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Check quaternions for equal dot_product instead of comparing their components individually (backport #1238) #1243

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Merged
merged 1 commit into from
Jan 20, 2025
Merged

Check quaternions for equal dot_product instead of comparing their components individually (backport #1238) #1243

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28 changes: 9 additions & 19 deletions ur_robot_driver/test/integration_test_force_mode.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,11 @@
TIMEOUT_EXECUTE_TRAJECTORY = 30


def are_quaternions_same(q1, q2, tolerance):
dot_product = q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w
return (abs(dot_product) - 1.0) < tolerance


@pytest.mark.launch_test
@launch_testing.parametrize(
"tf_prefix",
Expand Down Expand Up @@ -205,25 +210,10 @@ def test_force_mode_controller(self, tf_prefix):
trans_before.transform.translation.z,
delta=0.001,
)
self.assertAlmostEqual(
trans_after.transform.rotation.x,
trans_before.transform.rotation.x,
delta=0.01,
)
self.assertAlmostEqual(
trans_after.transform.rotation.y,
trans_before.transform.rotation.y,
delta=0.01,
)
self.assertAlmostEqual(
trans_after.transform.rotation.z,
trans_before.transform.rotation.z,
delta=0.01,
)
self.assertAlmostEqual(
trans_after.transform.rotation.w,
trans_before.transform.rotation.w,
delta=0.01,
self.assertTrue(
are_quaternions_same(
trans_after.transform.rotation, trans_before.transform.rotation, 0.001
)
)

res = self._force_mode_controller_interface.stop_force_mode()
Expand Down
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