LabRobPL
diff --git a/‎examples/expNeo1.py
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+#!/usr/bin/env python
+"""
+@author Jesse Haviland
+"""
+
+import roboticstoolbox as rp
+import spatialmath as sm
+import numpy as np
+import time
+import qpsolvers as qp
+import pybullet as p
+import matplotlib
+import matplotlib.pyplot as plt
+import pickle
+
+matplotlib.rcParams['pdf.fonttype'] = 42
+matplotlib.rcParams['ps.fonttype'] = 42
+plt.style.use('ggplot')
+matplotlib.rcParams['font.size'] = 4.5
+matplotlib.rcParams['lines.linewidth'] = 0.5
+matplotlib.rcParams['xtick.major.size'] = 1.5
+matplotlib.rcParams['ytick.major.size'] = 1.5
+matplotlib.rcParams['axes.labelpad'] = 1
+plt.rc('grid', linestyle="-", color='#dbdbdb')
+
+fig, ax = plt.subplots()
+fig.set_size_inches(2.5, 1.5)
+
+ax.set(xlabel='Time (s)', ylabel='Distance (m)')
+ax.grid()
+plt.grid(True)
+ax.set_xlim(xmin=0, xmax=12.1)
+ax.set_ylim(ymin=0, ymax=0.7)
+plt.subplots_adjust(left=0.13, bottom=0.18, top=0.95, right=1)
+
+
+pld0 = ax.plot(
+    [0], [0], label='Distance to Obstacle 1')
+
+pld1 = ax.plot(
+    [0], [0], label='Distance to Obstacle 2')
+
+pld2 = ax.plot(
+    [0], [0], label='Distance to Goal')
+
+plm = ax.plot(
+    [0], [0], label='Manipuability')
+
+ax.legend()
+ax.legend(loc="lower right")
+
+plt.ion()
+plt.show()
+
+qdmax = np.array([
+    2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100,
+    5000000, 5000000, 5000000, 5000000, 5000000, 5000000])
+lb = -qdmax
+ub = qdmax
+
+q0 = [-0.5653, -0.1941, -1.2602, -0.7896, -2.3227, -0.3919, -2.5173]
+
+s0 = rp.Shape.Sphere(
+    radius=0.05,
+    base=sm.SE3(0.45, 0.4, 0.3)
+)
+
+s1 = rp.Shape.Sphere(
+    radius=0.05,
+    base=sm.SE3(0.1, 0.35, 0.65)
+)
+
+s2 = rp.Shape.Sphere(
+    radius=0.02,
+    base=sm.SE3(0.3, 0, 0)
+)
+
+s0.v = [0.01, -0.2, 0, 0, 0, 0]
+# s1.v = [0, -0.2, 0, 0, 0, 0]
+# s2.v = [0, 0.1, 0, 0, 0, 0]
+
+env = rp.backend.Swift()
+env.launch()
+
+r = rp.models.Panda()
+
+n = 7
+env.add(r)
+env.add(s0)
+# env.add(s1)
+env.add(s2)
+time.sleep(1)
+
+
+s0.x = []
+s1.x = []
+s2.x = []
+s0.y = []
+s1.y = []
+s2.y = []
+m = []
+
+def update_graph2(ob, graph):
+    # Update the robot links
+
+    graph[0].set_xdata(ob.x)
+    graph[0].set_ydata(ob.y)
+
+
+def link_calc(link, col, ob, q):
+    dii = 5
+    di = 0.3
+    ds = 0.05
+
+    ret = p.getClosestPoints(col.co, ob.co, dii)
+
+    if len(ret) > 0:
+        ret = ret[0]
+        wTlp = sm.SE3(ret[5])
+        wTcp = sm.SE3(ret[6])
+        lpTcp = wTlp.inv() * wTcp
+
+        d = ret[8]
+
+    if d < di:
+        n = lpTcp.t / d
+        nh = np.expand_dims(np.r_[n, 0, 0, 0], axis=0)
+
+        Je = r.jacobe(q, from_link=r.base_link, to_link=link, offset=col.base)
+        n = Je.shape[1]
+        dp = nh @ ob.v
+        l_Ain = np.zeros((1, 13))
+        l_Ain[0, :n] = nh @ Je
+        l_bin = (0.8 * (d - ds) / (di - ds)) + dp
+    else:
+        l_Ain = None
+        l_bin = None
+
+    return l_Ain, l_bin, d, wTcp
+
+
+def servo(q0, Tep, it):
+
+    r.q = q0
+    r.fkine_all()
+    r.qd = np.zeros(r.n)
+    env.step(1)
+    links = r._fkpath[1:]
+
+    arrived = False
+    i = 0
+    Q = 0.1 * np.eye(n + 6)
+
+    while not arrived and i < it:
+
+        if i > (4 / 0.05):
+            s2.v = [0, 0, 0, 0, 0, 0]
+
+        Tep.A[:3, 3] = s2.base.t
+        Tep.A[2, 3] += 0.1
+        q = r.q
+        v, arrived = rp.p_servo(r.fkine(), Tep, 0.5, 0.05)
+
+        eTep = r.fkine().inv() * Tep
+        e = np.sum(np.abs(np.r_[eTep.t, eTep.rpy() * np.pi/180]))
+
+        Q[n:, n:] = 1 * (1 / e) * np.eye(6)
+        Aeq = np.c_[r.jacobe(), np.eye(6)]
+        beq = v.reshape((6,))
+        Jm = r.jacobm().reshape(7,)
+        c = np.r_[-Jm, np.zeros(6)]
+
+        Ain = None
+        bin = None
+
+        closest = 1000000
+        closest_obj = None
+        closest_p = None
+        j = 0
+        for link in links:
+            if link.jtype == link.VARIABLE:
+                j += 1
+            for col in link.collision:
+                obj = s0
+                l_Ain, l_bin, ret, wTcp = link_calc(link, col, obj, q[:j])
+                if ret < closest:
+                    closest = ret
+                    closest_obj = obj
+                    closest_p = wTcp
+
+                if l_Ain is not None and l_bin is not None:
+                    if Ain is None:
+                        Ain = l_Ain
+                    else:
+                        Ain = np.r_[Ain, l_Ain]
+
+                    if bin is None:
+                        bin = np.array(l_bin)
+                    else:
+                        bin = np.r_[bin, l_bin]
+
+        s0.y.append(closest)
+        s0.x.append(i * 0.05)
+
+        s2.y.append(np.linalg.norm(eTep.t))
+        s2.x.append(i * 0.05)
+        m.append(r.manipulability())
+
+
+        try:
+            qd = qp.solve_qp(Q, c, Ain, bin, Aeq, beq, lb=lb, ub=ub)
+        except (ValueError, TypeError):
+            print("Value Error")
+            break
+
+        r.qd = qd[:7]
+
+        i += 1
+        env.step(50)
+
+        # r.loc = np.c_[r.loc, r.fkine().t]
+        # s0.loc = np.c_[s0.loc, s0.base.t]
+        # s1.loc = np.c_[s1.loc, s1.base.t]
+        # s2.loc = np.c_[s2.loc, s2.base.t]
+
+        # update_graph2(r, plr)
+        update_graph2(s0, pld0)
+        update_graph2(s2, pld2)
+        plm[0].set_xdata(s2.x)
+        plm[0].set_ydata(m)
+        plt.pause(0.001)
+
+    return arrived
+
+
+q0 = r.qr
+r.q = q0
+
+s2.base = sm.SE3.Tx(0.6) * sm.SE3.Tz(0.1) * sm.SE3.Ty(-0.2) * sm.SE3.Tz(-0.1)
+
+Tep = r.fkine()
+Tep.A[:3, 3] = s2.base.t
+
+
+servo(q0, Tep, 5000)
+
+obj = {
+    's0': [s0.x, s0.y],
+    's1': [s1.x, s1.y],
+    's2': [s2.x, s2.y],
+    'm': [s0.x, m]
+}
+
+pickle.dump(obj, open('neo1.p', 'wb'))
+
+plt.ioff()
+plt.show()