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Wrap QuinticPathPlanner target yaw changes #785

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Wrap QuinticPathPlanner target yaw changes #785

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2 changes: 1 addition & 1 deletion source/extensions/isaacsim.robot.wheeled_robots.nodes/python/nodes/OgnQuinticPathPlanner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -160,7 +160,7 @@ def get_target_pos(inputs: object, state: OgnQuinticPathPlannerInternalState) ->
len(state.target) > 0
and abs(g[0] - state.target[0]) < 0.1
and abs(g[1] - state.target[1]) < 0.1
and abs(g[2] - state.target[2]) < 0.05
and abs(normalize_angle(g[2] - state.target[2])) < 0.05
): # if target diff from saved target is small enough to be negligible error
return None
else:
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32 changes: 32 additions & 0 deletions ...ons/isaacsim.robot.wheeled_robots.nodes/python/tests/test_navigation_quaternion_guards.py
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Expand Up @@ -163,6 +163,38 @@ async def test_quintic_path_planner_uses_signed_yaw_from_target_prim(self) -> No
self.assertAlmostEqual(planned_yaw, np.radians(goal_yaw_deg), places=3)
self.assertEqual(np.sign(planned_yaw), expected_sign)

async def test_quintic_path_planner_wraps_target_change_across_pi(self) -> None:
"""QuinticPathPlanner should compare target yaw changes using the shortest wrapped angle."""
stage = omni.usd.get_context().get_stage()
goal_prim = UsdGeom.Xform.Define(stage, "/World/GoalWrap")
goal_prim.AddTranslateOp().Set(Gf.Vec3d(1.0, 0.0, 0.0))
rotate_op = goal_prim.AddRotateXYZOp()
rotate_op.Set(Gf.Vec3d(0.0, 0.0, 179.0))

graph, [planner_node], _, _ = og.Controller.edit(
{"graph_path": "/ActionGraphWrap"},
{
og.Controller.Keys.CREATE_NODES: [
("QuinticPathPlanner", "isaacsim.robot.wheeled_robots.QuinticPathPlanner"),
],
og.Controller.Keys.SET_VALUES: [
("QuinticPathPlanner.inputs:currentPosition", [0.0, 0.0, 0.0]),
("QuinticPathPlanner.inputs:currentOrientation", [0.0, 0.0, 0.0, 1.0]),
("QuinticPathPlanner.inputs:maxAccel", 1000.0),
("QuinticPathPlanner.inputs:maxJerk", 1000.0),
("QuinticPathPlanner.inputs:targetPrim", [usdrt.Sdf.Path("/World/GoalWrap")]),
],
},
)

await og.Controller.evaluate(graph)
target_changed = og.Controller.attribute("outputs:targetChanged", planner_node)
self.assertTrue(og.Controller(target_changed).get())

rotate_op.Set(Gf.Vec3d(0.0, 0.0, -179.0))
await og.Controller.evaluate(graph)
self.assertFalse(og.Controller(target_changed).get())

async def test_stanley_control_uses_zero_yaw_for_default_zero_quaternion(self) -> None:
"""StanleyControlPID should not fail when its orientation input remains at the OGN zero default."""
graph, [stanley_node], _, _ = og.Controller.edit(
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