def test_pose_bundle(self):
num_poses = 7
bundle = PoseBundle(num_poses)
# - Accessors.
self.assertEqual(bundle.get_num_poses(), num_poses)
self.assertTrue(isinstance(bundle.get_pose(0), Isometry3))
self.assertTrue(isinstance(bundle.get_velocity(0), FrameVelocity))
# - Mutators.
kIndex = 5
p = [0, 1, 2]
q = Quaternion(wxyz=normalized([0.1, 0.3, 0.7, 0.9]))
bundle.set_pose(kIndex, Isometry3(q, p))
w = [0.1, 0.3, 0.5]
v = [0., 1., 2.]
frame_velocity = FrameVelocity(SpatialVelocity(w=w, v=v))
bundle.set_velocity(kIndex, frame_velocity)
self.assertTrue(
(bundle.get_pose(kIndex).matrix() == Isometry3(q,
p).matrix()).all())
vel_actual = bundle.get_velocity(kIndex).get_velocity()
self.assertTrue(np.allclose(vel_actual.rotational(), w))
self.assertTrue(np.allclose(vel_actual.translational(), v))
name = "Alice"
bundle.set_name(kIndex, name)
self.assertEqual(bundle.get_name(kIndex), name)
instance_id = 42 # Supply a random instance id.
bundle.set_model_instance_id(kIndex, instance_id)
self.assertEqual(bundle.get_model_instance_id(kIndex), instance_id)
def test_pose_selector(self):
kScanDistance = 4.
rg = make_two_lane_road()
lane = rg.junction(0).segment(0).lane(0)
pose0 = PoseVector()
pose0.set_translation([1., 0., 0.])
pose1 = PoseVector()
# N.B. Set pose1 3 meters ahead of pose0.
pose1.set_translation([4., 0., 0.])
bundle = PoseBundle(num_poses=2)
bundle.set_pose(0, Isometry3(Quaternion(), pose0.get_translation()))
bundle.set_pose(1, Isometry3(Quaternion(), pose1.get_translation()))
closest_pose = PoseSelector.FindSingleClosestPose(
lane=lane,
ego_pose=pose0,
traffic_poses=bundle,
scan_distance=kScanDistance,
side=AheadOrBehind.kAhead,
path_or_branches=ScanStrategy.kPath)
self.assertEqual(closest_pose.odometry.lane.id().string(),
lane.id().string())
self.assertTrue(closest_pose.distance == 3.)
closest_pair = PoseSelector.FindClosestPair(
lane=lane,
ego_pose=pose0,
traffic_poses=bundle,
scan_distance=kScanDistance,
path_or_branches=ScanStrategy.kPath)
self.assertEqual(
closest_pair[AheadOrBehind.kAhead].odometry.lane.id().string(),
lane.id().string())
self.assertEqual(closest_pair[AheadOrBehind.kAhead].distance, 3.)
self.assertEqual(
closest_pair[AheadOrBehind.kBehind].odometry.lane.id().string(),
lane.id().string())
self.assertEqual(closest_pair[AheadOrBehind.kBehind].distance,
float('inf'))
lane_pos = LanePosition(s=1., r=0., h=0.)
road_pos = RoadPosition(lane=lane, pos=lane_pos)
w = [1., 2., 3.]
v = [-4., -5., -6.]
frame_velocity = FrameVelocity(SpatialVelocity(w=w, v=v))
road_odom = RoadOdometry(road_position=road_pos,
frame_velocity=frame_velocity)
sigma_v = PoseSelector.GetSigmaVelocity(road_odom)
self.assertEqual(sigma_v, v[0])
def test_pose_vector(self):
value = PoseVector()
self.assertTrue(isinstance(value, BasicVector))
self.assertTrue(isinstance(copy.copy(value), PoseVector))
self.assertTrue(isinstance(value.Clone(), PoseVector))
self.assertEqual(value.size(), PoseVector.kSize)
# - Accessors.
self.assertTrue(isinstance(value.get_isometry(), Isometry3))
self.assertTrue(isinstance(value.get_rotation(), Quaternion))
self.assertTrue(isinstance(value.get_translation(), np.ndarray))
# - Value.
self.assertTrue(
np.allclose(value.get_isometry().matrix(), np.eye(4, 4)))
# - Mutators.
p = [0, 1, 2]
q = Quaternion(wxyz=normalized([0.1, 0.3, 0.7, 0.9]))
X_expected = Isometry3(q, p)
value.set_translation(p)
value.set_rotation(q)
self.assertTrue(
np.allclose(value.get_isometry().matrix(), X_expected.matrix()))
# - Ensure ordering is ((px, py, pz), (qw, qx, qy, qz))
vector_expected = np.hstack((p, q.wxyz()))
vector_actual = value.get_value()
self.assertTrue(np.allclose(vector_actual, vector_expected))
# - Fully-parameterized constructor.
value1 = PoseVector(rotation=q, translation=p)
self.assertTrue(
np.allclose(value1.get_isometry().matrix(), X_expected.matrix()))
def CalcKinematics(self, X_L7E, l7_frame, world_frame, tree_iiwa,
context_iiwa, handle_angle_ref):
# calculate Geometric jacobian (6 by 7 matrix) of point Q in EE frame.
p_L7Q = X_L7E.multiply(p_EQ)
Jv_WL7q = tree_iiwa.CalcFrameGeometricJacobianExpressedInWorld(
context=context_iiwa, frame_B=l7_frame, p_BoFo_B=p_L7Q)
# Translation
# Hr: handle reference frame
X_WHr = Isometry3()
X_WHr.set_rotation(
RollPitchYaw(0, 0, -handle_angle_ref).ToRotationMatrix().matrix())
X_WHr.set_translation(p_WC_left_hinge + [
-r_handle * np.sin(handle_angle_ref), -r_handle *
np.cos(handle_angle_ref), 0
])
X_HrW = X_WHr.inverse()
X_WL7 = tree_iiwa.CalcRelativeTransform(context_iiwa,
frame_A=world_frame,
frame_B=l7_frame)
p_WQ = X_WL7.multiply(p_L7Q)
p_HrQ = X_HrW.multiply(p_WQ)
return Jv_WL7q, p_HrQ
def test_idm_controller(self):
rg = make_two_lane_road()
idm = IdmController(
road=rg,
path_or_branches=ScanStrategy.kPath,
road_position_strategy=RoadPositionStrategy.kExhaustiveSearch,
period_sec=0.)
context = idm.CreateDefaultContext()
output = idm.AllocateOutput()
# Fix the inputs.
pose_vector1 = PoseVector()
pose_vector1.set_translation([1., 2., 3.])
ego_pose_index = idm.ego_pose_input().get_index()
context.FixInputPort(ego_pose_index, pose_vector1)
w = [0., 0., 0.]
v = [1., 0., 0.]
frame_velocity1 = FrameVelocity(SpatialVelocity(w=w, v=v))
ego_velocity_index = idm.ego_velocity_input().get_index()
context.FixInputPort(ego_velocity_index, frame_velocity1)
pose_vector2 = PoseVector()
pose_vector2.set_translation([6., 0., 0.])
bundle = PoseBundle(num_poses=1)
bundle.set_pose(
0, Isometry3(Quaternion(), pose_vector2.get_translation()))
traffic_index = idm.traffic_input().get_index()
context.FixInputPort(traffic_index,
framework.AbstractValue.Make(bundle))
# Verify the inputs.
pose_vector_eval = idm.EvalVectorInput(context, 0)
self.assertTrue(
np.allclose(pose_vector1.get_translation(),
pose_vector_eval.get_translation()))
frame_velocity_eval = idm.EvalVectorInput(context, 1)
self.assertTrue(
np.allclose(frame_velocity1.get_velocity().translational(),
frame_velocity_eval.get_velocity().translational()))
self.assertTrue(
np.allclose(frame_velocity1.get_velocity().rotational(),
frame_velocity_eval.get_velocity().rotational()))
# Verify the outputs.
idm.CalcOutput(context, output)
accel_command_index = idm.acceleration_output().get_index()
accel = output.get_vector_data(accel_command_index)
self.assertEqual(len(accel.get_value()), 1)
self.assertTrue(accel.get_value() < 0.)
def CalcKinematics(self, X_L7E, l7_frame, world_frame, tree_iiwa,
context_iiwa, t_plan):
'''
:param X_L7E: transformation from frame E (end effector) to frame L7.
:param l7_frame: A BodyFrame object of frame L7.
:param world_frame: A BodyFrame object of the world frame.
:param tree_iiwa: A MultibodyTree object of the robot.
:param context_iiwa: A Context object that describes the current state of the robot.
:param t_plan: time passed since the beginning of this Plan, expressed in seconds.
:return: Jv_WL7q: geometric jacbian of point Q in frame L7.
p_HrQ: position of point Q relative to frame Hr.
'''
# calculate Geometric jacobian (6 by 7 matrix) of point Q in frame L7.
p_L7Q = X_L7E.multiply(p_EQ)
Jv_WL7q = tree_iiwa.CalcFrameGeometricJacobianExpressedInWorld(
context=context_iiwa, frame_B=l7_frame, p_BoFo_B=p_L7Q)
# Translation
# Hr: handle reference frame
# p_HrQ: position of point Q relative to frame Hr.
# X_WHr: transformation from Hr to world frame W.
X_WHr = Isometry3()
# Your code here
#------------------------------------------------------------------------#
angle = self.traj.value(t_plan)
X_WHr.set_rotation(
np.array([[np.cos(angle), np.sin(angle), 0.],
[-np.sin(angle), np.cos(angle), 0.], [0., 0., 1.]]))
X_WHr.set_translation(
p_WC_handle +
[-r_handle * np.sin(angle), -r_handle * np.cos(angle), 0.])
#------------------------------------------------------------------------#
X_HrW = X_WHr.inverse()
X_WL7 = tree_iiwa.CalcRelativeTransform(context_iiwa,
frame_A=world_frame,
frame_B=l7_frame)
p_WQ = X_WL7.multiply(p_L7Q)
p_HrQ = X_HrW.multiply(p_WQ)
return Jv_WL7q, p_HrQ
def read_poses_from_file(filename):
pose_dict = {}
row_num = 0
cur_matrix = np.eye(4)
with open(filename, "r") as f:
for line in f:
line = line.rstrip()
if not line.lstrip(" ").startswith("["):
object_name = line
else:
row = np.matrix(line)
cur_matrix[row_num, :] = row
row_num += 1
if row_num == 4:
pose_dict[object_name] = Isometry3(cur_matrix)
translation = pose_dict[object_name].translation()
translation[2] = -dz_table_top_robot_base
pose_dict[object_name].set_translation(translation)
pose_dict[object_name].set_rotation(np.eye(3))
cur_matrix = np.eye(4)
row_num %= 4
return pose_dict
def CalcKinematics(self, X_L7E, l7_frame, world_frame, tree_iiwa,
context_iiwa, handle_angle_ref):
# calculate Geometric jacobian (6 by 7 matrix) of point Q in frame L7.
p_L7Q = X_L7E.multiply(p_EQ)
Jv_WL7q = tree_iiwa.CalcFrameGeometricJacobianExpressedInWorld(
context=context_iiwa, frame_B=l7_frame, p_BoFo_B=p_L7Q)
# Translation
# Hr: handle reference frame
# p_HrQ position of point Q relative to frame Hr.
# X_WHr: transformation from Hr to world frame W.
X_WHr = Isometry3()
X_HrW = X_WHr.inverse()
X_WL7 = tree_iiwa.CalcRelativeTransform(context_iiwa,
frame_A=world_frame,
frame_B=l7_frame)
p_WQ = X_WL7.multiply(p_L7Q)
p_HrQ = X_HrW.multiply(p_WQ)
return Jv_WL7q, p_HrQ
def test_pose_aggregator(self):
aggregator = PoseAggregator()
# - Set-up.
instance_id1 = 5 # Supply a random instance id.
port1 = aggregator.AddSingleInput("pose_only", instance_id1)
self.assertEqual(port1.get_data_type(), PortDataType.kVectorValued)
self.assertEqual(port1.size(), PoseVector.kSize)
instance_id2 = 42 # Supply another random, but unique, id.
ports2 = aggregator.AddSinglePoseAndVelocityInput(
"pose_and_velocity", instance_id2)
self.assertEqual(ports2.pose_input_port.get_data_type(),
PortDataType.kVectorValued)
self.assertEqual(ports2.pose_input_port.size(), PoseVector.kSize)
self.assertEqual(ports2.velocity_input_port.get_data_type(),
PortDataType.kVectorValued)
self.assertEqual(ports2.velocity_input_port.size(),
FrameVelocity.kSize)
num_poses = 1
port3 = aggregator.AddBundleInput("pose_bundle", num_poses)
self.assertEqual(port3.get_data_type(), PortDataType.kAbstractValued)
# - CalcOutput.
context = aggregator.CreateDefaultContext()
output = aggregator.AllocateOutput()
p1 = [0, 1, 2]
pose1 = PoseVector()
pose1.set_translation(p1)
p2 = [5, 7, 9]
pose2 = PoseVector()
pose2.set_translation(p2)
w = [0.3, 0.4, 0.5]
v = [0.5, 0.6, 0.7]
velocity = FrameVelocity()
velocity.set_velocity(SpatialVelocity(w=w, v=v))
p3 = [50, 70, 90]
q3 = Quaternion(wxyz=normalized([0.1, 0.3, 0.7, 0.9]))
bundle = PoseBundle(num_poses)
bundle.set_pose(0, Isometry3(q3, p3))
bundle_value = AbstractValue.Make(bundle)
context.FixInputPort(0, pose1)
context.FixInputPort(1, pose2)
context.FixInputPort(2, velocity)
context.FixInputPort(3, bundle_value)
aggregator.CalcOutput(context, output)
value = output.get_data(0).get_value()
self.assertEqual(value.get_num_poses(), 3)
isom1_actual = Isometry3()
isom1_actual.set_translation(p1)
self.assertTrue(
(value.get_pose(0).matrix() == isom1_actual.matrix()).all())
isom2_actual = Isometry3()
isom2_actual.set_translation(p2)
self.assertTrue(
(value.get_pose(1).matrix() == isom2_actual.matrix()).all())
vel_actual = value.get_velocity(1).get_velocity()
self.assertTrue(np.allclose(vel_actual.rotational(), w))
self.assertTrue(np.allclose(vel_actual.translational(), v))
self.assertTrue(
(value.get_pose(2).matrix() == Isometry3(q3, p3).matrix()).all())