def step(self, dt: float = 0.01) -> None: # pylint: disable=unused-argument
"""
Updates the robot joints (robot.q) used in computing kinematics
:param dt: the delta time since the last update, defaults to 0.01
:type dt: float, optional
"""
if self.readonly:
return
current_time = timeit.default_timer()
Kp = 1
self.publish_state()
# calculate joint velocities from desired cartesian velocity
if any(self.e_v):
if current_time - self.last_update > 0.1:
self.e_v *= 0.9 if np.sum(np.absolute(self.e_v)
) >= 0.0001 else 0
wTe = self.fkine(self.q, start=self.base_link, fast=True, end=self.gripper)
error = self.e_p @ np.linalg.inv(wTe)
# print(e)
trans = self.e_p[:3, 3] # .astype('float64')
trans += self.e_v[:3] * dt
rotation = SO3(self.e_p[:3, :3])
# Rdelta = SO3.EulerVec(self.e_v[3:])
# R = Rdelta * R
# R = R.norm()
# # print(self.e_p)
self.e_p = SE3.Rt(rotation, t=trans).A
v_t = self.e_v[:3] + Kp * error[:3, 3]
v_r = self.e_v[3:] # + (e[.rpy(]) * 0.5)
e_v = np.concatenate([v_t, v_r])
self.j_v = np.linalg.pinv(
self.jacob0(self.q, fast=True, end=self.gripper)) @ e_v
# apply desired joint velocity to robot
if any(self.j_v):
if current_time - self.last_update > 0.1:
self.j_v *= 0.9 if np.sum(np.absolute(self.j_v)
) >= 0.0001 else 0
self.qd = self.j_v
self.joint_publisher.publish(Float64MultiArray(data=self.qd))
self.last_tick = current_time
self.event.set()
def convert(R):
return BASE * SE3.Rt(R, t=[0, 0, 0])
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])
