)
+ nt.assert_almost_equal(m3, 2.7455, decimal=4)
+
+ def test_yoshi(self):
+ puma = rtb.models.Puma560()
+ ets = puma.ets()
+ q = puma.qn # type: ignore
+
+ m1 = ets.manipulability(q, axes=[True, True, True, True, True, True])
+ m2 = ets.manipulability(np.c_[q, q].T)
+ m3 = ets.manipulability(q, axes="trans")
+ m4 = ets.manipulability(q, axes="rot")
+
+ a0 = 0.0805
+ a2 = 0.1354
+ a3 = 2.44949
+
+ nt.assert_almost_equal(m1, a0, decimal=4)
+ nt.assert_almost_equal(m2[0], a0, decimal=4) # type: ignore
+ nt.assert_almost_equal(m2[1], a0, decimal=4) # type: ignore
+ nt.assert_almost_equal(m3, a2, decimal=4)
+ nt.assert_almost_equal(m4, a3, decimal=4)
+
+ with self.assertRaises(ValueError):
+ puma.manipulability(axes="abcdef") # type: ignore
+
+ def test_cond(self):
+ r = rtb.models.Panda()
+ ets = r.ets()
+
+ m = ets.manipulability(r.qr, method="invcondition")
+
+ self.assertAlmostEqual(m, 0.11222, places=4) # type: ignore
+
+ def test_minsingular(self):
+ r = rtb.models.Panda()
+ ets = r.ets()
+
+ m = ets.manipulability(r.qr, method="minsingular")
+
+ self.assertAlmostEqual(m, 0.209013, places=4) # type: ignore
+
+ def test_manipulability_fail(self):
+ puma = rtb.models.Puma560()
+ ets = puma.ets()
+
+ with self.assertRaises(ValueError):
+ ets.manipulability(q=[1, 2, 3.0], method="notamethod") # type: ignore
+
+ def test_manip_fail2(self):
+ r = rtb.models.Panda()
+ ets = r.ets()
+ q = r.qr
+
+ with self.assertRaises(ValueError):
+ ets.manipulability(q, axes="abcdef") # type: ignore
+
+
+if __name__ == "__main__":
unittest.main()
diff --git a/tests/test_ETS2.py b/tests/test_ETS2.py
index 9ef158e2a..7dea08126 100644
--- a/tests/test_ETS2.py
+++ b/tests/test_ETS2.py
@@ -1,3 +1,4 @@
+
#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
diff --git a/tests/test_Gripper.py b/tests/test_Gripper.py
index c5fda94ba..135db0422 100644
--- a/tests/test_Gripper.py
+++ b/tests/test_Gripper.py
@@ -3,6 +3,9 @@
"""
import roboticstoolbox as rtb
+from spatialmath import SE3
+import numpy.testing as nt
+import numpy as np
import unittest
@@ -14,7 +17,7 @@ def test_jindex_1(self):
e5 = rtb.Link(rtb.ETS(rtb.ET.Rz()), jindex=0, parent=e3)
e7 = rtb.Link(rtb.ETS(rtb.ET.Rz()), jindex=1, parent=e5)
- rtb.ERobot([e1, e2, e3, e5, e7], gripper_links=e5)
+ rtb.Robot([e1, e2, e3, e5, e7], gripper_links=e5)
def test_jindex_2(self):
e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()), jindex=0)
@@ -23,7 +26,7 @@ def test_jindex_2(self):
e4 = rtb.Link(rtb.ETS(rtb.ET.Rz()), jindex=1, parent=e3)
with self.assertRaises(ValueError):
- rtb.ERobot([e1, e2, e3, e4], gripper_links=e4)
+ rtb.Robot([e1, e2, e3, e4], gripper_links=e4)
def test_jindex_3(self):
e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()), jindex=0)
@@ -33,7 +36,7 @@ def test_jindex_3(self):
e5 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e4)
with self.assertRaises(ValueError):
- rtb.ERobot([e1, e2, e3, e4, e5], gripper_links=e4)
+ rtb.Robot([e1, e2, e3, e4, e5], gripper_links=e4)
def test_jindex_4(self):
e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()))
@@ -44,4 +47,69 @@ def test_jindex_4(self):
e6 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e5)
e7 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e6)
- rtb.ERobot([e1, e2, e3, e4, e5, e6, e7], gripper_links=e3)
+ rtb.Robot([e1, e2, e3, e4, e5, e6, e7], gripper_links=e3)
+
+ def test_gripper_args(self):
+ e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()))
+ e2 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e1)
+ e3 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e2)
+
+ tool = SE3.Rx(1.0)
+
+ g1 = rtb.Gripper([e2, e3], tool=tool)
+
+ nt.assert_almost_equal(g1.tool.A, tool.A)
+
+ def test_gripper_args2(self):
+ e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()))
+ e2 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e1)
+ e3 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e2)
+
+ tool = SE3.Rx(1.0)
+
+ g2 = rtb.Gripper([e2, e3], tool=tool.A)
+
+ nt.assert_almost_equal(g2.tool.A, tool.A)
+
+ def test_init_fail(self):
+ e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()), jindex=1)
+ e2 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e1, jindex=2)
+ e3 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e2)
+
+ with self.assertRaises(ValueError):
+ rtb.Gripper([e2, e3])
+
+ def test_str(self):
+ e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()))
+ e2 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e1)
+ e3 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e2)
+
+ tool = SE3.Rx(1.0)
+
+ g1 = rtb.Gripper([e2, e3], tool=tool)
+
+ s = g1.__str__()
+
+ self.assertTrue(s.startswith('Gripper("", connected to , 2 joints, 2 links)'))
+
+ def test_repr(self):
+ e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()))
+ e2 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e1)
+ e3 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e2)
+
+ g1 = rtb.Gripper([e2, e3])
+
+ s = g1.__repr__()
+
+ ans = """Gripper(['Link([ET.Rz(jindex=0)], name = "", parent="")', 'Link([ET.Rz(jindex=0)], name = "", parent="")'], name="", tool=None)""" # noqa
+
+ self.assertEqual(s, ans)
+
+ def test_q(self):
+ e1 = rtb.Link(rtb.ETS(rtb.ET.Rz()))
+ e2 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e1)
+ e3 = rtb.Link(rtb.ETS(rtb.ET.Rz()), parent=e2)
+
+ g1 = rtb.Gripper([e2, e3])
+
+ nt.assert_almost_equal(g1.q, np.zeros(2))
diff --git a/tests/test_IK.py b/tests/test_IK.py
new file mode 100644
index 000000000..aacfe1029
--- /dev/null
+++ b/tests/test_IK.py
@@ -0,0 +1,846 @@
+"""
+@author: Jesse Haviland
+"""
+
+# import numpy.testing as nt
+import roboticstoolbox as rtb
+import numpy as np
+import unittest
+import numpy.testing as nt
+
+# import sympy
+import pytest
+
+test_tol = 1e-5
+
+
+class TestIK(unittest.TestCase):
+ def test_IK_NR1(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=True, tol=tol)
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_NR2(self):
+
+ q0 = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=True, tol=tol)
+
+ sol = solver.solve(panda, Tep, q0=q0)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_NR3(self):
+
+ q0 = [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=True, tol=tol)
+
+ sol = solver.solve(panda, Tep, q0=q0)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_NR4(self):
+
+ q0 = np.array(
+ [
+ [1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0],
+ [1.0, 2.0, 1.0, 2.0, 1.0, 2.0, 1.0],
+ [1.0, 2.0, 3.0, 1.0, 2.0, 3.0, 1.0],
+ [2.0, 2.0, 2.0, 2.0, 2.0, 2.0, 2.0],
+ [0.0, -0.3, 0.0, -2.2, 0.0, 2.0, np.pi / 4],
+ ]
+ )
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=True, tol=tol, slimit=5)
+
+ sol = solver.solve(panda, Tep, q0=q0)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_NR5(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=True, tol=tol)
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep.A, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_NR6(self):
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=False, slimit=1)
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, False)
+
+ def test_IK_NR7(self):
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -1.3, 0, 1.2, 0, 2.0, 0.1])
+
+ solver = rtb.IK_NR(joint_limits=True, seed=0, pinv=True, ilimit=2, slimit=1)
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, False)
+
+ @pytest.mark.filterwarnings("ignore::RuntimeWarning")
+ def test_IK_NR8(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR(
+ joint_limits=True,
+ seed=0,
+ pinv=True,
+ tol=tol,
+ kq=0.01,
+ km=1.0,
+ )
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ @pytest.mark.filterwarnings("ignore::RuntimeWarning")
+ def test_IK_LM1(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_LM(
+ method="chan", joint_limits=True, seed=0, tol=tol, kq=0.1, km=0.1
+ )
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_LM2(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_LM(
+ method="sugihara", k=0.0001, joint_limits=True, seed=0, tol=tol
+ )
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_LM3(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_LM(
+ method="wampler", k=0.001, joint_limits=True, seed=0, tol=tol
+ )
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ @pytest.mark.filterwarnings("ignore::RuntimeWarning")
+ def test_IK_GN1(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_GN(
+ pinv=True, joint_limits=True, seed=0, tol=tol, kq=1.0, km=1.0
+ )
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_GN2(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_GN(pinv=True, joint_limits=True, seed=0, tol=tol)
+
+ sol = solver.solve(panda, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_GN3(self):
+
+ tol = 1e-6
+
+ ur5 = rtb.models.UR5().ets()
+
+ Tep = ur5.eval([0, -0.3, 0, -2.2, 0, 2.0])
+
+ solver = rtb.IK_GN(pinv=False, joint_limits=True, seed=0, tol=tol)
+
+ sol = solver.solve(ur5, Tep)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = ur5.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_QP1(self):
+
+ q0 = np.array(
+ [
+ -1.66441371,
+ -1.20998727,
+ 1.04248366,
+ -2.10222463,
+ 1.05097407,
+ 1.41173279,
+ 0.0053529,
+ ]
+ )
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_QP(joint_limits=True, seed=0, tol=tol, kq=2.0, km=100.0)
+
+ sol = solver.solve(panda, Tep, q0=q0)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_QP2(self):
+
+ q0 = np.array(
+ [
+ -1.66441371,
+ -1.20998727,
+ 1.04248366,
+ -2.10222463,
+ 1.05097407,
+ 1.41173279,
+ 0.0053529,
+ ]
+ )
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_QP(joint_limits=True, seed=0, tol=tol)
+
+ sol = solver.solve(panda, Tep, q0=q0)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_IK_QP3(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_QP(
+ joint_limits=True,
+ seed=0,
+ tol=tol,
+ kq=1000.0,
+ pi=4.0,
+ ps=2.0,
+ kj=10000.0,
+ slimit=1,
+ )
+
+ try:
+ solver.solve(panda, Tep)
+ except BaseException:
+ pass
+
+ # self.assertEqual(sol.success, False)
+
+ def test_ets_ikine_NR1(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+ panda2 = rtb.models.Panda()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR()
+
+ sol = panda.ikine_NR(Tep, pinv=True, tol=tol)
+ sol2 = panda2.ikine_NR(Tep, pinv=True, tol=tol)
+
+ self.assertEqual(sol.success, True)
+ self.assertEqual(sol2.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_NR2(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_NR()
+
+ sol = panda.ikine_NR(Tep, pinv=True, tol=tol)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep.A, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_LM1(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+ panda2 = rtb.models.Panda()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_LM()
+
+ sol = panda.ikine_LM(Tep, tol=tol)
+ sol2 = panda2.ikine_LM(Tep, tol=tol)
+
+ self.assertEqual(sol.success, True)
+ self.assertEqual(sol2.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_LM2(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_LM()
+
+ sol = panda.ikine_LM(Tep, tol=tol)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep.A, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_GN1(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+ panda2 = rtb.models.Panda()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_GN()
+
+ sol = panda.ikine_GN(Tep, pinv=True, tol=tol)
+ sol2 = panda2.ikine_GN(Tep, pinv=True, tol=tol)
+
+ self.assertEqual(sol.success, True)
+ self.assertEqual(sol2.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_GN2(self):
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_GN()
+
+ sol = panda.ikine_GN(Tep, pinv=True, tol=tol)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep.A, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_QP1(self):
+
+ q0 = np.array(
+ [
+ -1.66441371,
+ -1.20998727,
+ 1.04248366,
+ -2.10222463,
+ 1.05097407,
+ 1.41173279,
+ 0.0053529,
+ ]
+ )
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+
+ Tep = panda.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_QP()
+
+ sol = panda.ikine_QP(Tep, tol=tol, q0=q0)
+
+ self.assertEqual(sol.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ets_ikine_QP2(self):
+
+ q0 = np.array(
+ [
+ -1.66441371,
+ -1.20998727,
+ 1.04248366,
+ -2.10222463,
+ 1.05097407,
+ 1.41173279,
+ 0.0053529,
+ ]
+ )
+
+ tol = 1e-6
+
+ panda = rtb.models.Panda().ets()
+ panda2 = rtb.models.Panda()
+
+ Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ solver = rtb.IK_QP()
+
+ sol = panda.ikine_QP(Tep, tol=tol, q0=q0)
+ sol2 = panda2.ikine_QP(Tep, tol=tol, q0=q0)
+
+ self.assertEqual(sol.success, True)
+ self.assertEqual(sol2.success, True)
+
+ Tq = panda.eval(sol.q)
+
+ _, E = solver.error(Tep.A, Tq)
+
+ self.assertGreater(test_tol, E)
+
+ def test_ik_nr(self):
+
+ tol = 1e-6
+
+ solver = rtb.IK_LM()
+
+ r = rtb.models.Panda().ets()
+ r2 = rtb.models.Panda()
+
+ Tep = r.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ sol = r.ik_NR(Tep, tol=tol)
+ sol2 = r2.ik_NR(Tep, tol=tol)
+
+ self.assertEqual(sol[1], True)
+ self.assertEqual(sol2[1], True)
+
+ Tq = r.eval(sol[0])
+ Tq2 = r.eval(sol2[0])
+
+ _, E = solver.error(Tep, Tq)
+ _, E2 = solver.error(Tep, Tq2)
+
+ self.assertGreater(test_tol, E)
+ self.assertGreater(test_tol, E2)
+
+ def test_ik_lm_chan(self):
+
+ tol = 1e-6
+
+ solver = rtb.IK_LM()
+
+ r = rtb.models.Panda().ets()
+ r2 = rtb.models.Panda()
+
+ Tep = r.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ sol = r.ik_LM(Tep, tol=tol, method="chan")
+ sol2 = r2.ik_LM(Tep, tol=tol, method="chan")
+
+ self.assertEqual(sol[1], True)
+ self.assertEqual(sol2[1], True)
+
+ Tq = r.eval(sol[0])
+ Tq2 = r.eval(sol2[0])
+
+ _, E = solver.error(Tep, Tq)
+ _, E2 = solver.error(Tep, Tq2)
+
+ self.assertGreater(test_tol, E)
+ self.assertGreater(test_tol, E2)
+
+ def test_ik_lm_wampler(self):
+
+ tol = 1e-6
+
+ solver = rtb.IK_LM()
+
+ r = rtb.models.Panda().ets()
+ r2 = rtb.models.Panda()
+
+ Tep = r.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ sol = r.ik_LM(Tep, tol=tol, method="wampler", k=0.01)
+ sol2 = r2.ik_LM(Tep, tol=tol, method="wampler", k=0.01)
+
+ self.assertEqual(sol[1], True)
+ self.assertEqual(sol2[1], True)
+
+ Tq = r.eval(sol[0])
+ Tq2 = r.eval(sol2[0])
+
+ _, E = solver.error(Tep, Tq)
+ _, E2 = solver.error(Tep, Tq2)
+
+ self.assertGreater(test_tol, E)
+ self.assertGreater(test_tol, E2)
+
+ def test_ik_lm_sugihara(self):
+
+ tol = 1e-6
+
+ solver = rtb.IK_LM()
+
+ r = rtb.models.Panda().ets()
+ r2 = rtb.models.Panda()
+
+ Tep = r.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ sol = r.ik_LM(Tep, tol=tol, k=0.01, method="sugihara")
+ sol2 = r2.ik_LM(Tep, tol=tol, k=0.01, method="sugihara")
+
+ self.assertEqual(sol[1], True)
+ self.assertEqual(sol2[1], True)
+
+ Tq = r.eval(sol[0])
+ Tq2 = r.eval(sol2[0])
+
+ _, E = solver.error(Tep, Tq)
+ _, E2 = solver.error(Tep, Tq2)
+
+ self.assertGreater(test_tol, E)
+ self.assertGreater(test_tol, E2)
+
+ def test_ik_gn(self):
+
+ tol = 1e-6
+
+ solver = rtb.IK_LM()
+
+ r = rtb.models.Panda().ets()
+ r2 = rtb.models.Panda()
+
+ Tep = r.eval([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
+
+ sol = r.ik_GN(Tep, tol=tol)
+ sol2 = r2.ik_GN(Tep, tol=tol)
+
+ self.assertEqual(sol[1], True)
+ self.assertEqual(sol2[1], True)
+
+ Tq = r.eval(sol[0])
+ Tq2 = r.eval(sol2[0])
+
+ print(sol[4])
+ print(Tep)
+ print(Tq)
+
+ _, E = solver.error(Tep, Tq)
+ _, E2 = solver.error(Tep, Tq2)
+
+ self.assertGreater(test_tol, E)
+ self.assertGreater(test_tol, E2)
+
+ def test_sol_print1(self):
+
+ sol = rtb.IKSolution(
+ q=np.zeros(3),
+ success=True,
+ iterations=1,
+ searches=2,
+ residual=3.0,
+ reason="no",
+ )
+
+ s = sol.__str__()
+
+ ans = (
+ "IKSolution: q=[0, 0, 0], success=True, iterations=1, searches=2,"
+ " residual=3"
+ )
+
+ self.assertEqual(s, ans)
+
+ def test_sol_print2(self):
+
+ sol = rtb.IKSolution(
+ q=None, # type: ignore
+ success=True,
+ iterations=1,
+ searches=2,
+ residual=3.0,
+ reason="no",
+ )
+
+ s = sol.__str__()
+
+ ans = "IKSolution: q=None, success=True, iterations=1, searches=2, residual=3"
+
+ self.assertEqual(s, ans)
+
+ def test_sol_print3(self):
+
+ sol = rtb.IKSolution(
+ q=np.zeros(3),
+ success=False,
+ iterations=0,
+ searches=0,
+ residual=3.0,
+ reason="no",
+ )
+
+ s = sol.__str__()
+
+ ans = "IKSolution: q=[0, 0, 0], success=False, reason=no"
+
+ self.assertEqual(s, ans)
+
+ def test_sol_print4(self):
+
+ sol = rtb.IKSolution(
+ q=np.zeros(3),
+ success=True,
+ iterations=0,
+ searches=0,
+ residual=3.0,
+ reason="no",
+ )
+
+ s = sol.__str__()
+
+ ans = "IKSolution: q=[0, 0, 0], success=True"
+
+ self.assertEqual(s, ans)
+
+ def test_sol_print5(self):
+
+ sol = rtb.IKSolution(
+ q=np.zeros(3),
+ success=False,
+ iterations=1,
+ searches=2,
+ residual=3.0,
+ reason="no",
+ )
+
+ s = sol.__str__()
+
+ ans = (
+ "IKSolution: q=[0, 0, 0], success=False, reason=no, iterations=1,"
+ " searches=2, residual=3"
+ )
+
+ self.assertEqual(s, ans)
+
+ def test_iter_iksol(self):
+ sol = rtb.IKSolution(
+ np.array([1.0, 2.0, 3.0]),
+ success=True,
+ iterations=10,
+ searches=100,
+ residual=0.1,
+ )
+
+ a, b, c, d, e, f = sol
+
+ nt.assert_almost_equal(a, np.array([1.0, 2.0, 3.0])) # type: ignore
+ self.assertEqual(b, True)
+ self.assertEqual(c, 10)
+ self.assertEqual(d, 100)
+ self.assertEqual(e, 0.1)
+ self.assertEqual(f, "")
+
+
+if __name__ == "__main__":
+
+ unittest.main()
diff --git a/tests/test_Link.py b/tests/test_Link.py
index 12c979539..546ed9d50 100644
--- a/tests/test_Link.py
+++ b/tests/test_Link.py
@@ -142,8 +142,8 @@ def test_dyn(self):
B = 0.0015
Tc = 0.4(+) -0.43(-)
G = -63
-qlim = -2.8 to 2.8""",
- ) # noqa
+qlim = -2.8 to 2.8""", # noqa
+ )
puma.links[0].dyn(indent=2)
diff --git a/tests/test_Robot.py b/tests/test_Robot.py
index 1d6da252b..f5d43d708 100644
--- a/tests/test_Robot.py
+++ b/tests/test_Robot.py
@@ -4,225 +4,1457 @@
import numpy.testing as nt
import numpy as np
-import roboticstoolbox as rp
-import spatialmath as sm
+import roboticstoolbox as rtb
import unittest
+import os
+import spatialgeometry as sg
+from spatialmath.base import tr2jac
+
+# from spatialmath import SE3
class TestRobot(unittest.TestCase):
- def test_init(self):
- l0 = rp.PrismaticDH()
- l1 = rp.RevoluteDH()
+ def test_fkine(self):
+ panda = rtb.models.ETS.Panda()
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+ # q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
+ # q3 = np.expand_dims(q1, 0)
- with self.assertRaises(TypeError):
- rp.DHRobot([l0, l1], keywords=1)
+ ans = np.array(
+ [
+ [-0.50827907, -0.57904589, 0.63746234, 0.44682295],
+ [0.83014553, -0.52639462, 0.18375824, 0.16168396],
+ [0.22915229, 0.62258699, 0.74824773, 0.96798113],
+ [0.0, 0.0, 0.0, 1.0],
+ ]
+ )
- with self.assertRaises(TypeError):
- rp.Robot(l0)
+ nt.assert_array_almost_equal(panda.fkine(q1).A, ans)
- with self.assertRaises(TypeError):
- rp.Robot([l0, 1])
+ def test_jacob0(self):
+ panda = rtb.models.ETS.Panda()
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+ q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
+ q3 = np.expand_dims(q1, 0)
+ q4 = np.expand_dims(q1, 1)
- def test_configurations_str(self):
- r = rp.models.DH.Puma560()
- r.configurations_str()
+ ans = np.array(
+ [
+ [
+ -1.61683957e-01,
+ 1.07925929e-01,
+ -3.41453006e-02,
+ 3.35029257e-01,
+ -1.07195463e-02,
+ 1.03187865e-01,
+ 0.00000000e00,
+ ],
+ [
+ 4.46822947e-01,
+ 6.25741987e-01,
+ 4.16474664e-01,
+ -8.04745724e-02,
+ 7.78257566e-02,
+ -1.17720983e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ -2.35276631e-01,
+ -8.20187641e-02,
+ -5.14076923e-01,
+ -9.98040745e-03,
+ -2.02626953e-01,
+ 0.00000000e00,
+ ],
+ [
+ 1.29458954e-16,
+ -9.85449730e-01,
+ 3.37672585e-02,
+ -6.16735653e-02,
+ 6.68449878e-01,
+ -1.35361558e-01,
+ 6.37462344e-01,
+ ],
+ [
+ 9.07021273e-18,
+ 1.69967143e-01,
+ 1.95778638e-01,
+ 9.79165111e-01,
+ 1.84470262e-01,
+ 9.82748279e-01,
+ 1.83758244e-01,
+ ],
+ [
+ 1.00000000e00,
+ -2.26036604e-17,
+ 9.80066578e-01,
+ -1.93473657e-01,
+ 7.20517510e-01,
+ -1.26028049e-01,
+ 7.48247732e-01,
+ ],
+ ]
+ )
- r2 = rp.models.ETS.Frankie()
- r2.configurations_str()
+ panda.q = q1
+ # nt.assert_array_almost_equal(panda.jacob0(), ans)
+ nt.assert_array_almost_equal(panda.jacob0(q2), ans)
+ nt.assert_array_almost_equal(panda.jacob0(q3), ans)
+ nt.assert_array_almost_equal(panda.jacob0(q4), ans)
+ self.assertRaises(TypeError, panda.jacob0, "Wfgsrth")
- def test_dyntable(self):
- r = rp.models.DH.Puma560()
- r.dynamics()
+ def test_hessian0(self):
+ panda = rtb.models.ETS.Panda()
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+ q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
+ q3 = np.expand_dims(q1, 0)
+ q4 = np.expand_dims(q1, 1)
- def test_linkcolormap(self):
- r = rp.models.DH.Puma560()
- r.linkcolormap()
+ ans = np.array(
+ [
+ [
+ [
+ -4.46822947e-01,
+ -6.25741987e-01,
+ -4.16474664e-01,
+ 8.04745724e-02,
+ -7.78257566e-02,
+ 1.17720983e-02,
+ 0.00000000e00,
+ ],
+ [
+ -6.25741987e-01,
+ -3.99892968e-02,
+ -1.39404950e-02,
+ -8.73761859e-02,
+ -1.69634134e-03,
+ -3.44399243e-02,
+ 0.00000000e00,
+ ],
+ [
+ -4.16474664e-01,
+ -1.39404950e-02,
+ -4.24230421e-01,
+ -2.17748413e-02,
+ -7.82283735e-02,
+ -2.81325889e-02,
+ 0.00000000e00,
+ ],
+ [
+ 8.04745724e-02,
+ -8.73761859e-02,
+ -2.17748413e-02,
+ -5.18935898e-01,
+ 5.28476698e-03,
+ -2.00682834e-01,
+ 0.00000000e00,
+ ],
+ [
+ -7.78257566e-02,
+ -1.69634134e-03,
+ -7.82283735e-02,
+ 5.28476698e-03,
+ -5.79159088e-02,
+ -2.88966443e-02,
+ 0.00000000e00,
+ ],
+ [
+ 1.17720983e-02,
+ -3.44399243e-02,
+ -2.81325889e-02,
+ -2.00682834e-01,
+ -2.88966443e-02,
+ -2.00614904e-01,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ ],
+ [
+ [
+ -1.61683957e-01,
+ 1.07925929e-01,
+ -3.41453006e-02,
+ 3.35029257e-01,
+ -1.07195463e-02,
+ 1.03187865e-01,
+ 0.00000000e00,
+ ],
+ [
+ 1.07925929e-01,
+ -2.31853293e-01,
+ -8.08253690e-02,
+ -5.06596965e-01,
+ -9.83518983e-03,
+ -1.99678676e-01,
+ 0.00000000e00,
+ ],
+ [
+ -3.41453006e-02,
+ -8.08253690e-02,
+ -3.06951191e-02,
+ 3.45709946e-01,
+ -1.01688580e-02,
+ 1.07973135e-01,
+ 0.00000000e00,
+ ],
+ [
+ 3.35029257e-01,
+ -5.06596965e-01,
+ 3.45709946e-01,
+ -9.65242924e-02,
+ 1.45842251e-03,
+ -3.24608603e-02,
+ 0.00000000e00,
+ ],
+ [
+ -1.07195463e-02,
+ -9.83518983e-03,
+ -1.01688580e-02,
+ 1.45842251e-03,
+ -1.05221866e-03,
+ 2.09794626e-01,
+ 0.00000000e00,
+ ],
+ [
+ 1.03187865e-01,
+ -1.99678676e-01,
+ 1.07973135e-01,
+ -3.24608603e-02,
+ 2.09794626e-01,
+ -4.04324654e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ ],
+ [
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ -6.34981134e-01,
+ -4.04611266e-01,
+ 2.23596800e-02,
+ -7.48714002e-02,
+ -5.93773551e-03,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ -4.04611266e-01,
+ 2.07481281e-02,
+ -6.83089775e-02,
+ 4.72662062e-03,
+ -2.05994912e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 2.23596800e-02,
+ -6.83089775e-02,
+ -3.23085806e-01,
+ 5.69641385e-03,
+ -1.00311930e-01,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ -7.48714002e-02,
+ 4.72662062e-03,
+ 5.69641385e-03,
+ 5.40000550e-02,
+ -2.69041502e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ -5.93773551e-03,
+ -2.05994912e-02,
+ -1.00311930e-01,
+ -2.69041502e-02,
+ -9.98142073e-02,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ ],
+ [
+ [
+ -9.07021273e-18,
+ -2.77555756e-17,
+ -2.77555756e-17,
+ -1.11022302e-16,
+ -2.77555756e-17,
+ 0.00000000e00,
+ -2.77555756e-17,
+ ],
+ [
+ -1.69967143e-01,
+ -1.97756387e-17,
+ 4.11786040e-17,
+ -1.48932398e-16,
+ -5.07612940e-17,
+ -8.38219650e-17,
+ -4.90138154e-17,
+ ],
+ [
+ -1.95778638e-01,
+ 1.66579116e-01,
+ -1.38777878e-17,
+ 1.04083409e-17,
+ -1.38777878e-17,
+ 3.46944695e-18,
+ 0.00000000e00,
+ ],
+ [
+ -9.79165111e-01,
+ -3.28841647e-02,
+ -9.97525009e-01,
+ -4.16333634e-17,
+ -1.14491749e-16,
+ 1.38777878e-17,
+ -6.24500451e-17,
+ ],
+ [
+ -1.84470262e-01,
+ 1.22464303e-01,
+ -3.97312016e-02,
+ 7.41195745e-01,
+ -2.77555756e-17,
+ 1.12757026e-16,
+ 2.77555756e-17,
+ ],
+ [
+ -9.82748279e-01,
+ -2.14206274e-02,
+ -9.87832342e-01,
+ 6.67336352e-02,
+ -7.31335770e-01,
+ 2.08166817e-17,
+ -6.07153217e-17,
+ ],
+ [
+ -1.83758244e-01,
+ 1.27177529e-01,
+ -3.36043908e-02,
+ 7.68210453e-01,
+ 5.62842325e-03,
+ 7.58497864e-01,
+ 0.00000000e00,
+ ],
+ ],
+ [
+ [
+ 1.29458954e-16,
+ -1.11022302e-16,
+ 8.67361738e-17,
+ -4.16333634e-17,
+ 5.55111512e-17,
+ 2.77555756e-17,
+ 5.55111512e-17,
+ ],
+ [
+ -9.85449730e-01,
+ -6.36381327e-17,
+ -1.02735399e-16,
+ -1.83043043e-17,
+ -5.63484308e-17,
+ 8.08886307e-18,
+ 1.07112702e-18,
+ ],
+ [
+ 3.37672585e-02,
+ 9.65806345e-01,
+ 8.32667268e-17,
+ -2.55871713e-17,
+ 1.07552856e-16,
+ 2.08166817e-17,
+ -5.20417043e-18,
+ ],
+ [
+ -6.16735653e-02,
+ -1.90658563e-01,
+ -5.39111251e-02,
+ -6.59194921e-17,
+ -2.77555756e-17,
+ 2.38524478e-17,
+ -4.16333634e-17,
+ ],
+ [
+ 6.68449878e-01,
+ 7.10033786e-01,
+ 6.30795483e-01,
+ -8.48905588e-02,
+ 0.00000000e00,
+ 3.46944695e-17,
+ 2.77555756e-17,
+ ],
+ [
+ -1.35361558e-01,
+ -1.24194307e-01,
+ -1.28407717e-01,
+ 1.84162966e-02,
+ -1.32869389e-02,
+ 2.77555756e-17,
+ -2.08166817e-17,
+ ],
+ [
+ 6.37462344e-01,
+ 7.37360525e-01,
+ 5.99489263e-01,
+ -7.71850655e-02,
+ -4.08633244e-02,
+ 2.09458434e-02,
+ 0.00000000e00,
+ ],
+ ],
+ [
+ [
+ 0.00000000e00,
+ -6.59521910e-17,
+ -1.31033786e-16,
+ -1.92457571e-16,
+ 1.54134782e-17,
+ -7.69804929e-17,
+ 1.11140361e-17,
+ ],
+ [
+ 0.00000000e00,
+ -2.77555756e-17,
+ 7.15573434e-17,
+ 1.65666092e-16,
+ 1.38777878e-17,
+ -8.67361738e-18,
+ 3.46944695e-17,
+ ],
+ [
+ 0.00000000e00,
+ -1.98669331e-01,
+ 8.67361738e-18,
+ -1.46584134e-16,
+ 6.02816408e-17,
+ -3.12250226e-17,
+ 6.11490025e-17,
+ ],
+ [
+ 0.00000000e00,
+ -9.54435515e-01,
+ 4.51380881e-02,
+ 1.38777878e-17,
+ 1.08420217e-16,
+ 3.46944695e-18,
+ 6.24500451e-17,
+ ],
+ [
+ 0.00000000e00,
+ -2.95400686e-01,
+ -1.24639152e-01,
+ -6.65899738e-01,
+ -4.85722573e-17,
+ -5.20417043e-18,
+ -5.55111512e-17,
+ ],
+ [
+ 0.00000000e00,
+ -9.45442009e-01,
+ 5.96856167e-02,
+ 7.19317248e-02,
+ 6.81888149e-01,
+ -2.77555756e-17,
+ 1.04083409e-17,
+ ],
+ [
+ 0.00000000e00,
+ -2.89432165e-01,
+ -1.18596498e-01,
+ -6.35513913e-01,
+ 5.24032975e-03,
+ -6.51338823e-01,
+ 0.00000000e00,
+ ],
+ ],
+ ]
+ )
- r.linkcolormap(["r", "r", "r", "r", "r", "r"])
+ ans_new = np.empty((7, 6, 7))
- # def test_tool_error(self):
- # r = rp.models.DH.Puma560()
+ for i in range(7):
+ ans_new[i, :, :] = ans[:, :, i]
- # with self.assertRaises(ValueError):
- # r.tool = 2
+ nt.assert_array_almost_equal(panda.hessian0(q1), ans_new)
+ nt.assert_array_almost_equal(panda.hessian0(q2), ans_new)
+ nt.assert_array_almost_equal(panda.hessian0(q3), ans_new)
+ nt.assert_array_almost_equal(panda.hessian0(q4), ans_new)
+ nt.assert_array_almost_equal(panda.hessian0(J0=panda.jacob0(q1)), ans_new)
+ nt.assert_array_almost_equal(
+ panda.hessian0(q=None, J0=panda.jacob0(q1)), ans_new
+ )
- def test_links(self):
+ def test_manipulability(self):
+ panda = rtb.models.ETS.Panda()
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+ q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
- l0 = rp.PrismaticDH()
- l1 = rp.RevoluteDH()
- l2 = rp.PrismaticDH()
- l3 = rp.RevoluteDH()
+ ans = 0.006559178039088341
- r0 = rp.DHRobot([l0, l1, l2, l3])
+ panda.q = q1
+ nt.assert_array_almost_equal(panda.manipulability(q2), ans)
+ # self.assertRaises(ValueError, panda.manipulability)
+ self.assertRaises(TypeError, panda.manipulability, "Wfgsrth")
+ self.assertRaises(ValueError, panda.manipulability, [1, 3])
- self.assertIs(r0[0], l0)
- self.assertIs(r0[1], l1)
- self.assertIs(r0[2], l2)
- self.assertIs(r0[3], l3)
+ def test_qlim(self):
+ panda = rtb.models.ETS.Panda()
- def test_ikine_LM(self):
- panda = rp.models.DH.Panda()
- q = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
- T = panda.fkine(q)
- Tt = sm.SE3([T, T])
+ self.assertEqual(panda.qlim.shape[0], 2)
+ self.assertEqual(panda.qlim.shape[1], panda.n)
- qr = [0.0342, 1.6482, 0.0312, 1.2658, -0.0734, 0.4836, 0.7489]
+ def test_manuf(self):
+ panda = rtb.models.ETS.Panda()
- sol1 = panda.ikine_LM(T)
- sol2 = panda.ikine_LM(Tt)
- sol3 = panda.ikine_LM(T, q0=[0, 1.4, 0, 1, 0, 0.5, 1])
+ self.assertIsInstance(panda.manufacturer, str)
- self.assertTrue(sol1.success)
- self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol1.q)), 0, places=4)
+ def test_complex(self):
+ l0 = rtb.Link(rtb.ET.tx(0.1) * rtb.ET.Rx())
+ l1 = rtb.Link(rtb.ET.tx(0.1) * rtb.ET.Ry(), parent=l0)
+ l2 = rtb.Link(rtb.ET.tx(0.1) * rtb.ET.Rz(), parent=l1)
+ l3 = rtb.Link(rtb.ET.tx(0.1) * rtb.ET.tx(), parent=l2)
+ l4 = rtb.Link(rtb.ET.tx(0.1) * rtb.ET.ty(), parent=l3)
+ l5 = rtb.Link(rtb.ET.tx(0.1) * rtb.ET.tz(), parent=l4)
- self.assertTrue(sol2.success[0])
- self.assertAlmostEqual(
- np.linalg.norm(T - panda.fkine(sol2.q[0, :])), 0, places=4
- )
- self.assertTrue(sol2.success[0])
- self.assertAlmostEqual(
- np.linalg.norm(T - panda.fkine(sol2.q[1, :])), 0, places=4
+ r = rtb.Robot([l0, l1, l2, l3, l4, l5])
+ q = [1.0, 2, 3, 1, 2, 3]
+
+ ans = np.array(
+ [
+ [-0.0, 0.08752679, -0.74761985, 0.41198225, 0.05872664, 0.90929743],
+ [
+ 1.46443609,
+ 2.80993063,
+ 0.52675075,
+ -0.68124272,
+ -0.64287284,
+ 0.35017549,
+ ],
+ [
+ -1.04432,
+ -1.80423571,
+ -2.20308833,
+ 0.60512725,
+ -0.76371834,
+ -0.2248451,
+ ],
+ [1.0, 0.0, 0.90929743, 0.0, 0.0, 0.0],
+ [0.0, 0.54030231, 0.35017549, 0.0, 0.0, 0.0],
+ [0.0, 0.84147098, -0.2248451, 0.0, 0.0, 0.0],
+ ]
)
- self.assertTrue(sol3.success)
- self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol3.q)), 0, places=4)
+ nt.assert_array_almost_equal(r.jacob0(q), ans)
- with self.assertRaises(ValueError):
- panda.ikine_LM(T, q0=[1, 2])
+ def test_copy_init(self):
+ r = rtb.models.Panda()
+
+ r2 = rtb.Robot(r)
+
+ r2.jacob0(r.q)
+
+ self.assertEqual(r.n, r2.n)
+
+ def test_init2(self):
+ r = rtb.Robot(rtb.ETS(rtb.ET.Ry(qlim=[-1, 1])))
- def test_ikine_LM_mask(self):
+ self.assertEqual(r.n, 1)
- # simple RR manipulator, solve with mask
+ def test_to_dict(self):
+ r = rtb.models.Panda()
- l0 = rp.RevoluteDH(a=2.0)
- l1 = rp.RevoluteDH(a=1)
+ rdict = r._to_dict(collision_alpha=0.5)
+ rdict2 = r._to_dict()
- r = rp.DHRobot([l0, l1]) # RR manipulator
- T = sm.SE3(-1, 2, 0)
- sol = r.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0])
+ self.assertTrue(len(rdict) > len(rdict2))
- self.assertTrue(sol.success)
- self.assertAlmostEqual(
- np.linalg.norm(T.t[:2] - r.fkine(sol.q).t[:2]), 0, places=4
+ self.assertIsInstance(rdict, list)
+
+ def test_fk_dict(self):
+ r = rtb.models.Panda()
+
+ rdict = r._fk_dict(collision_alpha=0.5)
+ rdict2 = r._fk_dict()
+
+ self.assertTrue(len(rdict) > len(rdict2))
+
+ def test_URDF(self):
+ r = rtb.Robot.URDF("fetch_description/robots/fetch.urdf", gripper=6)
+
+ self.assertEqual(r.n, 5)
+
+ def test_URDF2(self):
+ r = rtb.Robot.URDF(
+ "fetch_description/robots/fetch.urdf", gripper="forearm_roll_link"
)
- # test initial condition search, drop iteration limit so it has to do
- # some searching
- sol = r.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0], ilimit=8, search=True)
+ self.assertEqual(r.n, 7)
+
+ def test_showgraph(self):
+ r = rtb.models.Panda()
+
+ file = r.showgraph(display_graph=False)
+
+ self.assertIsNotNone(file)
+
+ self.assertTrue(file[-4:] == ".pdf") # type: ignore
+
+ def test_dotfile(self):
+ r = rtb.models.Panda()
+
+ r.dotfile("test.dot")
+ try:
+ os.remove("test.dot")
+ except PermissionError:
+ pass
- self.assertTrue(sol.success)
- self.assertAlmostEqual(
- np.linalg.norm(T.t[:2] - r.fkine(sol.q).t[:2]), 0, places=4
+ def test_dotfile2(self):
+ r = rtb.models.Frankie()
+
+ r.dotfile("test.dot", jtype=True, etsbox=True)
+ try:
+ os.remove("test.dot")
+ except PermissionError:
+ pass
+
+ def test_dotfile3(self):
+ r = rtb.models.Panda()
+
+ r.dotfile("test.dot", ets="brief")
+ try:
+ os.remove("test.dot")
+ except PermissionError:
+ pass
+
+ def test_dotfile4(self):
+ r = rtb.models.Panda()
+
+ r.dotfile("test.dot", ets="None") # type: ignore
+ try:
+ os.remove("test.dot")
+ except PermissionError:
+ pass
+
+ def test_fkine_all(self):
+ r = rtb.models.ETS.Panda()
+
+ r.fkine_all(r.q)
+
+ def test_fkine_all2(self):
+ r = rtb.models.YuMi()
+
+ r.fkine_all(r.q)
+
+ def test_yoshi(self):
+ puma = rtb.models.Puma560()
+ q = puma.qn # type: ignore
+
+ m1 = puma.manipulability(q)
+ m2 = puma.manipulability(np.c_[q, q].T)
+ m3 = puma.manipulability(q, axes="trans")
+ m4 = puma.manipulability(q, axes="rot")
+
+ a0 = 0.0805
+ a2 = 0.1354
+ a3 = 2.44949
+
+ nt.assert_almost_equal(m1, a0, decimal=4)
+ nt.assert_almost_equal(m2[0], a0, decimal=4) # type: ignore
+ nt.assert_almost_equal(m2[1], a0, decimal=4) # type: ignore
+ nt.assert_almost_equal(m3, a2, decimal=4)
+ nt.assert_almost_equal(m4, a3, decimal=4)
+
+ with self.assertRaises(ValueError):
+ puma.manipulability(axes="abcdef") # type: ignore
+
+ def test_asada(self):
+ l1 = rtb.Link(ets=rtb.ETS(rtb.ET.Ry()), m=1, r=[0.5, 0, 0], name="l1")
+ l2 = rtb.Link(
+ ets=rtb.ETS(rtb.ET.tx(1)) * rtb.ET.Ry(),
+ m=1,
+ r=[0.5, 0, 0],
+ parent=l1,
+ name="l2",
)
+ r = rtb.Robot([l1, l2], name="simple 2 link")
+ q = np.array([1.0, 1.5])
- def test_ikine_LM_transpose(self):
- # need to test this on a robot with squarish Jacobian, choose Puma
+ m1 = r.manipulability(q, method="asada")
+ m2 = r.manipulability(np.c_[q, q].T, method="asada")
+ m3 = r.manipulability(q, axes="trans", method="asada")
+ m4 = r.manipulability(q, axes="rot", method="asada")
- r = rp.models.DH.Puma560()
- T = r.fkine(r.qn)
+ a0 = 0.0
+ a2 = 0.0
+ a3 = 0.0
- sol = r.ikine_LM(T, transpose=0.5, ilimit=1000, tol=1e-6)
+ nt.assert_almost_equal(m1, a0, decimal=4)
+ nt.assert_almost_equal(m2[0], a0, decimal=4) # type: ignore
+ nt.assert_almost_equal(m2[1], a0, decimal=4) # type: ignore
+ nt.assert_almost_equal(m3, a2, decimal=4)
+ nt.assert_almost_equal(m4, a3, decimal=4)
- self.assertTrue(sol.success)
- self.assertAlmostEqual(np.linalg.norm(T - r.fkine(sol.q)), 0, places=4)
+ def test_cond(self):
+ r = rtb.models.Panda()
- def test_ikine_con(self):
- panda = rp.models.DH.Panda()
- q = np.array([0, -0.3, 0, -2.2, 0, 2.0, np.pi / 4])
- T = panda.fkine(q)
- Tt = sm.SE3([T, T, T])
+ m = r.manipulability(r.qr, method="invcondition")
- # qr = [7.69161412e-04, 9.01409257e-01, -1.46372859e-02,
- # -6.98000000e-02, 1.38978915e-02, 9.62104811e-01,
- # 7.84926515e-01]
+ self.assertAlmostEqual(m, 0.11222, places=4) # type: ignore
- sol1 = panda.ikine_min(T, qlim=True, q0=np.zeros(7))
- sol2 = panda.ikine_min(Tt, qlim=True)
+ def test_minsingular(self):
+ r = rtb.models.Panda()
- self.assertTrue(sol1.success)
- self.assertAlmostEqual(np.linalg.norm(T - panda.fkine(sol1.q)), 0, places=4)
- nt.assert_array_almost_equal(
- T.A - panda.fkine(sol1.q).A, np.zeros((4, 4)), decimal=4
+ m = r.manipulability(r.qr, method="minsingular")
+
+ self.assertAlmostEqual(m, 0.209013, places=4) # type: ignore
+
+ def test_jtraj(self):
+ r = rtb.models.Panda()
+
+ q1 = r.q + 0.2
+
+ q = r.jtraj(r.fkine(q1), r.fkine(r.qr), 5)
+
+ self.assertEqual(q.s.shape, (5, 7))
+
+ def test_jtraj2(self):
+ r = rtb.models.DH.Puma560()
+
+ q1 = r.q + 0.2
+
+ q = r.jtraj(r.fkine(q1), r.fkine(r.qr), 5)
+
+ self.assertEqual(q.s.shape, (5, 6))
+
+ def test_manip(self):
+ r = rtb.models.Panda()
+ q = r.qr
+
+ m1 = r.manipulability(q)
+ m2 = r.manipulability(q, axes="trans")
+ m3 = r.manipulability(q, axes="rot")
+
+ nt.assert_almost_equal(m1, 0.0837, decimal=4)
+ nt.assert_almost_equal(m2, 0.1438, decimal=4)
+ nt.assert_almost_equal(m3, 2.7455, decimal=4)
+
+ with self.assertRaises(ValueError):
+ r.manipulability(axes="abcdef") # type: ignore
+
+ def test_jacobm(self):
+ r = rtb.models.Panda()
+ q = r.qr
+
+ m1 = r.jacobm(q)
+ m2 = r.jacobm(q, axes="trans")
+ m3 = r.jacobm(q, axes="rot")
+
+ a1 = np.array(
+ [
+ [0.00000000e00],
+ [-2.62678438e-03],
+ [1.18662211e-19],
+ [4.06398364e-02],
+ [1.21226717e-19],
+ [-2.73383661e-02],
+ [0.00000000e00],
+ ]
)
- self.assertTrue(sol2[0].success)
- nt.assert_array_almost_equal(
- T.A - panda.fkine(sol2[0].q).A, np.zeros((4, 4)), decimal=4
+ a2 = np.array(
+ [
+ [-4.03109907e-32],
+ [2.14997718e-02],
+ [2.57991732e-18],
+ [9.51555140e-02],
+ [1.09447194e-18],
+ [3.78529920e-02],
+ [0.00000000e00],
+ ]
)
- self.assertTrue(sol2[1].success)
- nt.assert_array_almost_equal(
- T.A - panda.fkine(sol2[1].q).A, np.zeros((4, 4)), decimal=4
+
+ a3 = np.array(
+ [
+ [-1.22157098e-31],
+ [-7.51299508e-01],
+ [9.51556025e-17],
+ [7.49956218e-01],
+ [8.40346012e-18],
+ [-5.17677915e-01],
+ [0.00000000e00],
+ ]
)
- def test_ikine_unc(self):
- puma = rp.models.DH.Puma560()
- q = puma.qn
- T = puma.fkine(q)
- Tt = sm.SE3([T, T])
+ nt.assert_almost_equal(m1, a1, decimal=4)
+ nt.assert_almost_equal(m2, a2, decimal=4)
+ nt.assert_almost_equal(m3, a3, decimal=4)
- sol1 = puma.ikine_min(Tt)
- sol2 = puma.ikine_min(T)
- sol3 = puma.ikine_min(T)
+ with self.assertRaises(ValueError):
+ r.jacobm(axes="abcdef") # type: ignore
- self.assertTrue(sol1[0].success)
- nt.assert_array_almost_equal(
- T.A - puma.fkine(sol1[0].q).A, np.zeros((4, 4)), decimal=4
+ def test_collided2(self):
+ p = rtb.models.Panda()
+ s0 = sg.Cuboid([0.01, 0.01, 0.01], pose=p.fkine(p.q))
+
+ c0 = p.collided(p.q, s0)
+
+ self.assertTrue(c0)
+
+ def test_velocity_damper(self):
+ r = rtb.models.Panda()
+
+ Ain, Bin = r.joint_velocity_damper()
+
+ a1 = np.array(
+ [
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0],
+ [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+ ]
)
- self.assertTrue(sol1[1].success)
- nt.assert_array_almost_equal(
- T.A - puma.fkine(sol1[1].q).A, np.zeros((4, 4)), decimal=4
+
+ a2 = np.array([0.0, 0.0, 0.0, -2.396, 0.0, -0.65, 0.0])
+
+ nt.assert_almost_equal(Ain, a1, decimal=4)
+ nt.assert_almost_equal(Bin, a2, decimal=4)
+
+ def test_link_collision_damper(self):
+ r = rtb.models.Panda()
+
+ s = sg.Cuboid([0.01, 0.01, 0.01])
+
+ Ain, Bin = r.link_collision_damper(s, r.q)
+
+ a1 = np.array(
+ [
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -1.93649378e-34,
+ -1.71137143e-18,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 5.05166785e-18,
+ -8.25000000e-02,
+ 5.05166785e-18,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 8.25000000e-02,
+ 1.01033361e-17,
+ 8.25000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -8.25000000e-02,
+ -1.01033361e-17,
+ -8.25000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -2.75268296e-35,
+ 2.90883510e-18,
+ -1.55445626e-34,
+ -8.25000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -8.25000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -8.25000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -1.57039486e-11,
+ 1.11890634e-10,
+ -1.57039486e-11,
+ -6.09481971e-02,
+ -1.57039486e-11,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -4.89389206e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ -7.69198080e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 1.20407156e-14,
+ -2.80950032e-13,
+ 1.20407156e-14,
+ 9.05269566e-14,
+ 1.20407156e-14,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -1.13663976e-10,
+ 6.90000000e-01,
+ -1.13663996e-10,
+ -3.74000000e-01,
+ -1.13663972e-10,
+ 1.00000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 1.07768918e-17,
+ -8.80000000e-02,
+ 1.07768918e-17,
+ 5.50000000e-03,
+ 1.07768918e-17,
+ 8.80000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -1.07768918e-17,
+ 8.80000000e-02,
+ -1.07768918e-17,
+ -5.50000000e-03,
+ -1.07768918e-17,
+ -8.80000000e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -1.42800820e-02,
+ -5.22756456e-01,
+ -1.42800820e-02,
+ 2.60933208e-01,
+ -1.42800820e-02,
+ -1.20480747e-01,
+ 3.09364536e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 5.96886490e-02,
+ -3.78932484e-01,
+ 5.96886490e-02,
+ 1.87911850e-01,
+ 5.96886490e-02,
+ -9.58635879e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 5.61245282e-02,
+ -3.41025601e-01,
+ 5.61245282e-02,
+ 1.75113444e-01,
+ 5.61245282e-02,
+ -1.05419509e-01,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 6.22253967e-02,
+ -3.91030050e-01,
+ 6.22253967e-02,
+ 1.67584307e-01,
+ 6.22253967e-02,
+ -1.03944697e-01,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -4.90028111e-02,
+ 2.75492780e-01,
+ -4.90028111e-02,
+ -1.50373572e-01,
+ -4.90028111e-02,
+ 1.14302308e-01,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 4.90028111e-02,
+ -3.83963034e-01,
+ 4.90028111e-02,
+ 1.57152963e-01,
+ 4.90028111e-02,
+ -5.83205400e-03,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 6.22246462e-02,
+ -3.48609107e-01,
+ 6.22246462e-02,
+ 1.25159489e-01,
+ 6.22246462e-02,
+ -1.46371610e-01,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ -2.68888497e-02,
+ 1.03162870e-01,
+ -2.68888497e-02,
+ -8.10072778e-02,
+ -2.68888497e-02,
+ 1.10725707e-01,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ [
+ 2.68888497e-02,
+ -2.61882491e-01,
+ 2.68888497e-02,
+ 9.09272541e-02,
+ 2.68888497e-02,
+ 4.79939142e-02,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ 0.00000000e00,
+ ],
+ ]
+ )
+ a2 = np.array(
+ [
+ 2.00000000e-02,
+ -1.27216162e-01,
+ -3.34978685e-02,
+ -2.00000000e-02,
+ 8.72000000e-01,
+ -2.60000000e-01,
+ -4.60000000e-01,
+ -2.20000000e-01,
+ -2.20000000e-01,
+ 6.00000000e-02,
+ 4.20000000e-01,
+ -1.80000000e-01,
+ -4.60000000e-01,
+ -2.20000000e-01,
+ -2.20000000e-01,
+ 6.20000000e-01,
+ 7.80000000e-01,
+ 3.80000000e-01,
+ 1.00622747e-01,
+ 7.36135591e-02,
+ 5.36875734e-01,
+ -2.60000000e-01,
+ -3.80000000e-01,
+ -1.40000000e-01,
+ -3.80000000e-01,
+ 2.77555756e-17,
+ -1.40000000e-01,
+ -5.82574174e-02,
+ -9.75448830e-02,
+ -8.31641223e-02,
+ -2.20000000e-01,
+ -1.30350690e-01,
+ -1.30350690e-01,
+ 1.00004623e-01,
+ 1.41807468e-01,
+ 1.41807468e-01,
+ ]
)
- self.assertTrue(sol2.success)
- nt.assert_array_almost_equal(
- T.A - puma.fkine(sol2.q).A, np.zeros((4, 4)), decimal=4
+ nt.assert_almost_equal(Ain, a1, decimal=4) # type: ignore
+ nt.assert_almost_equal(Bin, a2, decimal=4) # type: ignore
+
+ def test_hessiane(self):
+ deg = np.pi / 180
+ mm = 1e-3
+ tool_offset = (103) * mm
+
+ l0 = rtb.ET.tz(0.333) * rtb.ET.Rz(jindex=0)
+
+ l1 = rtb.ET.Rx(-90 * deg) * rtb.ET.Rz(jindex=1)
+
+ l2 = rtb.ET.Rx(90 * deg) * rtb.ET.tz(0.316) * rtb.ET.Rz(jindex=2)
+
+ l3 = rtb.ET.tx(0.0825) * rtb.ET.Rx(90 * deg) * rtb.ET.Rz(jindex=3)
+
+ l4 = (
+ rtb.ET.tx(-0.0825)
+ * rtb.ET.Rx(-90 * deg)
+ * rtb.ET.tz(0.384)
+ * rtb.ET.Rz(jindex=4)
)
- self.assertTrue(sol3.success)
- nt.assert_array_almost_equal(
- T.A - puma.fkine(sol3.q).A, np.zeros((4, 4)), decimal=4
+ l5 = rtb.ET.Rx(90 * deg) * rtb.ET.Rz(jindex=5)
+
+ l6 = (
+ rtb.ET.tx(0.088)
+ * rtb.ET.Rx(90 * deg)
+ * rtb.ET.tz(0.107)
+ * rtb.ET.Rz(jindex=6)
)
- # def test_plot_swift(self):
- # r = rp.models.Panda()
+ ee = rtb.ET.tz(tool_offset) * rtb.ET.Rz(-np.pi / 4)
- # env = r.plot(r.q, block=False)
- # env.close()
+ r = rtb.Robot(l0 + l1 + l2 + l3 + l4 + l5 + l6 + ee)
+ q1 = np.array([1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9])
+ q2 = [1.4, 0.2, 1.8, 0.7, 0.1, 3.1, 2.9]
+ q3 = np.expand_dims(q1, 0)
+ q4 = np.expand_dims(q1, 1)
-if __name__ == "__main__": # pragma nocover
- unittest.main()
- # pytest.main(['tests/test_SerialLink.py'])
+ H0 = r.hessian0(q1)
+ He = np.empty((r.n, 6, r.n))
+ T = r.fkine(q1, include_base=False).A
+
+ for i in range(r.n):
+ He[i, :, :] = tr2jac(T.T) @ H0[i, :, :]
+
+ J = r.jacobe(q1)
+
+ nt.assert_array_almost_equal(r.hessiane(q1), He)
+ nt.assert_array_almost_equal(r.hessiane(q2), He)
+ nt.assert_array_almost_equal(r.hessiane(q3), He)
+ nt.assert_array_almost_equal(r.hessiane(q4), He)
+
+ nt.assert_array_almost_equal(r.hessiane(Je=J), He)
+ nt.assert_array_almost_equal(r.hessiane(Je=J), He)
+ nt.assert_array_almost_equal(r.hessiane(Je=J), He)
+ nt.assert_array_almost_equal(r.hessiane(Je=J), He)
- # import roboticstoolbox as rtb
- # from spatialmath import SE3
+ def test_erobot(self):
+ ets = rtb.ETS(rtb.ET.Rz())
+ robot = rtb.ERobot(
+ ets, name="myname", manufacturer="I made it", comment="other stuff"
+ )
+ self.assertEqual(robot.name, "myname")
+ self.assertEqual(robot.manufacturer, "I made it")
+ self.assertEqual(robot.comment, "other stuff")
+
+ def test_erobot2(self):
+ ets = rtb.ETS2(rtb.ET2.R())
+ robot = rtb.ERobot2(
+ ets, name="myname", manufacturer="I made it", comment="other stuff"
+ )
+ self.assertEqual(robot.name, "myname")
+ self.assertEqual(robot.manufacturer, "I made it")
+ self.assertEqual(robot.comment, "other stuff")
- # l0 = rtb.RevoluteDH(a=2.0)
- # l1 = rtb.RevoluteDH(a=1)
- # # l1 = rp.PrismaticDH(theta=1.0)
- # # l2 = rp.PrismaticDH(theta=1, qlim=[0, 2])
+ def test_qlim_setters(self):
+ et = rtb.ET.Rz(qlim=[-1, 1])
+ ets = rtb.ETS([et])
+ l = rtb.Link(ets)
+ r = rtb.Robot([l])
- # # r0 = rtb.DHRobot([l0, l1]) # RP manipulator
- # r1 = rtb.DHRobot([l0, l1]) # RR manipulator
- # print(r1)
- # T = SE3(-1, 2, 0)
- # print(T)
- # sol = r1.ikine_LM(T, mask=[1, 1, 0, 0, 0, 0])
- # print(sol)
- # print(r1.fkine(sol.q))
+ nt.assert_almost_equal(et.qlim, np.array([-1, 1]))
+ nt.assert_almost_equal(ets.qlim, np.array([[-1, 1]]).T)
+ nt.assert_almost_equal(l.qlim, np.array([-1, 1]))
+ nt.assert_almost_equal(r.qlim, np.array([[-1, 1]]).T)
- # # sol = r1.ikine_LM(T, transpose=0.05, tol=1e-2, ilimit=1000, mask=[1, 1, 0, 0, 0, 0])
- # # print(sol)
- # # print(r1.fkine(sol.q))
+ et.qlim = [-2, 2]
+ nt.assert_almost_equal(et.qlim, np.array([-2, 2]))
+ nt.assert_almost_equal(ets.qlim, np.array([[-1, 1]]).T)
+ nt.assert_almost_equal(l.qlim, np.array([-1, 1]))
+ nt.assert_almost_equal(r.qlim, np.array([[-1, 1]]).T)
- # sol = r1.ikine_LM(
- # T, mask=[1, 1, 0, 0, 0, 0],
- # ilimit=8, search=True)
- # print(sol)
+ ets.qlim = np.array([[-2, 2]]).T
+ nt.assert_almost_equal(et.qlim, np.array([-2, 2]))
+ nt.assert_almost_equal(ets.qlim, np.array([[-2, 2]]).T)
+ nt.assert_almost_equal(l.qlim, np.array([-2, 2]))
+ nt.assert_almost_equal(r.qlim, np.array([[-2, 2]]).T)
- # r = rtb.models.DH.Puma560()
+ l.qlim = [-3, 3]
+ nt.assert_almost_equal(et.qlim, np.array([-2, 2]))
+ nt.assert_almost_equal(ets.qlim, np.array([[-3, 3]]).T)
+ nt.assert_almost_equal(l.qlim, np.array([-3, 3]))
+ nt.assert_almost_equal(r.qlim, np.array([[-3, 3]]).T)
- # T = r.fkine(r.qn)
+ r.qlim = np.array([[-4, 4]]).T
+ nt.assert_almost_equal(et.qlim, np.array([-2, 2]))
+ nt.assert_almost_equal(ets.qlim, np.array([[-4, 4]]).T)
+ nt.assert_almost_equal(l.qlim, np.array([-4, 4]))
+ nt.assert_almost_equal(r.qlim, np.array([[-4, 4]]).T)
- # sol = r.ikine_LM(T, transpose=0.5, ilimit=1000, tol=1e-6)
- # print(sol)
+
+if __name__ == "__main__": # pragma nocover
+ unittest.main()
diff --git a/tests/test_blocks.py b/tests/test_blocks.py
new file mode 100644
index 000000000..357867d24
--- /dev/null
+++ b/tests/test_blocks.py
@@ -0,0 +1,417 @@
+#!/usr/bin/env python3
+
+import unittest
+
+try:
+ from bdsim import BDSim
+except ModuleNotFoundError:
+ raise unittest.SkipTest("bdsim not found, skipping all tests in test_blocks.py") from None
+
+from spatialmath import SE3
+from spatialmath.base import tr2x
+
+import numpy.testing as nt
+
+import roboticstoolbox as rtb
+from roboticstoolbox.blocks import *
+from roboticstoolbox.blocks.quad_model import quadrotor
+
+class State:
+ T = 5
+
+ class Opt:
+ def __init__(self):
+ self.graphics = True
+ self.animation = False
+
+ def __init__(self):
+ self.options = self.Opt()
+
+class RobotBlockTest(unittest.TestCase):
+ def test_fkine(self):
+
+ robot = rtb.models.ETS.Panda()
+ q = robot.configs["qr"]
+ T = robot.fkine(q)
+
+ block = FKine(robot)
+ nt.assert_array_almost_equal(block.T_output(q)[0], T)
+
+ def test_ikine(self):
+
+ robot = rtb.models.ETS.Panda()
+ q = robot.configs["qr"]
+ T = robot.fkine(q)
+ sol = robot.ikine_LM(T)
+
+ block = IKine(robot, seed=0)
+
+ q_ik = block.T_output(T)[0] # get IK from block
+ pass
+ nt.assert_array_almost_equal(robot.fkine(q_ik), T) # test it's FK is correct
+
+ def test_jacobian(self):
+
+ robot = rtb.models.ETS.Panda()
+ q = robot.configs["qr"]
+
+ J = robot.jacob0(q)
+ block = Jacobian(robot)
+ nt.assert_array_almost_equal(block.T_output(q)[0], J)
+
+ J = robot.jacobe(q)
+ block = Jacobian(robot, frame="e")
+ nt.assert_array_almost_equal(block.T_output(q)[0], J)
+
+ J = robot.jacob0(q)
+ block = Jacobian(robot, pinv=True)
+ nt.assert_array_almost_equal(block.T_output(q)[0], np.linalg.pinv(J))
+
+ def test_gravload(self):
+
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = Gravload(robot)
+ nt.assert_array_almost_equal(block.T_output(q)[0], robot.gravload(q))
+
+ def test_gravload_x(self):
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = Gravload_X(robot)
+ nt.assert_array_almost_equal(block.T_output(q)[0], robot.gravload_x(q))
+
+ def test_inertia(self):
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = Inertia(robot)
+ nt.assert_array_almost_equal(block.T_output(q)[0], robot.inertia(q))
+
+ def test_inertia_x(self):
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = Inertia_X(robot)
+ nt.assert_array_almost_equal(block.T_output(q)[0], robot.inertia_x(q))
+
+ def test_idyn(self):
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = IDyn(robot)
+ qd = [0.1, 0.1, 0.1, 0.2, 0.2, 0.3]
+ qdd = [0.1, 0.1, 0.1, 0.2, 0.2, 0.3]
+ nt.assert_array_almost_equal(
+ block.T_output(q, qd, qdd)[0], robot.rne(q, qd, qdd)
+ )
+
+ block = IDyn(robot, gravity=[0, 0, 0])
+ qd = [0.1, 0.1, 0.1, 0.2, 0.2, 0.3]
+ qdd = [0.1, 0.1, 0.1, 0.2, 0.2, 0.3]
+ nt.assert_array_almost_equal(
+ block.T_output(q, qd, qdd)[0], robot.rne(q, qd, qdd, gravity=[0, 0, 0])
+ )
+
+ def test_fdyn(self):
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = FDyn(robot, q)
+ qd = np.zeros((6,))
+ tau = [6, 5, 4, 3, 2, 1]
+
+ x = np.r_[q, np.zeros((6,))]
+ xd = np.r_[np.zeros((6,)), robot.accel(q, qd, tau)]
+ nt.assert_equal(block.T_deriv(tau, x=x), xd)
+ nt.assert_equal(block.T_output(tau, x=x)[0], q)
+ nt.assert_equal(block.getstate0(), x)
+
+ @unittest.skip
+ def test_fdyn_x(self):
+ robot = rtb.models.DH.Puma560()
+ q = robot.configs["qn"]
+
+ block = FDyn_X(robot, q)
+ qd = np.zeros((6,))
+ tau = [6, 5, 4, 3, 2, 1]
+
+ x = np.r_[tr2x(robot.fkine(q).A), np.zeros((6,))]
+ xd = np.r_[np.zeros((6,)), robot.accel_x(q, qd, tau)]
+ block.test_inputs = [tau] # set inputs
+ block._x = x # set state [x, xd]
+ nt.assert_equal(block.deriv(), xd)
+ nt.assert_equal(block.output()[0], tr2x(robot.fkine(q).A))
+ nt.assert_equal(block.getstate0(), x)
+
+ @unittest.skip("cant test bdsim plot blocks")
+ def test_armplot(self):
+
+ robot = rtb.models.ETS.Panda()
+ q = robot.configs["qr"]
+
+ block = ArmPlot(robot)
+
+
+class SpatialBlockTest(unittest.TestCase):
+ def test_delta(self):
+
+ block = Tr2Delta()
+
+ T1 = SE3()
+ T2 = SE3.Trans(0.01, 0.02, 0.03) * SE3.RPY(0.01, 0.02, 0.03)
+ nt.assert_array_almost_equal(block.T_output(T1, T2)[0], T1.delta(T2))
+
+ block = Delta2Tr()
+
+ delta = [0.01, 0.02, 0.03, 0.04, 0.05, 0.06]
+ nt.assert_array_almost_equal(block.T_output(delta)[0], SE3.Delta(delta))
+
+ def test_tr2t(self):
+
+ T = SE3.Trans(1, 2, 3) * SE3.RPY(0.3, 0.4, 0.5)
+
+ block = TR2T()
+ out = block.T_output(T)
+ self.assertEqual(len(out), 3)
+ self.assertAlmostEqual(out[0], 1)
+ self.assertAlmostEqual(out[1], 2)
+ self.assertAlmostEqual(out[2], 3)
+
+ def test_point2tr(self):
+
+ T = SE3.Trans(1, 2, 3) * SE3.RPY(0.3, 0.4, 0.5)
+
+ block = Point2Tr(T)
+
+ t = np.r_[3, 4, 5]
+ nt.assert_array_almost_equal(
+ block.T_output(t)[0], SE3.Trans(t) * SE3.RPY(0.3, 0.4, 0.5)
+ )
+
+ @unittest.skip
+ def test_jtraj(self):
+ robot = rtb.models.DH.Puma560()
+ q1 = robot.configs["qz"]
+ q2 = robot.configs["qr"]
+
+ block = JTraj(q1, q2)
+ s = State()
+ block.start(s)
+ nt.assert_array_almost_equal(block.T_output(t=0)[0], q1)
+ nt.assert_array_almost_equal(block.T_output(t=5)[0], q2)
+
+ def test_ctraj(self):
+
+ T1 = SE3.Trans(1, 2, 3) * SE3.RPY(0.3, 0.4, 0.5)
+ T2 = SE3.Trans(-1, -2, -3) * SE3.RPY(-0.3, -0.4, -0.5)
+
+ block = CTraj(T1, T2, T=5)
+
+ s = State()
+ block.start(s)
+
+ nt.assert_array_almost_equal(block.T_output(t=0)[0], T1)
+ nt.assert_array_almost_equal(block.T_output(t=5)[0], T2)
+
+ def test_trapezoidal(self):
+
+ block = Trapezoidal(2, 3, T=5)
+
+ s = State()
+ block.start(s)
+
+ out = block.T_output(t=0)
+ nt.assert_array_almost_equal(out[0], 2)
+ nt.assert_array_almost_equal(out[1], 0)
+
+ out = block.T_output(t=5)
+ nt.assert_array_almost_equal(out[0], 3)
+ nt.assert_array_almost_equal(out[1], 0)
+
+ def test_circlepath(self):
+
+ block = CirclePath(
+ radius=2, centre=[1, 2, 3], frequency=0.25, phase=0, unit="rps"
+ )
+
+ nt.assert_array_almost_equal(block.T_output(t=0)[0], (1 + 2, 2, 3))
+ nt.assert_array_almost_equal(block.T_output(t=1)[0], (1, 2 + 2, 3))
+ nt.assert_array_almost_equal(block.T_output(t=2)[0], (1 - 2, 2, 3))
+
+ def test_traj(self):
+
+ block = Traj([1, 2], [3, 4], time=True, traj="trapezoidal", T=5)
+ s = State()
+ block.start(s)
+
+ nt.assert_array_almost_equal(block.T_output(t=0)[0], [1, 2])
+ nt.assert_array_almost_equal(block.T_output(t=0)[1], [0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(t=5)[0], [3, 4])
+ nt.assert_array_almost_equal(block.T_output(t=5)[1], [0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(t=2.5)[0], [2, 3])
+
+ block = Traj([1, 2], [3, 4], time=True, traj="quintic", T=5)
+ block.start(s)
+
+ nt.assert_array_almost_equal(block.T_output(t=0)[0], [1, 2])
+ nt.assert_array_almost_equal(block.T_output(t=0)[1], [0, 0])
+ nt.assert_array_almost_equal(block.T_output(t=0)[2], [0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(t=5)[0], [3, 4])
+ nt.assert_array_almost_equal(block.T_output(t=5)[1], [0, 0])
+ nt.assert_array_almost_equal(block.T_output(t=5)[2], [0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(t=2.5)[0], [2, 3])
+
+
+class MobileBlockTest(unittest.TestCase):
+ def test_bicycle(self):
+
+ x = [2, 3, np.pi / 2]
+ block = Bicycle(x0=x, L=3)
+
+ nt.assert_array_almost_equal(block.T_output(0, 0, x=x, t=0)[0], x)
+ nt.assert_array_almost_equal(block.T_deriv(0, 0, x=x), [0, 0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(10, 0.3, x=x, t=0)[0], x)
+ nt.assert_array_almost_equal(
+ block.T_deriv(10, 0.3, x=x), [10 * np.cos(x[2]), 10 * np.sin(x[2]), 10 / 3 * np.tan(0.3)]
+ )
+
+ def test_unicycle(self):
+
+ x = [2, 3, np.pi / 2]
+ block = Unicycle(x0=x, W=3)
+
+ nt.assert_array_almost_equal(block.T_output(0, 0, x=x)[0], x)
+ nt.assert_array_almost_equal(block.T_deriv(0, 0, x=x), [0, 0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(10, 0.3, x=x)[0], x)
+ nt.assert_array_almost_equal(
+ block.T_deriv(10, 0.3, x=x), [10 * np.cos(x[2]), 10 * np.sin(x[2]), 0.3]
+ )
+
+ def test_diffsteer(self):
+
+ x = [2, 3, np.pi / 2]
+ block = DiffSteer(x0=x, W=3, R=1 / np.pi)
+
+ nt.assert_array_almost_equal(block.T_output(0, 0, x=x)[0], x)
+ nt.assert_array_almost_equal(block.T_deriv(0, 0, x=x), [0, 0, 0])
+
+ nt.assert_array_almost_equal(block.T_output(5, -5, x=x)[0], x)
+ nt.assert_array_almost_equal(block.T_deriv(5, -5, x=x), [0, 0, -10])
+
+ @unittest.skip("cant test bdsim plot blocks")
+ def test_vehicleplot(self):
+
+ bike = Bicycle()
+ block = VehiclePlot()
+
+ s = State()
+ block.T_start(s)
+ block.T_step(np.array([0, 0, 0]))
+
+
+class MultirotorBlockTest(unittest.TestCase):
+ def test_multirotor(self):
+
+ x = np.r_[[1, 2, 3, 0, 0, 0], np.zeros((6,))]
+ block = MultiRotor(model=quadrotor)
+
+ out = block.T_output(
+ np.r_[614.675223, -614.675223, 614.675223, -614.675223], t=0, x=x
+ )[0]
+ self.assertIsInstance(out, dict)
+
+ out = block.T_deriv(100*np.r_[1, 1, 1, 1], x=x)
+ self.assertIsInstance(out, np.ndarray)
+ self.assertEqual(out.shape, (12,))
+
+ def test_multirotormixer(self):
+
+ block = MultiRotorMixer(model=quadrotor)
+ nt.assert_array_almost_equal(
+ block.T_output(0, 0, 0, -20, t=0)[0],
+ [614.675223, -614.675223, 614.675223, -614.675223],
+ )
+
+ @unittest.skip("cant test bdsim plot blocks")
+ def test_multirotorplot(self):
+
+ block = MultiRotorPlot(model=quadrotor)
+
+ class State:
+ pass
+
+ s = State()
+
+ block.start(state=s)
+ block.step(state=s)
+
+ def test_quadrotor(self):
+
+ block = MultiRotor(quadrotor)
+ print(block.D)
+ z = np.r_[0, 0, 0, 0]
+ block.test_inputs = [z]
+ nt.assert_equal(block.getstate0(), np.zeros((12,)))
+ block.setstate(block.getstate0())
+
+ x = block.getstate0()
+ x[2] = -100 # set altitude
+ u = 100 * np.r_[1, -1, 1, -1]
+
+ # check outputs
+ out = block.T_output(u, x=x)
+ self.assertIsInstance(out, list)
+ self.assertEqual(len(out), 1)
+
+ self.assertIsInstance(out[0], dict)
+
+ # check deriv, checked against MATLAB version 20200621
+ u = 800 * np.r_[1, -1, 1, -1] # too little thrust, falling
+ d = block.T_deriv(u, x=x)
+ self.assertIsInstance(d, np.ndarray)
+ self.assertEqual(d.shape, (12,))
+ self.assertGreater(d[8], 0)
+ nt.assert_array_almost_equal(
+ np.delete(d, 8), np.zeros((11,))
+ ) # other derivs are zero
+
+ u = 900 * np.r_[1, -1, 1, -1] # too much thrust, rising
+ self.assertLess(block.T_deriv(u, x=x)[8], 0)
+
+ u = 800 * np.r_[1.2, -1, 0.8, -1] # + pitch
+ self.assertGreater(block.T_deriv(u, x=x)[10], 20)
+
+ u = 800 * np.r_[0.8, -1, 1.2, -1] # - pitch
+ self.assertLess(block.T_deriv(u, x=x)[10], -20)
+
+ u = 800 * np.r_[1, -0.8, 1, -1.2] # + roll
+ self.assertGreater(block.T_deriv(u, x=x)[9], 20)
+
+ u = 800 * np.r_[1, -1.2, 1, -0.8] # - roll
+ self.assertLess(block.T_deriv(u, x=x)[9], -20)
+
+ @unittest.skip("cant test bdsim plot blocks")
+ def test_quadrotorplot(self):
+
+ block = MultiRotor(quadrotor)
+ u = [100 * np.r_[1, -1, 1, -1]]
+ x = block.getstate0()
+ out = block.T_output(u, x=x)[0]
+
+ # block = MultiRotorPlot(quadrotor)
+ # s = block.T_start()
+ # block.T_step(out, s)
+
+
+# ---------------------------------------------------------------------------------------#
+if __name__ == "__main__":
+
+ unittest.main()
diff --git a/tests/test_jacob.py b/tests/test_jacob.py
index bd94b5f66..84b3ea092 100644
--- a/tests/test_jacob.py
+++ b/tests/test_jacob.py
@@ -96,6 +96,224 @@ def test_jacob_dot_analytical_eul(self):
print(np.round(Jd, 2))
nt.assert_array_almost_equal(j0, Jd, decimal=4)
+ # ------ This section tests various ets' with flipped joints ------ #
+
+ def test_jacob0_flipped0(self):
+ robot = rtb.ETS(
+ [
+ rtb.ET.Rz(jindex=0, qlim=np.array([-2.9668, 2.9668])),
+ rtb.ET.SE3(
+ T=np.array(
+ [
+ [1.0000e00, 0.0000e00, 0.0000e00, -4.3624e-04],
+ [0.0000e00, 1.0000e00, 0.0000e00, 0.0000e00],
+ [0.0000e00, 0.0000e00, 1.0000e00, 3.6000e-01],
+ [0.0000e00, 0.0000e00, 0.0000e00, 1.0000e00],
+ ]
+ )
+ ),
+ rtb.ET.Ry(jindex=1, qlim=np.array([-2.0942, 2.0942])),
+ rtb.ET.Rz(jindex=2, qlim=np.array([-2.9668, 2.9668])),
+ rtb.ET.SE3(
+ T=np.array(
+ [
+ [1.0000e00, 0.0000e00, 0.0000e00, 4.3624e-04],
+ [0.0000e00, 1.0000e00, 0.0000e00, 0.0000e00],
+ [0.0000e00, 0.0000e00, 1.0000e00, 4.2000e-01],
+ [0.0000e00, 0.0000e00, 0.0000e00, 1.0000e00],
+ ]
+ )
+ ),
+ rtb.ET.Ry(jindex=3, flip=True, qlim=np.array([-2.0942, 2.0942])),
+ rtb.ET.Rz(jindex=4, qlim=np.array([-2.9668, 2.9668])),
+ rtb.ET.tz(0.4),
+ rtb.ET.Ry(jindex=5, qlim=np.array([-2.0942, 2.0942])),
+ rtb.ET.Rz(jindex=6, qlim=np.array([-3.0541, 3.0541])),
+ rtb.ET.tz(0.126),
+ ]
+ )
+
+ q = np.array([0, -0.3, 0, -2.2, 0, 2, 0.79])
+
+ nt.assert_array_almost_equal(
+ robot.jacob0(q), numjac(lambda q: robot.fkine(q).A, q, SE=3)
+ )
+
+ def test_jacob0_flipped1(self):
+ ets_list = [
+ rtb.ET.Rx(flip=True)
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry(flip=True)
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx(flip=True)
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty(flip=True)
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(flip=True),
+ rtb.ET.Rx(flip=True)
+ * rtb.ET.Ry()
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx()
+ * rtb.ET.ty(flip=True)
+ * rtb.ET.tz(),
+ rtb.ET.Rx(flip=True)
+ * rtb.ET.Ry(flip=True)
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx(flip=True)
+ * rtb.ET.ty(flip=True)
+ * rtb.ET.tz(flip=True),
+ ]
+
+ for ets in ets_list:
+ q = np.array([-0.3, 0, -2.2, 0, 2, 0.79])
+
+ nt.assert_array_almost_equal(
+ ets.jacob0(q), numjac(lambda q: ets.fkine(q).A, q, SE=3)
+ )
+
+ def test_jacobe_flipped0(self):
+ robot = rtb.ETS(
+ [
+ rtb.ET.Rz(jindex=0, qlim=np.array([-2.9668, 2.9668])),
+ rtb.ET.SE3(
+ T=np.array(
+ [
+ [1.0000e00, 0.0000e00, 0.0000e00, -4.3624e-04],
+ [0.0000e00, 1.0000e00, 0.0000e00, 0.0000e00],
+ [0.0000e00, 0.0000e00, 1.0000e00, 3.6000e-01],
+ [0.0000e00, 0.0000e00, 0.0000e00, 1.0000e00],
+ ]
+ )
+ ),
+ rtb.ET.Ry(jindex=1, qlim=np.array([-2.0942, 2.0942])),
+ rtb.ET.Rz(jindex=2, qlim=np.array([-2.9668, 2.9668])),
+ rtb.ET.SE3(
+ T=np.array(
+ [
+ [1.0000e00, 0.0000e00, 0.0000e00, 4.3624e-04],
+ [0.0000e00, 1.0000e00, 0.0000e00, 0.0000e00],
+ [0.0000e00, 0.0000e00, 1.0000e00, 4.2000e-01],
+ [0.0000e00, 0.0000e00, 0.0000e00, 1.0000e00],
+ ]
+ )
+ ),
+ rtb.ET.Ry(jindex=3, flip=True, qlim=np.array([-2.0942, 2.0942])),
+ rtb.ET.Rz(jindex=4, qlim=np.array([-2.9668, 2.9668])),
+ rtb.ET.tz(0.4),
+ rtb.ET.Ry(jindex=5, qlim=np.array([-2.0942, 2.0942])),
+ rtb.ET.Rz(jindex=6, qlim=np.array([-3.0541, 3.0541])),
+ rtb.ET.tz(0.126),
+ ]
+ )
+
+ q = np.array([0, -0.3, 0, -2.2, 0, 2, 0.79])
+
+ J0 = numjac(lambda q: robot.fkine(q).A, q, SE=3)
+ TE = robot.fkine(q)
+ Je = block_diag(TE.R.T, TE.R.T) @ J0
+
+ nt.assert_array_almost_equal(robot.jacobe(q), Je)
+
+ def test_jacobe_flipped1(self):
+ ets_list = [
+ rtb.ET.Rx(flip=True)
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry(flip=True)
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx(flip=True)
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty(flip=True)
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz()
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(flip=True),
+ rtb.ET.Rx(flip=True)
+ * rtb.ET.Ry()
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx()
+ * rtb.ET.ty()
+ * rtb.ET.tz(),
+ rtb.ET.Rx()
+ * rtb.ET.Ry()
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx()
+ * rtb.ET.ty(flip=True)
+ * rtb.ET.tz(),
+ rtb.ET.Rx(flip=True)
+ * rtb.ET.Ry(flip=True)
+ * rtb.ET.Rz(flip=True)
+ * rtb.ET.tx(flip=True)
+ * rtb.ET.ty(flip=True)
+ * rtb.ET.tz(flip=True),
+ ]
+
+ for ets in ets_list:
+ q = np.array([-0.3, 0, -2.2, 0, 2, 0.79])
+
+ J0 = numjac(lambda q: ets.fkine(q).A, q, SE=3)
+ TE = ets.fkine(q)
+ Je = block_diag(TE.R.T, TE.R.T) @ J0
+
+ nt.assert_array_almost_equal(ets.jacobe(q), Je)
+
# def test_jacob_dot_analytical_rpy_xyz(self):
# rep = 'rpy/xyz'
# j0 = self.robot.jacob_dot(self.q, self.qd, analytical=rep)
@@ -143,5 +361,4 @@ def test_jacob_dot_analytical_eul(self):
if __name__ == "__main__":
-
unittest.main()
diff --git a/tests/test_mobile.py b/tests/test_mobile.py
index 02b4bcb6c..7143f6bd8 100644
--- a/tests/test_mobile.py
+++ b/tests/test_mobile.py
@@ -293,6 +293,42 @@ def test_jacobians(self):
)
+class TestUnicycle(unittest.TestCase):
+ def test_str(self):
+ """
+ check the string representation of the unicycle
+ """
+ uni = Unicycle()
+ self.assertEqual(
+ str(uni),
+ """Unicycle: x = [ 0, 0, 0 ]
+ W=1, steer_max=inf, vel_max=inf, accel_max=inf""",
+ )
+
+ uni = Unicycle(steer_max=0.7)
+ self.assertEqual(
+ str(uni),
+ """Unicycle: x = [ 0, 0, 0 ]
+ W=1, steer_max=0.7, vel_max=inf, accel_max=inf""",
+ )
+
+ def test_deriv(self):
+ """
+ test the derivative function
+ """
+ uni = Unicycle()
+
+ state = np.r_[0, 0, 0]
+ input = [1, 0] # no rotation
+ nt.assert_almost_equal(uni.deriv(state, input), np.r_[1.0, 0, 0])
+
+ input = [0, 1] # only rotate
+ nt.assert_almost_equal(uni.deriv(state, input), np.r_[0, 0, 1])
+
+ input = [1, 1] # turn and rotate
+ nt.assert_almost_equal(uni.deriv(state, input), np.r_[1, 0, 1])
+
+
# function setupOnce(testCase)
# testCase.TestData.Duration = 50;
# end
diff --git a/tests/test_mobile_planner.py b/tests/test_mobile_planner.py
new file mode 100644
index 000000000..67ad4f8d2
--- /dev/null
+++ b/tests/test_mobile_planner.py
@@ -0,0 +1,177 @@
+from collections import namedtuple
+from math import pi
+import numpy.testing as nt
+import numpy as np
+import unittest
+import spatialmath.base as sm
+
+from roboticstoolbox.mobile import *
+
+
+class TestPlanners(unittest.TestCase):
+
+ def test_occgrid(self):
+ g = np.zeros((100, 120))
+ g[20:30, 50:80] = 1
+
+ og = BinaryOccupancyGrid(g, name='my grid')
+
+ self.assertEqual(og.shape, g.shape)
+
+ s = str(og)
+ self.assertIsInstance(s, str)
+ self.assertEqual(s, "BinaryOccupancyGrid[my grid]: 120 x 100, cell size=1, x = [0.0, 119.0], y = [0.0, 99.0], 2.5% occupied")
+
+ self.assertEqual(og.xmin, 0)
+ self.assertEqual(og.xmax, 119)
+ self.assertEqual(og.ymin, 0)
+ self.assertEqual(og.ymax, 99)
+
+ self.assertTrue(og.isoccupied((50, 20)))
+ self.assertTrue(og.isoccupied((60, 25)))
+ self.assertTrue(og.isoccupied((200, 200)))
+ self.assertFalse(og.isoccupied((0, 0)))
+ self.assertFalse(og.isoccupied((80, 30)))
+
+ og.plot(block=False)
+
+ og2 = og.copy()
+
+ self.assertEqual(og2.xmin, 0)
+ self.assertEqual(og2.xmax, 119)
+ self.assertEqual(og2.ymin, 0)
+ self.assertEqual(og2.ymax, 99)
+
+ self.assertTrue(og2.isoccupied((50, 20)))
+ self.assertTrue(og2.isoccupied((60, 25)))
+ self.assertTrue(og2.isoccupied((200, 200)))
+ self.assertFalse(og2.isoccupied((0, 0)))
+ self.assertFalse(og2.isoccupied((80, 30)))
+ self.assertFalse(og2.isoccupied((45, 20)))
+
+ og2.inflate(5)
+
+ self.assertTrue(og2.isoccupied((50, 20)))
+ self.assertTrue(og2.isoccupied((60, 25)))
+ self.assertTrue(og2.isoccupied((200, 200)))
+ self.assertFalse(og2.isoccupied((0, 0)))
+ self.assertTrue(og2.isoccupied((80, 30)))
+ self.assertTrue(og2.isoccupied((45, 20)))
+
+ self.assertEqual(str(og2), "BinaryOccupancyGrid[my grid]: 120 x 100, cell size=1, x = [0.0, 119.0], y = [0.0, 99.0], 6.3% occupied")
+
+ # check no change to original
+ self.assertFalse(og.isoccupied((80, 30)))
+
+ og = BinaryOccupancyGrid(g, cellsize=0.1, origin=(2,4), name='foo')
+
+ self.assertEqual(og.xmin, 2)
+ self.assertEqual(og.xmax, 13.9)
+ self.assertEqual(og.ymin, 4)
+ self.assertEqual(og.ymax, 13.9)
+ self.assertTrue(og.isoccupied((8.5, 6.5)))
+ self.assertTrue(og.isoccupied((500, 500)))
+ self.assertFalse(og.isoccupied((3, 5)))
+
+ og.inflate(0.5)
+ self.assertEqual(str(og), "BinaryOccupancyGrid[foo]: 120 x 100, cell size=0.1, x = [2.0, 13.9], y = [4.0, 13.9], 6.3% occupied")
+
+ def test_bug2(self):
+ pass
+
+ def test_dubins(self):
+
+ start = (0, 0, pi/2)
+ goal = (1, 0, pi/2)
+
+ dubins = DubinsPlanner(curvature=1.0)
+ path, status = dubins.query(start, goal)
+
+ self.assertIsInstance(path, np.ndarray)
+ self.assertEqual(path.shape, (74,3))
+ self.assertEqual(status.__class__.__name__, "DubinsStatus")
+ self.assertTrue(hasattr(status, 'segments'))
+ self.assertTrue(hasattr(status, 'length'))
+
+ def test_reedsshepp(self):
+
+ start = (0, 0, pi/2)
+ goal = (1, 0, pi/2)
+
+ rs = ReedsSheppPlanner(curvature=1.0)
+ path, status = rs.query(start, goal)
+
+ self.assertIsInstance(path, np.ndarray)
+ self.assertEqual(path.shape, (65,3))
+ self.assertEqual(status.__class__.__name__, "ReedsSheppStatus")
+ self.assertTrue(hasattr(status, 'segments'))
+ self.assertTrue(hasattr(status, 'length'))
+ self.assertTrue(hasattr(status, 'direction'))
+
+ # def test_bug2(self):
+
+ # vars = loadmat("data/map1.mat")
+ # map = vars['map']
+
+ # bug = Bug2Planner(map)
+ # # bug.plan()
+ # path = bug.query([20, 10], [50, 35])
+
+ # # valid path
+ # self.assertTrue(path is not None)
+
+ # # valid Nx2 array
+ # self.assertIsInstance(path, np.ndarray)
+ # self.assertEqual(path.shape[1], 2)
+
+ # # includes start and goal
+ # self.assertTrue(all(path[0,:] == [20,10]))
+ # self.assertTrue(all(path[-1,:] == [50,35]))
+
+ # # path doesn't include obstacles
+ # for p in path:
+ # self.assertFalse(bug.is_occupied(p))
+
+ # # there are no gaps
+ # for k in range(len(path)-1):
+ # d = np.linalg.norm(path[k] - path[k+1])
+ # self.assertTrue(d < 1.5)
+
+ # bug.plot()
+ # bug.plot(path=path)
+
+ # def test_dxform(self):
+
+ # vars = loadmat("data/map1.mat")
+ # map = vars['map']
+
+ # dx = DXform(map)
+ # dx.plan([50, 35])
+ # path = dx.query([20, 10])
+
+ # # valid path
+ # self.assertTrue(path is not None)
+
+ # # valid Nx2 array
+ # self.assertIsInstance(path, np.ndarray)
+ # self.assertEqual(path.shape[1], 2)
+
+ # # includes start and goal
+ # self.assertTrue(all(path[0,:] == [20,10]))
+ # self.assertTrue(all(path[-1,:] == [50,35]))
+
+ # # path doesn't include obstacles
+ # for p in path:
+ # self.assertFalse(dx.is_occupied(p))
+
+ # # there are no gaps
+ # for k in range(len(path)-1):
+ # d = np.linalg.norm(path[k] - path[k+1])
+ # self.assertTrue(d < 1.5)
+
+ # dx.plot()
+ # dx.plot(path=path)
+if __name__ == '__main__': # pragma nocover
+
+ unittest.main()
+ # pytest.main(['tests/test_SerialLink.py'])
diff --git a/tests/test_tools.py b/tests/test_tools.py
index d6ed8b972..6d7d6d39b 100644
--- a/tests/test_tools.py
+++ b/tests/test_tools.py
@@ -5,7 +5,7 @@
import numpy.testing as nt
import numpy as np
-import roboticstoolbox as rp
+import roboticstoolbox as rtb
import spatialmath as sm
import unittest
@@ -25,9 +25,9 @@ def test_null(self):
ans2 = np.array([[-0.4082], [0.8165], [-0.4082]])
- r0 = rp.null(a0)
- r1 = rp.null(a1)
- r2 = rp.null(a2)
+ r0 = rtb.null(a0)
+ r1 = rtb.null(a1)
+ r2 = rtb.null(a2)
nt.assert_array_almost_equal(np.abs(r0), np.abs(ans0), decimal=4)
nt.assert_array_almost_equal(np.abs(r1), np.abs(ans1), decimal=4)
@@ -38,9 +38,9 @@ def test_p_servo_rpy(self):
b = sm.SE3.Rx(0.7) * sm.SE3.Tx(1)
c = sm.SE3.Tz(0.59)
- v0, arrived0 = rp.p_servo(a, b, method="rpy")
- v1, _ = rp.p_servo(a.A, b.A, method="rpy")
- _, arrived1 = rp.p_servo(a, c, threshold=0.6, method="rpy")
+ v0, arrived0 = rtb.p_servo(a, b, method="rpy")
+ v1, _ = rtb.p_servo(a.A, b.A, method="rpy")
+ _, arrived1 = rtb.p_servo(a, c, threshold=0.6, method="rpy")
ans = np.array([1, 0, 0, 0.7, -0, 0])
@@ -55,9 +55,9 @@ def test_p_servo_angle_axis(self):
b = sm.SE3.Rx(0.7) * sm.SE3.Tx(1)
c = sm.SE3.Tz(0.59)
- v0, arrived0 = rp.p_servo(a, b, method="angle-axis")
- v1, _ = rp.p_servo(a.A, b.A)
- _, arrived1 = rp.p_servo(a, c, threshold=0.6)
+ v0, arrived0 = rtb.p_servo(a, b, method="angle-axis")
+ v1, _ = rtb.p_servo(a.A, b.A)
+ _, arrived1 = rtb.p_servo(a, c, threshold=0.6)
ans = np.array([1, 0, 0, 0.7, -0, 0])
@@ -68,10 +68,35 @@ def test_p_servo_angle_axis(self):
self.assertTrue(arrived1)
def test_jsingu(self):
- r = rp.models.Puma560()
+ r = rtb.models.Puma560()
J = r.jacob0(r.qz)
- rp.jsingu(J)
+ rtb.jsingu(J)
+
+ def test_c_angle_axis(self):
+ n = 100
+
+ coord = (np.random.random((n, 6)) - 1.0) * 3.0
+ coord2 = (np.random.random((n, 6)) - 1.0) * 3.0
+
+ for co, co2 in zip(coord, coord2):
+ Te = (
+ sm.SE3.Trans(co[:3])
+ * sm.SE3.Rx(co[3])
+ * sm.SE3.Ry(co[4])
+ * sm.SE3.Rz(co[5])
+ ).A
+ Tep = (
+ sm.SE3.Trans(co2[:3])
+ * sm.SE3.Rx(co2[3])
+ * sm.SE3.Ry(co2[4])
+ * sm.SE3.Rz(co2[5])
+ ).A
+
+ e1 = rtb.angle_axis(Te, Tep)
+ e2 = rtb.angle_axis_python(Te, Tep)
+
+ nt.assert_allclose(e1, e2)
if __name__ == "__main__": # pragma nocover
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