def test_listpowers(self): R = SE3() R1 = SE3.Rx(0.2) R2 = SE3.Ry(0.3) R.append(R1) R.append(R2) nt.assert_equal(len(R), 3) self.assertIsInstance(R, SE3) array_compare(R[0], np.eye(4)) array_compare(R[1], R1) array_compare(R[2], R2) R = SE3([trotx(0.1), trotx(0.2), trotx(0.3)]) nt.assert_equal(len(R), 3) self.assertIsInstance(R, SE3) array_compare(R[0], trotx(0.1)) array_compare(R[1], trotx(0.2)) array_compare(R[2], trotx(0.3)) R = SE3([SE3.Rx(0.1), SE3.Rx(0.2), SE3.Rx(0.3)]) nt.assert_equal(len(R), 3) self.assertIsInstance(R, SE3) array_compare(R[0], trotx(0.1)) array_compare(R[1], trotx(0.2)) array_compare(R[2], trotx(0.3))
def __init__(self, base=None): mm = 1e-3 deg = pi / 180 # details from h = 53.0 * mm r = 30.309 * mm l2 = 170.384 * mm l3 = 136.307 * mm l4 = 86.00 * mm c = 40.0 * mm # tool_offset = l4 + c # Turret, Shoulder, Elbow, Wrist, Claw links = [ RevoluteDH(d=h, a=0, alpha=90 * deg), # Turret RevoluteDH( d=0, a=l2, alpha=0, # Shoulder qlim=[10 * deg, 122.5 * deg]), RevoluteDH( d=0, a=-l3, alpha=0, # Elbow qlim=[20 * deg, 340 * deg]), RevoluteDH( d=0, a=l4 + c, alpha=0, # Wrist qlim=[45 * deg, 315 * deg]) ] super().__init__(links, name="Orion 5", manufacturer="RAWR Robotics", base=SE3(r, 0, 0), tool=SE3.Ry(90, 'deg')) # zero angles, all folded up self.addconfiguration("qz", np.r_[0, 90, 180, 180] * deg) # stretched out vertically self.addconfiguration("qv", np.r_[0, 90, 180, 180] * deg) # arm horizontal, hand down self.addconfiguration("qh", np.r_[0, 0, 180, 90] * deg)
def __init__(self): # create the base links = [ PrismaticDH(alpha=-pi / 2, qlim=[-1, 1]), PrismaticDH(theta=-pi / 2, alpha=pi / 2, qlim=[-1, 1]) ] # stick the Puma on top puma = models.DH.Puma560() links.extend(puma.links) super().__init__(links, name="P8", keywords=('mobile', 'redundant'), base=SE3.Ry(pi / 2)) self.addconfiguration("qz", np.zeros((8, )))
def test_arith_vect(self): rx = SE3.Rx(pi / 2) ry = SE3.Ry(pi / 2) rz = SE3.Rz(pi / 2) u = SE3() # multiply T = SE3([rx, ry, rz]) a = T * rx self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * rx) array_compare(a[1], ry * rx) array_compare(a[2], rz * rx) a = rx * T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * rx) array_compare(a[1], rx * ry) array_compare(a[2], rx * rz) a = T * T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * rx) array_compare(a[1], ry * ry) array_compare(a[2], rz * rz) a = T * 2 self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * 2) array_compare(a[1], ry * 2) array_compare(a[2], rz * 2) a = 2 * T self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * 2) array_compare(a[1], ry * 2) array_compare(a[2], rz * 2) a = T a *= rx self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * rx) array_compare(a[1], ry * rx) array_compare(a[2], rz * rx) a = rx a *= T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * rx) array_compare(a[1], rx * ry) array_compare(a[2], rx * rz) a = T a *= T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * rx) array_compare(a[1], ry * ry) array_compare(a[2], rz * rz) a = T a *= 2 self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx * 2) array_compare(a[1], ry * 2) array_compare(a[2], rz * 2) # SE3 x vector vx = np.r_[1, 0, 0] vy = np.r_[0, 1, 0] vz = np.r_[0, 0, 1] a = T * vx array_compare(a[:, 0], (rx * vx).flatten()) array_compare(a[:, 1], (ry * vx).flatten()) array_compare(a[:, 2], (rz * vx).flatten()) a = rx * np.vstack((vx, vy, vz)).T array_compare(a[:, 0], (rx * vx).flatten()) array_compare(a[:, 1], (rx * vy).flatten()) array_compare(a[:, 2], (rx * vz).flatten()) # divide T = SE3([rx, ry, rz]) a = T / rx self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx / rx) array_compare(a[1], ry / rx) array_compare(a[2], rz / rx) a = rx / T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx / rx) array_compare(a[1], rx / ry) array_compare(a[2], rx / rz) a = T / T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], np.eye(4)) array_compare(a[1], np.eye(4)) array_compare(a[2], np.eye(4)) a = T / 2 self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx / 2) array_compare(a[1], ry / 2) array_compare(a[2], rz / 2) a = T a /= rx self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx / rx) array_compare(a[1], ry / rx) array_compare(a[2], rz / rx) a = rx a /= T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx / rx) array_compare(a[1], rx / ry) array_compare(a[2], rx / rz) a = T a /= T self.assertIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], np.eye(4)) array_compare(a[1], np.eye(4)) array_compare(a[2], np.eye(4)) a = T a /= 2 self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx / 2) array_compare(a[1], ry / 2) array_compare(a[2], rz / 2) # add T = SE3([rx, ry, rz]) a = T + rx self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx + rx) array_compare(a[1], ry + rx) array_compare(a[2], rz + rx) a = rx + T self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx + rx) array_compare(a[1], rx + ry) array_compare(a[2], rx + rz) a = T + T self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx + rx) array_compare(a[1], ry + ry) array_compare(a[2], rz + rz) a = T + 1 self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx + 1) array_compare(a[1], ry + 1) array_compare(a[2], rz + 1) # subtract T = SE3([rx, ry, rz]) a = T - rx self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx - rx) array_compare(a[1], ry - rx) array_compare(a[2], rz - rx) a = rx - T self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx - rx) array_compare(a[1], rx - ry) array_compare(a[2], rx - rz) a = T - T self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx - rx) array_compare(a[1], ry - ry) array_compare(a[2], rz - rz) a = T - 1 self.assertNotIsInstance(a, SE3) nt.assert_equal(len(a), 3) array_compare(a[0], rx - 1) array_compare(a[1], ry - 1) array_compare(a[2], rz - 1)
def test_arith(self): T = SE3(1, 2, 3) # sum a = T + T self.assertNotIsInstance(a, SE3) array_compare( a, np.array([[2, 0, 0, 2], [0, 2, 0, 4], [0, 0, 2, 6], [0, 0, 0, 2]])) a = T + 1 self.assertNotIsInstance(a, SE3) array_compare( a, np.array([[2, 1, 1, 2], [1, 2, 1, 3], [1, 1, 2, 4], [1, 1, 1, 2]])) # a = 1 + T # self.assertNotIsInstance(a, SE3) # array_compare(a, np.array([ [2,1,1], [1,2,1], [1,1,2]])) a = T + np.eye(4) self.assertNotIsInstance(a, SE3) array_compare( a, np.array([[2, 0, 0, 1], [0, 2, 0, 2], [0, 0, 2, 3], [0, 0, 0, 2]])) # a = np.eye(3) + T # self.assertNotIsInstance(a, SE3) # array_compare(a, np.array([ [2,0,0], [0,2,0], [0,0,2]])) # this invokes the __add__ method for numpy # difference T = SE3(1, 2, 3) a = T - T self.assertNotIsInstance(a, SE3) array_compare(a, np.zeros((4, 4))) a = T - 1 self.assertNotIsInstance(a, SE3) array_compare( a, np.array([[0, -1, -1, 0], [-1, 0, -1, 1], [-1, -1, 0, 2], [-1, -1, -1, 0]])) # a = 1 - T # self.assertNotIsInstance(a, SE3) # array_compare(a, -np.array([ [0,-1,-1], [-1,0,-1], [-1,-1,0]])) a = T - np.eye(4) self.assertNotIsInstance(a, SE3) array_compare( a, np.array([[0, 0, 0, 1], [0, 0, 0, 2], [0, 0, 0, 3], [0, 0, 0, 0]])) # a = np.eye(3) - T # self.assertNotIsInstance(a, SE3) # array_compare(a, np.zeros((3,3))) a = T a -= T self.assertNotIsInstance(a, SE3) array_compare(a, np.zeros((4, 4))) # multiply T = SE3(1, 2, 3) a = T * T self.assertIsInstance(a, SE3) array_compare(a, transl(2, 4, 6)) a = T * 2 self.assertNotIsInstance(a, SE3) array_compare(a, 2 * transl(1, 2, 3)) a = 2 * T self.assertNotIsInstance(a, SE3) array_compare(a, 2 * transl(1, 2, 3)) T = SE3(1, 2, 3) T *= SE3.Ry(pi / 2) self.assertIsInstance(T, SE3) array_compare( T, np.array([[0, 0, 1, 1], [0, 1, 0, 2], [-1, 0, 0, 3], [0, 0, 0, 1]])) T = SE3() T *= 2 self.assertNotIsInstance(T, SE3) array_compare(T, 2 * np.eye(4)) array_compare( SE3.Rx(pi / 2) * SE3.Ry(pi / 2) * SE3.Rx(-pi / 2), SE3.Rz(pi / 2)) array_compare(SE3.Ry(pi / 2) * [1, 0, 0], np.c_[0, 0, -1].T) # SE3 x vector vx = np.r_[1, 0, 0] vy = np.r_[0, 1, 0] vz = np.r_[0, 0, 1] def cv(v): return np.c_[v] nt.assert_equal(isinstance(SE3.Tx(pi / 2) * vx, np.ndarray), True) array_compare(SE3.Rx(pi / 2) * vx, cv(vx)) array_compare(SE3.Rx(pi / 2) * vy, cv(vz)) array_compare(SE3.Rx(pi / 2) * vz, cv(-vy)) array_compare(SE3.Ry(pi / 2) * vx, cv(-vz)) array_compare(SE3.Ry(pi / 2) * vy, cv(vy)) array_compare(SE3.Ry(pi / 2) * vz, cv(vx)) array_compare(SE3.Rz(pi / 2) * vx, cv(vy)) array_compare(SE3.Rz(pi / 2) * vy, cv(-vx)) array_compare(SE3.Rz(pi / 2) * vz, cv(vz)) # divide T = SE3.Ry(0.3) a = T / T self.assertIsInstance(a, SE3) array_compare(a, np.eye(4)) a = T / 2 self.assertNotIsInstance(a, SE3) array_compare(a, troty(0.3) / 2)
def test_constructor(self): # null constructor R = SE3() nt.assert_equal(len(R), 1) array_compare(R, np.eye(4)) self.assertIsInstance(R, SE3) # construct from matrix R = SE3(trotx(0.2)) nt.assert_equal(len(R), 1) array_compare(R, trotx(0.2)) self.assertIsInstance(R, SE3) # construct from canonic rotation R = SE3.Rx(0.2) nt.assert_equal(len(R), 1) array_compare(R, trotx(0.2)) self.assertIsInstance(R, SE3) R = SE3.Ry(0.2) nt.assert_equal(len(R), 1) array_compare(R, troty(0.2)) self.assertIsInstance(R, SE3) R = SE3.Rz(0.2) nt.assert_equal(len(R), 1) array_compare(R, trotz(0.2)) self.assertIsInstance(R, SE3) # construct from canonic translation R = SE3.Tx(0.2) nt.assert_equal(len(R), 1) array_compare(R, transl(0.2, 0, 0)) self.assertIsInstance(R, SE3) R = SE3.Ty(0.2) nt.assert_equal(len(R), 1) array_compare(R, transl(0, 0.2, 0)) self.assertIsInstance(R, SE3) R = SE3.Tz(0.2) nt.assert_equal(len(R), 1) array_compare(R, transl(0, 0, 0.2)) self.assertIsInstance(R, SE3) # triple angle R = SE3.Eul([0.1, 0.2, 0.3]) nt.assert_equal(len(R), 1) array_compare(R, eul2tr([0.1, 0.2, 0.3])) self.assertIsInstance(R, SE3) R = SE3.Eul(np.r_[0.1, 0.2, 0.3]) nt.assert_equal(len(R), 1) array_compare(R, eul2tr([0.1, 0.2, 0.3])) self.assertIsInstance(R, SE3) R = SE3.Eul([10, 20, 30], unit='deg') nt.assert_equal(len(R), 1) array_compare(R, eul2tr([10, 20, 30], unit='deg')) self.assertIsInstance(R, SE3) R = SE3.RPY([0.1, 0.2, 0.3]) nt.assert_equal(len(R), 1) array_compare(R, rpy2tr([0.1, 0.2, 0.3])) self.assertIsInstance(R, SE3) R = SE3.RPY(np.r_[0.1, 0.2, 0.3]) nt.assert_equal(len(R), 1) array_compare(R, rpy2tr([0.1, 0.2, 0.3])) self.assertIsInstance(R, SE3) R = SE3.RPY([10, 20, 30], unit='deg') nt.assert_equal(len(R), 1) array_compare(R, rpy2tr([10, 20, 30], unit='deg')) self.assertIsInstance(R, SE3) R = SE3.RPY([0.1, 0.2, 0.3], order='xyz') nt.assert_equal(len(R), 1) array_compare(R, rpy2tr([0.1, 0.2, 0.3], order='xyz')) self.assertIsInstance(R, SE3) # angvec R = SE3.AngVec(0.2, [1, 0, 0]) nt.assert_equal(len(R), 1) array_compare(R, trotx(0.2)) self.assertIsInstance(R, SE3) R = SE3.AngVec(0.3, [0, 1, 0]) nt.assert_equal(len(R), 1) array_compare(R, troty(0.3)) self.assertIsInstance(R, SE3) # OA R = SE3.OA([0, 1, 0], [0, 0, 1]) nt.assert_equal(len(R), 1) array_compare(R, np.eye(4)) self.assertIsInstance(R, SE3) # random R = SE3.Rand() nt.assert_equal(len(R), 1) self.assertIsInstance(R, SE3) # random T = SE3.Rand() R = T.R t = T.t T = SE3.Rt(R, t) self.assertIsInstance(T, SE3) self.assertEqual(T.A.shape, (4, 4)) nt.assert_equal(T.R, R) nt.assert_equal(T.t, t) # copy constructor R = SE3.Rx(pi / 2) R2 = SE3(R) R = SE3.Ry(pi / 2) array_compare(R2, trotx(pi / 2)) # SO3 T = SE3(SO3()) nt.assert_equal(len(T), 1) self.assertIsInstance(T, SE3) nt.assert_equal(T.A, np.eye(4)) # SE2 T = SE3(SE2(1, 2, 0.4)) nt.assert_equal(len(T), 1) self.assertIsInstance(T, SE3) self.assertEqual(T.A.shape, (4, 4)) nt.assert_equal(T.t, [1, 2, 0])
# ) dae = rtb.Mesh(filename=str(path / 'walle.dae'), base=SE3(0, -1.5, 0)) obj = rtb.Mesh(filename=str(path / 'walle.obj'), base=SE3(0, -0.5, 0)) glb = rtb.Mesh(filename=str(path / 'walle.glb'), base=SE3(0, 0.5, 0) * SE3.Rz(-np.pi / 2)) ply = rtb.Mesh(filename=str(path / 'walle.ply'), base=SE3(0, 1.5, 0)) # wrl = rtb.Mesh( # filename=str(path / 'walle.wrl'), # base=SE3(0, 2.0, 0) # ) pcd = rtb.Mesh(filename=str(path / 'pcd.pcd'), base=SE3(0, 0, 1.5) * SE3.Rx(np.pi / 2) * SE3.Ry(np.pi / 2)) env.add(dae) env.add(obj) env.add(glb) env.add(ply) env.add(pcd) time.sleep(2) while (True): # env.process_events() env.step(0)