def test_AddPointToPointDistanceConstraint(self):
p_B1P1 = np.array([0.2, -0.4, 0.9])
p_B2P2 = np.array([1.4, -0.1, 1.8])
distance_lower = 0.1
distance_upper = 0.2
self.ik_two_bodies.AddPointToPointDistanceConstraint(
frame1=self.body1_frame, p_B1P1=p_B1P1,
frame2=self.body2_frame, p_B2P2=p_B2P2,
distance_lower=distance_lower, distance_upper=distance_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body2_quat = self._body2_quat(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WP1 = self._body1_xyz(q_val) + body1_rotmat.dot(p_B1P1)
p_WP2 = self._body2_xyz(q_val) + body2_rotmat.dot(p_B2P2)
distance = np.linalg.norm(p_WP1 - p_WP2)
self.assertLess(distance, distance_upper + 3e-6)
self.assertGreater(distance, distance_lower - 3e-6)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
self.assertTrue(np.allclose(result.GetSolution(self.q), q_val))
def test_AddGazeTargetConstraint(self):
p_AS = np.array([0.1, 0.2, 0.3])
n_A = np.array([0.3, 0.5, 1.2])
p_BT = np.array([1.1, 0.2, 1.5])
cone_half_angle = 0.2 * math.pi
self.ik_two_bodies.AddGazeTargetConstraint(
frameA=self.body1_frame,
p_AS=p_AS,
n_A=n_A,
frameB=self.body2_frame,
p_BT=p_BT,
cone_half_angle=cone_half_angle)
result = self.prog.Solve()
self.assertEqual(result, mp.SolutionResult.kSolutionFound)
q_val = self.prog.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WS = body1_pos + body1_rotmat.dot(p_AS)
p_WT = body2_pos + body2_rotmat.dot(p_BT)
p_ST_W = p_WT - p_WS
n_W = body1_rotmat.dot(n_A)
self.assertGreater(
p_ST_W.dot(n_W),
np.linalg.norm(p_ST_W) * np.linalg.norm(n_W) *
math.cos(cone_half_angle) - 1E-6)
def test_AddAngleBetweenVectorsConstraint(self):
na_A = np.array([0.2, -0.4, 0.9])
nb_B = np.array([1.4, -0.1, 1.8])
angle_lower = 0.2 * math.pi
angle_upper = 0.2 * math.pi
self.ik_two_bodies.AddAngleBetweenVectorsConstraint(
frameA=self.body1_frame, na_A=na_A,
frameB=self.body2_frame, nb_B=nb_B,
angle_lower=angle_lower, angle_upper=angle_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body2_quat = self._body2_quat(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
na_W = body1_rotmat.dot(na_A)
nb_W = body2_rotmat.dot(nb_B)
angle = math.acos(na_W.transpose().dot(nb_W)
/ (np.linalg.norm(na_W) * np.linalg.norm(nb_W)))
self.assertLess(math.fabs(angle - angle_lower), 1E-6)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
self.assertTrue(np.allclose(result.GetSolution(self.q), q_val))
def test_AddAngleBetweenVectorsConstraint(self):
na_A = np.array([0.2, -0.4, 0.9])
nb_B = np.array([1.4, -0.1, 1.8])
angle_lower = 0.2 * math.pi
angle_upper = 0.2 * math.pi
self.ik_two_bodies.AddAngleBetweenVectorsConstraint(
frameA=self.body1_frame, na_A=na_A,
frameB=self.body2_frame, nb_B=nb_B,
angle_lower=angle_lower, angle_upper=angle_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body2_quat = self._body2_quat(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
na_W = body1_rotmat.dot(na_A)
nb_W = body2_rotmat.dot(nb_B)
angle = math.acos(na_W.transpose().dot(nb_W) /
(np.linalg.norm(na_W) * np.linalg.norm(nb_W)))
self.assertLess(math.fabs(angle - angle_lower), 1E-6)
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always', DrakeDeprecationWarning)
self.assertEqual(
self.prog.Solve(), mp.SolutionResult.kSolutionFound)
self.assertTrue(np.allclose(
self.prog.GetSolution(self.q), q_val))
self.assertEqual(len(w), 2)
def test_AddAngleBetweenVectorsConstraint(self):
na_A = np.array([0.2, -0.4, 0.9])
nb_B = np.array([1.4, -0.1, 1.8])
angle_lower = 0.2 * math.pi
angle_upper = 0.2 * math.pi
self.ik_two_bodies.AddAngleBetweenVectorsConstraint(
frameA=self.body1_frame, na_A=na_A,
frameB=self.body2_frame, nb_B=nb_B,
angle_lower=angle_lower, angle_upper=angle_upper)
result = self.prog.Solve()
self.assertEqual(result, mp.SolutionResult.kSolutionFound)
q_val = self.prog.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body2_quat = self._body2_quat(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
na_W = body1_rotmat.dot(na_A)
nb_W = body2_rotmat.dot(nb_B)
angle = math.acos(na_W.transpose().dot(nb_W) /
(np.linalg.norm(na_W) * np.linalg.norm(nb_W)))
self.assertLess(math.fabs(angle - angle_lower), 1E-6)
def test_AddGazeTargetConstraint(self):
p_AS = np.array([0.1, 0.2, 0.3])
n_A = np.array([0.3, 0.5, 1.2])
p_BT = np.array([1.1, 0.2, 1.5])
cone_half_angle = 0.2 * math.pi
self.ik_two_bodies.AddGazeTargetConstraint(
frameA=self.body1_frame, p_AS=p_AS, n_A=n_A,
frameB=self.body2_frame, p_BT=p_BT,
cone_half_angle=cone_half_angle)
result = self.prog.Solve()
self.assertEqual(result, mp.SolutionResult.kSolutionFound)
q_val = self.prog.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WS = body1_pos + body1_rotmat.dot(p_AS)
p_WT = body2_pos + body2_rotmat.dot(p_BT)
p_ST_W = p_WT - p_WS
n_W = body1_rotmat.dot(n_A)
self.assertGreater(p_ST_W.dot(n_W), np.linalg.norm(
p_ST_W) * np.linalg.norm(n_W) * math.cos(cone_half_angle) - 1E-6)
def test_AddPositionConstraint(self):
p_BQ = np.array([0.2, 0.3, 0.5])
p_AQ_lower = np.array([-0.1, -0.2, -0.3])
p_AQ_upper = np.array([-0.05, -0.12, -0.28])
self.ik_two_bodies.AddPositionConstraint(
frameB=self.body1_frame, p_BQ=p_BQ,
frameA=self.body2_frame,
p_AQ_lower=p_AQ_lower, p_AQ_upper=p_AQ_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_AQ = body2_rotmat.transpose().dot(
body1_rotmat.dot(p_BQ) + body1_pos - body2_pos)
self.assertTrue(np.greater(
p_AQ, p_AQ_lower - 1E-6 * np.ones((3, 1))).all())
self.assertTrue(np.less(
p_AQ, p_AQ_upper + 1E-6 * np.ones((3, 1))).all())
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
self.assertTrue(np.allclose(result.GetSolution(self.q), q_val))
np.testing.assert_array_equal(self.plant.GetPositions(
self.ik_two_bodies.context()), q_val)
self.assertIs(self.ik_two_bodies.get_mutable_context(),
self.ik_two_bodies.context())
def test_AddPositionConstraint(self):
p_BQ = np.array([0.2, 0.3, 0.5])
p_AQ_lower = np.array([-0.1, -0.2, -0.3])
p_AQ_upper = np.array([-0.05, -0.12, -0.28])
self.ik_two_bodies.AddPositionConstraint(
frameB=self.body1_frame, p_BQ=p_BQ,
frameA=self.body2_frame,
p_AQ_lower=p_AQ_lower, p_AQ_upper=p_AQ_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_AQ = body2_rotmat.transpose().dot(
body1_rotmat.dot(p_BQ) + body1_pos - body2_pos)
self.assertTrue(np.greater(p_AQ, p_AQ_lower -
1E-6 * np.ones((3, 1))).all())
self.assertTrue(np.less(p_AQ, p_AQ_upper +
1E-6 * np.ones((3, 1))).all())
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always', DrakeDeprecationWarning)
self.assertEqual(
self.prog.Solve(), mp.SolutionResult.kSolutionFound)
self.assertTrue(np.allclose(
self.prog.GetSolution(self.q), q_val))
self.assertEqual(len(w), 2)
def test_AddPositionConstraint(self):
p_BQ = np.array([0.2, 0.3, 0.5])
p_AQ_lower = np.array([-0.1, -0.2, -0.3])
p_AQ_upper = np.array([-0.05, -0.12, -0.28])
self.ik_two_bodies.AddPositionConstraint(
frameB=self.body1_frame, p_BQ=p_BQ,
frameA=self.body2_frame,
p_AQ_lower=p_AQ_lower, p_AQ_upper=p_AQ_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_AQ = body2_rotmat.transpose().dot(
body1_rotmat.dot(p_BQ) + body1_pos - body2_pos)
self.assertTrue(np.greater(p_AQ, p_AQ_lower -
1E-6 * np.ones((3, 1))).all())
self.assertTrue(np.less(p_AQ, p_AQ_upper +
1E-6 * np.ones((3, 1))).all())
with catch_drake_warnings(expected_count=2):
self.assertEqual(
self.prog.Solve(), mp.SolutionResult.kSolutionFound)
self.assertTrue(np.allclose(
self.prog.GetSolution(self.q), q_val))
def test_AddPositionConstraint(self):
p_BQ = np.array([0.2, 0.3, 0.5])
p_AQ_lower = np.array([-0.1, -0.2, -0.3])
p_AQ_upper = np.array([-0.05, -0.12, -0.28])
self.ik_two_bodies.AddPositionConstraint(
frameB=self.body1_frame, p_BQ=p_BQ,
frameA=self.body2_frame,
p_AQ_lower=p_AQ_lower, p_AQ_upper=p_AQ_upper)
result = self.prog.Solve()
self.assertEqual(result, mp.SolutionResult.kSolutionFound)
q_val = self.prog.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_AQ = body2_rotmat.transpose().dot(
body1_rotmat.dot(p_BQ) + body1_pos - body2_pos)
self.assertTrue(np.greater(p_AQ, p_AQ_lower -
1E-6 * np.ones((3, 1))).all())
self.assertTrue(np.less(p_AQ, p_AQ_upper +
1E-6 * np.ones((3, 1))).all())
def test_AddGazeTargetConstraint(self):
p_AS = np.array([0.1, 0.2, 0.3])
n_A = np.array([0.3, 0.5, 1.2])
p_BT = np.array([1.1, 0.2, 1.5])
cone_half_angle = 0.2 * math.pi
self.ik_two_bodies.AddGazeTargetConstraint(
frameA=self.body1_frame,
p_AS=p_AS,
n_A=n_A,
frameB=self.body2_frame,
p_BT=p_BT,
cone_half_angle=cone_half_angle)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WS = body1_pos + body1_rotmat.dot(p_AS)
p_WT = body2_pos + body2_rotmat.dot(p_BT)
p_ST_W = p_WT - p_WS
n_W = body1_rotmat.dot(n_A)
self.assertGreater(
p_ST_W.dot(n_W),
np.linalg.norm(p_ST_W) * np.linalg.norm(n_W) *
math.cos(cone_half_angle) - 1E-6)
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always', DrakeDeprecationWarning)
self.assertEqual(self.prog.Solve(),
mp.SolutionResult.kSolutionFound)
q_val = self.prog.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WS = body1_pos + body1_rotmat.dot(p_AS)
p_WT = body2_pos + body2_rotmat.dot(p_BT)
p_ST_W = p_WT - p_WS
n_W = body1_rotmat.dot(n_A)
self.assertGreater(
p_ST_W.dot(n_W),
np.linalg.norm(p_ST_W) * np.linalg.norm(n_W) *
math.cos(cone_half_angle) - 1E-6)
self.assertEqual(len(w), 2)
def test_AddAngleBetweenVectorsConstraint(self):
na_A = np.array([0.2, -0.4, 0.9])
nb_B = np.array([1.4, -0.1, 1.8])
angle_lower = 0.2 * math.pi
angle_upper = 0.2 * math.pi
self.ik_two_bodies.AddAngleBetweenVectorsConstraint(
frameA=self.body1_frame,
na_A=na_A,
frameB=self.body2_frame,
nb_B=nb_B,
angle_lower=angle_lower,
angle_upper=angle_upper)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body2_quat = self._body2_quat(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
na_W = body1_rotmat.dot(na_A)
nb_W = body2_rotmat.dot(nb_B)
angle = math.acos(na_W.transpose().dot(nb_W) /
(np.linalg.norm(na_W) * np.linalg.norm(nb_W)))
self.assertLess(math.fabs(angle - angle_lower), 1E-6)
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always', DrakeDeprecationWarning)
self.assertEqual(self.prog.Solve(),
mp.SolutionResult.kSolutionFound)
self.assertTrue(np.allclose(self.prog.GetSolution(self.q), q_val))
self.assertEqual(len(w), 2)
def test_AddGazeTargetConstraint(self):
p_AS = np.array([0.1, 0.2, 0.3])
n_A = np.array([0.3, 0.5, 1.2])
p_BT = np.array([1.1, 0.2, 1.5])
cone_half_angle = 0.2 * math.pi
self.ik_two_bodies.AddGazeTargetConstraint(
frameA=self.body1_frame, p_AS=p_AS, n_A=n_A,
frameB=self.body2_frame, p_BT=p_BT,
cone_half_angle=cone_half_angle)
result = mp.Solve(self.prog)
self.assertTrue(result.is_success())
q_val = result.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WS = body1_pos + body1_rotmat.dot(p_AS)
p_WT = body2_pos + body2_rotmat.dot(p_BT)
p_ST_W = p_WT - p_WS
n_W = body1_rotmat.dot(n_A)
self.assertGreater(p_ST_W.dot(n_W), np.linalg.norm(
p_ST_W) * np.linalg.norm(n_W) * math.cos(cone_half_angle) - 1E-6)
with warnings.catch_warnings(record=True) as w:
warnings.simplefilter('always', DrakeDeprecationWarning)
self.assertEqual(
self.prog.Solve(), mp.SolutionResult.kSolutionFound)
q_val = self.prog.GetSolution(self.q)
body1_quat = self._body1_quat(q_val)
body1_pos = self._body1_xyz(q_val)
body2_quat = self._body2_quat(q_val)
body2_pos = self._body2_xyz(q_val)
body1_rotmat = Quaternion(body1_quat).rotation()
body2_rotmat = Quaternion(body2_quat).rotation()
p_WS = body1_pos + body1_rotmat.dot(p_AS)
p_WT = body2_pos + body2_rotmat.dot(p_BT)
p_ST_W = p_WT - p_WS
n_W = body1_rotmat.dot(n_A)
self.assertGreater(p_ST_W.dot(n_W), np.linalg.norm(
p_ST_W) * np.linalg.norm(n_W) *
math.cos(cone_half_angle) - 1E-6)
self.assertEqual(len(w), 2)
