8000 Merge branch 'master' of https://github.com/petercorke/robotics-toolb… · A905275/robotics-toolbox-python@7cb3abc · GitHub
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2 parents 4a184b4 + bc3f2cc commit 7cb3abc

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‎.github/workflows/pythonpackage.yml

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@@ -28,7 +28,7 @@ jobs:
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run: |
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pip install .[dev,collision,vpython]
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pip install pytest-timeout
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pytest --timeout=30 --timeout_method thread -s
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pytest --timeout=50 --timeout_method thread -s
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codecov:
3333
# If all tests pass:
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# Run coverage and upload to codecov

‎roboticstoolbox/examples/swift_benchmark.py

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@@ -12,23 +12,37 @@
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env.launch()
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panda = rtb.models.Panda()
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panda.q = panda.qr
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env.add(panda, show_robot=True)
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# panda = rtb.models.Panda()
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# panda.q = panda.qr
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# env.add(panda, show_robot=True)
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ev = [0.01, 0, 0, 0, 0, 0]
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panda.qd = np.linalg.pinv(panda.jacobe(panda.q, fast=True)) @ ev
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env.step(0.001)
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# ev = [0.01, 0, 0, 0, 0, 0]
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# panda.qd = np.linalg.pinv(panda.jacobe(panda.q, fast=True)) @ ev
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# env.step(0.001)
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def stepper():
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for i in range(10000):
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panda.qd = np.linalg.pinv(panda.jacob0(panda.q, fast=True)) @ ev
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# panda.jacob0(panda.q, fast=True)
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# def stepper():
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# for i in range(10000):
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# panda.qd = np.linalg.pinv(panda.jacob0(panda.q, fast=True)) @ ev
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# # panda.jacob0(panda.q, fast=True)
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# # panda.fkine_all_fast(panda.q)
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# env.step(0.001)
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# panda.fkine_all_fast(panda.q)
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env.step(0.001)
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import spatialgeometry as sg
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import spatialmath as sm
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b1 = sg.Box(scale=[0.2, 0.1, 0.2], base=sm.SE3(1.0, 1, 1))
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b2 = sg.Cylinder(radius=0.2, length=0.8, base=sm< 6BE7 /span>.SE3(0.0, 1, 1))
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env.add(b1)
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env.add(b2)
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def stepper():
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for i in range(100000):
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a, b, c = b1.closest_point(b2, inf_dist=4.0, homogenous=False)
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a, b, c = b1.closest_point(b2, inf_dist=4.0, homogenous=False)
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cProfile.run("stepper()")

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