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Merge branch 'jesse-dev'
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‎.gitignore

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# Pyre type checker
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.pyre/
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### VisualStudioCode ###
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.vscode/settings.json
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### VisualStudioCode Patch ###
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# Ignore all local history of files
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.history
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# pytype static type analyzer
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.pytype/
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‎README.md

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# robotics-toolbox-python
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Robotics Toolbox for Python
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This is an old first attempt at creating an open Python version of the venerable Robotics Toolbox for MATLAB.
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A more active Python port is [robopy](https://github.com/adityadua24/robopy).
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This is an attempt at creating an open Python version of the venerable Robotics Toolbox for MATLAB.

‎robot/__init__.py

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‎roboticstoolbox/__init__.py

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from roboticstoolbox.robot import *
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from roboticstoolbox.models import *

‎roboticstoolbox/models/Panda.py

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#!/usr/bin/env python
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import numpy as np
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from roboticstoolbox.robot.ets import ets, et
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# from rtb.tools.transform import transl, xyzrpy_to_trans
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class Panda(ets):
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"""
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A class representing the Franka Emika Panda robot arm. ETS taken from [1]
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based on https://frankaemika.github.io/docs/control_parameters.html
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:param et_list: List of elementary transforms which represent the robot
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kinematics
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:type et_list: list of etb.robot.et
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:param q_idx: List of indexes within the ets_list which correspond to
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joints
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:type q_idx: list of int
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:param name: Name of the robot
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:type name: str, optional
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:param manufacturer: Manufacturer of the robot
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:type manufacturer: str, optional
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:param base: Location of the base is the world frame
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:type base: float np.ndarray(4,4), optional
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:param tool: Offset of the flange of the robot to the end-effector
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:type tool: float np.ndarray(4,4), optional
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:param qz: The zero joint angle configuration of the robot
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:type qz: float np.ndarray(7,)
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:param qr: The ready state joint angle configuration of the robot
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:type qr: float np.ndarray(7,)
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References: [1] Kinematic Derivatives using the Elementary Transform
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Sequence, J. Haviland and P. Corke
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"""
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def __init__(self):
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deg = np.pi/180
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mm = 1e-3
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d7 = (58.4)*mm
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et_list = [
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et(et.Ttz, 0.333),
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et(et.TRz, i=1),
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et(et.TRx, -90*deg),
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et(et.TRz, i=2),
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et(et.TRx, 90*deg),
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et(et.Ttz, 0.316),
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et(et.TRz, i=3),
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et(et.Ttx, 0.0825),
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et(et.TRx, 90*deg),
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et(et.TRz, i=4),
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et(et.Ttx, -0.0825),
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et(et.TRx, -90*deg),
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et(et.Ttz, 0.384),
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et(et.TRz, i=5),
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et(et.TRx, 90*deg),
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et(et.TRz, i=6),
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et(et.Ttx, 0.088),
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et(et.TRx, 90*deg),
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et(et.Ttz, 0.107),
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et(et.TRz, i=7),
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]
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q_idx = [1, 3, 6, 9, 13, 15, 19]
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super(Panda, self).__init__(
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et_list,
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q_idx,
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name='Panda',
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manufacturer='Franka Emika',
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tool=np.eye(4))
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# tool = xyzrpy_to_trans(0, 0, d7, 0, 0, -np.pi/4)
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self._qz = np.array([0, 0, 0, 0, 0, 0, 0])
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self._qr = np.array([0, -90, -90, 90, 0, -90, 90]) * deg
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@property
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def qz(self):
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return self._qz
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@property
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def qr(self):
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return self._qr

‎roboticstoolbox/models/PandaMDH.py

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#!/usr/bin/env python
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import numpy as np
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from rtb.robot.Link import Revolute
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from rtb.robot.serial_link import SerialLink
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# from rtb.tools.transform import transl, xyzrpy_to_trans
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class PandaMDH(SerialLink):
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"""
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A class representing the Franka Emika Panda robot arm.
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DH Parameters taken from https://frankaemika.github.io/docs/control_parameters.html
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Attributes:
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--------
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name : string
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Name of the robot
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manufacturer : string
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Manufacturer of the robot
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links : List[n]
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Series of links which define the robot
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base : float np.ndarray(4,4)
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Locaation of the base
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tool : float np.ndarray(4,4)
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Location of the tool
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mdh : int
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1: Pnada is modified D&H
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n : int
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Number of joints in the robot
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Examples
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--------
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>>> panda = Panda()
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See Also
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--------
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ropy.robot.SerialLink : A superclass for arm type robots
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"""
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def __init__(self):
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deg = np.pi/180
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mm = 1e-3
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flange = (107)*mm
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d7 = (58.4)*mm
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L1 = Revolute(a = 0.0, d = 0.333, alpha = 0.0, qlim = np.array([-2.8973, 2.8973]), mdh = 1)
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L2 = Revolute(a = 0.0, d = 0.0, alpha = -np.pi/2, qlim = np.array([-1.7628, 1.7628]), mdh = 1)
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L3 = Revolute(a = 0.0, d = 0.316, alpha = np.pi/2, qlim = np.array([-2.8973, 2.8973]), mdh = 1)
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L4 = Revolute(a = 0.0825, d = 0.0, alpha = np.pi/2, qlim = np.array([-3.0718, -0.0698]), mdh = 1)
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L5 = Revolute(a =-0.0825, d = 0.384, alpha = -np.pi/2, qlim = np.array([-2.8973, 2.8973]), mdh = 1)
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L6 = Revolute(a = 0.0, d = 0.0, alpha = np.pi/2, qlim = np.array([-0.0175, 3.7525]), mdh = 1)
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L7 = Revolute(a = 0.088, d =flange, alpha = np.pi/2, qlim = np.array([-2.8973, 2.8973]), mdh = 1)
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L = [L1, L2, L3, L4, L5, L6, L7]
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# super(Panda, self).__init__(L, name = 'Panda', manufacturer = 'Franka Emika', tool = transl(0, 0, d7))
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super(PandaMDH, self).__init__(L, name = 'Panda', manufacturer = 'Franka Emika', tool=np.eye(4))
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# tool = xyzrpy_to_trans(0, 0, d7, 0, 0, -np.pi/4)
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self.qz = np.array([0, 0, 0, 0, 0, 0, 0])
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self.qr = np.array([0, -90, -90, 90, 0, -90, 90]) * deg
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‎roboticstoolbox/models/__init__.py

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# Robot Models
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from roboticstoolbox.models.Panda import Panda
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# from roboticstoolbox.models.PandaMDH import PandaMDH
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__all__ = [
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'Panda'
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# 'PandaMDH'
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]

‎robot/Link.py renamed to ‎roboticstoolbox/robot/Link.py

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"""
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Link object.
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Python implementation by: Luis Fernando Lara Tobar and Peter Corke.
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Based on original Robotics Toolbox for Matlab code by Peter Corke.
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Permission to use and copy is granted provided that acknowledgement of
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the authors is made.
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@author: Luis Fernando Lara Tobar and Peter Corke
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"""
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class Link:
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"""
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LINK create a new LINK object
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A LINK object holds all information related to a robot link such as
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kinematics of the joint
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- alpha; the link twist angle
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- I; 3x3 inertia matrix about link COG
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- m; link mass
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- r; link COG wrt link coordinate frame 3x1
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motor and transmission parameters
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- B; link viscous friction (motor referred)
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- Tc; link Coulomb friction 1 element if symmetric, else 2
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- G; gear ratio
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- Jm; inertia (motor referred)
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and miscellaneous
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- qlim; joint limit matrix [lower upper] 2 x 1
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- offset; joint coordinate offset
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Handling the different kinematic conventions is now hidden within the LINK
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object.
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Conceivably all sorts of stuff could live in the LINK object such as
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graphical models of links and so on.
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@see: L{Robot}
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"""
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L =LINK([alpha A theta D], CONVENTION)
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L =LINK([alpha A theta D sigma], CONVENTION)
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L =LINK([alpha A theta D sigma offset], CONVENTION)
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If sigma or offset are not provided they default to zero. Offset is a
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constant amount added to the joint angle variable before forward kinematics
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and is useful if you want the robot to adopt a 'sensible' pose for zero
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joint angle configuration.
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The optional CONVENTION argument is 'standard' for standard D&H parameters
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or 'modified' for modified D&H parameters. If not specified the default
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'standard'.
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[st*sa, ct*sa, ca, ca*dn],
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[0, 0, 0, 1]]);
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return t;
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return t;

‎robot/Makefile renamed to ‎roboticstoolbox/robot/Makefile

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‎robot/Quaternion.py renamed to ‎roboticstoolbox/robot/Quaternion.py

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