diff --git a/notebooks/kinematics.ipynb b/notebooks/kinematics.ipynb index 5efaa6b2c..a3af9b632 100644 --- a/notebooks/kinematics.ipynb +++ b/notebooks/kinematics.ipynb @@ -2,9 +2,12 @@ "cells": [ { "cell_type": "code", - "execution_count": 1, - "metadata": {}, - "outputs": [], + "metadata": { + "ExecuteTime": { + "end_time": "2025-04-28T22:39:48.018390Z", + "start_time": "2025-04-28T22:39:44.728468Z" + } + }, "source": [ "import numpy as np\n", "import roboticstoolbox as rtb\n", @@ -15,7 +18,32 @@ "np.set_printoptions(linewidth=100, formatter={'float': lambda x: f\"{x:8.4g}\" if abs(x) > 1e-10 else f\"{0:8.4g}\"})\n", "\n", "%matplotlib notebook" - ] + ], + "outputs": [ + { + "ename": "ModuleNotFoundError", + "evalue": "No module named 'pyparsing'", + "output_type": "error", + "traceback": [ + "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m", + "\u001B[0;31mModuleNotFoundError\u001B[0m Traceback (most recent call last)", + "Cell \u001B[0;32mIn[1], line 2\u001B[0m\n\u001B[1;32m 1\u001B[0m \u001B[38;5;28;01mimport\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mnumpy\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mas\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mnp\u001B[39;00m\n\u001B[0;32m----> 2\u001B[0m \u001B[38;5;28;01mimport\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mroboticstoolbox\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mas\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mrtb\u001B[39;00m\n\u001B[1;32m 3\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m\n\u001B[1;32m 4\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mmath\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m pi\n", + "File \u001B[0;32m~/Documents/GitHub/robotics-toolbox-python/roboticstoolbox/__init__.py:1\u001B[0m\n\u001B[0;32m----> 1\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mroboticstoolbox\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mtools\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m\n\u001B[1;32m 3\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mroboticstoolbox\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mrobot\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m\n\u001B[1;32m 5\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mroboticstoolbox\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mmobile\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m\n", + "File 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[py/polluting-import]\u001B[39;00m\n\u001B[0;32m----> 8\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mtransforms3d\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m \u001B[38;5;66;03m# lgtm [py/polluting-import]\u001B[39;00m\n\u001B[1;32m 9\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mtransformsNd\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m \u001B[38;5;66;03m# lgtm [py/polluting-import]\u001B[39;00m\n\u001B[1;32m 10\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mvectors\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m \u001B[38;5;241m*\u001B[39m \u001B[38;5;66;03m# lgtm [py/polluting-import]\u001B[39;00m\n", + "File \u001B[0;32m~/anaconda3/envs/mujoco_new/lib/python3.10/site-packages/spatialmath/base/transforms3d.py:47\u001B[0m\n\u001B[1;32m 32\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mtransformsNd\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m (\n\u001B[1;32m 33\u001B[0m r2t,\n\u001B[1;32m 34\u001B[0m t2r,\n\u001B[0;32m (...)\u001B[0m\n\u001B[1;32m 44\u001B[0m Ab2M,\n\u001B[1;32m 45\u001B[0m )\n\u001B[1;32m 46\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mquaternions\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m r2q, q2r, qeye, qslerp\n\u001B[0;32m---> 47\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mgraphics\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m plotvol3, axes_logic\n\u001B[1;32m 48\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mspatialmath\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mbase\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01manimate\u001B[39;00m\u001B[38;5;250m 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163\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mmatplotlib\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mrcsetup\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m cycler \u001B[38;5;66;03m# noqa: F401\u001B[39;00m\n", + "File \u001B[0;32m~/anaconda3/envs/mujoco_new/lib/python3.10/site-packages/matplotlib/rcsetup.py:29\u001B[0m\n\u001B[1;32m 27\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mmatplotlib\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mcbook\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m ls_mapper\n\u001B[1;32m 28\u001B[0m \u001B[38;5;28;01mfrom\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;21;01mmatplotlib\u001B[39;00m\u001B[38;5;21;01m.\u001B[39;00m\u001B[38;5;21;01mcolors\u001B[39;00m\u001B[38;5;250m \u001B[39m\u001B[38;5;28;01mimport\u001B[39;00m Colormap, is_color_like\n\u001B[0;32m---> 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partial(re\u001B[38;5;241m.\u001B[39mcompile(\u001B[38;5;124mr\u001B[39m\u001B[38;5;124m'\u001B[39m\u001B[38;5;130;01m\\\\\u001B[39;00m\u001B[38;5;124m(?=[\u001B[39m\u001B[38;5;132;01m%s\u001B[39;00m\u001B[38;5;124m])\u001B[39m\u001B[38;5;124m'\u001B[39m \u001B[38;5;241m%\u001B[39m _family_punc)\u001B[38;5;241m.\u001B[39msub, \u001B[38;5;124m'\u001B[39m\u001B[38;5;124m'\u001B[39m)\n", + "\u001B[0;31mModuleNotFoundError\u001B[0m: No module named 'pyparsing'" + ] + } + ], + "execution_count": 1 }, { "cell_type": "markdown", @@ -53,21 +81,21 @@ "┏━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━┳━━━━━━━━━┳━━━━━━━━┓\n", "┃θⱼ ┃ dⱼ ┃ aⱼ ┃ ⍺ⱼ ┃ q⁻ ┃ q⁺ ┃\n", "┣━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━╋━━━━━━━━━╋━━━━━━━━┫\n", - "┃ q1\u001b[0m ┃ 0.6718\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -160.0°\u001b[0m ┃ 160.0°\u001b[0m ┃\n", - "┃ q2\u001b[0m ┃ 0\u001b[0m ┃ 0.4318\u001b[0m ┃ 0.0°\u001b[0m ┃ -110.0°\u001b[0m ┃ 110.0°\u001b[0m ┃\n", - "┃ q3\u001b[0m ┃ 0.15\u001b[0m ┃ 0.0203\u001b[0m ┃ -90.0°\u001b[0m ┃ -135.0°\u001b[0m ┃ 135.0°\u001b[0m ┃\n", - "┃ q4\u001b[0m ┃ 0.4318\u001b[0m ┃ 0\u001b[0m ┃ 90.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", - "┃ q5\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ -90.0°\u001b[0m ┃ -100.0°\u001b[0m ┃ 100.0°\u001b[0m ┃\n", - "┃ q6\u001b[0m ┃ 0\u001b[0m ┃ 0\u001b[0m ┃ 0.0°\u001b[0m ┃ -266.0°\u001b[0m ┃ 266.0°\u001b[0m ┃\n", + "┃ q1\u001B[0m ┃ 0.6718\u001B[0m ┃ 0\u001B[0m ┃ 90.0°\u001B[0m ┃ -160.0°\u001B[0m ┃ 160.0°\u001B[0m ┃\n", + "┃ q2\u001B[0m ┃ 0\u001B[0m ┃ 0.4318\u001B[0m ┃ 0.0°\u001B[0m ┃ -110.0°\u001B[0m ┃ 110.0°\u001B[0m ┃\n", + "┃ q3\u001B[0m ┃ 0.15\u001B[0m ┃ 0.0203\u001B[0m ┃ -90.0°\u001B[0m ┃ -135.0°\u001B[0m ┃ 135.0°\u001B[0m ┃\n", + "┃ q4\u001B[0m ┃ 0.4318\u001B[0m ┃ 0\u001B[0m ┃ 90.0°\u001B[0m ┃ -266.0°\u001B[0m ┃ 266.0°\u001B[0m ┃\n", + "┃ q5\u001B[0m ┃ 0\u001B[0m ┃ 0\u001B[0m ┃ -90.0°\u001B[0m ┃ -100.0°\u001B[0m ┃ 100.0°\u001B[0m ┃\n", + "┃ q6\u001B[0m ┃ 0\u001B[0m ┃ 0\u001B[0m ┃ 0.0°\u001B[0m ┃ -266.0°\u001B[0m ┃ 266.0°\u001B[0m ┃\n", "┗━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━┻━━━━━━━━━┻━━━━━━━━┛\n", "\n", "┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐\n", "│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │\n", "├─────┼─────┼──────┼───────┼─────┼──────┼─────┤\n", - "│ qz\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │\n", - "│ qr\u001b[0m │ 0°\u001b[0m │ 90°\u001b[0m │ -90°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │\n", - "│ qs\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ -90°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │ 0°\u001b[0m │\n", - "│ qn\u001b[0m │ 0°\u001b[0m │ 45°\u001b[0m │ 180°\u001b[0m │ 0°\u001b[0m │ 45°\u001b[0m │ 0°\u001b[0m │\n", + "│ qz\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │\n", + "│ qr\u001B[0m │ 0°\u001B[0m │ 90°\u001B[0m │ -90°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │\n", + "│ qs\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ -90°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │ 0°\u001B[0m │\n", + "│ qn\u001B[0m │ 0°\u001B[0m │ 45°\u001B[0m │ 180°\u001B[0m │ 0°\u001B[0m │ 45°\u001B[0m │ 0°\u001B[0m │\n", "└─────┴─────┴──────┴───────┴─────┴──────┴─────┘\n", "\n" ] @@ -1122,10 +1150,10 @@ { "data": { "text/plain": [ - " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;4m 0.5963 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m-0.15005 \u001b[0m \u001b[0m\n", - " \u001b[38;5;1m-1 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;1m 0 \u001b[0m \u001b[38;5;4m 0.65748 \u001b[0m \u001b[0m\n", - " \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 0 \u001b[0m \u001b[38;5;244m 1 \u001b[0m \u001b[0m\n" + " \u001B[38;5;1m 0 \u001B[0m \u001B[38;5;1m 0 \u001B[0m \u001B[38;5;1m 1 \u001B[0m \u001B[38;5;4m 0.5963 \u001B[0m \u001B[0m\n", + " \u001B[38;5;1m 0 \u001B[0m \u001B[38;5;1m 1 \u001B[0m \u001B[38;5;1m 0 \u001B[0m \u001B[38;5;4m-0.15005 \u001B[0m \u001B[0m\n", + " 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+ Class that imports a WAM URDF model + + ``WAM()`` is a class which imports a Barrett WAM robot definition + from a URDF file. The model describes its kinematic and graphical + characteristics. + + .. runblock:: pycon + + >>> import roboticstoolbox as rtb + >>> robot = rtb.models.URDF.WAM() + >>> print(robot) + + Defined joint configurations are: + + - qz, zero joint angle configuration, 'L' shaped configuration + - qr, vertical 'READY' configuration + - qs, arm is stretched out in the x-direction + - qn, arm is at a nominal non-singular configuration + + .. codeauthor:: Longsen Gao + .. sectionauthor:: Peter Corke + """ + + def __init__(self): + + links, name, urdf_string, urdf_filepath = self.URDF_read( + "wam_description/urdf/wam7.urdf.xacro" + ) + + super().__init__( + links, + name=name, + manufacturer="Barrett Robtoics", + gripper_links=links[8], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + self.grippers[0].tool = SE3(0, 0, 0) + + self.qdlim = np.array( + [2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0] + ) + + self.qr = np.array([0, 0, 0, 0, 0, 0, 0]) + self.qz = np.zeros(7) + + self.addconfiguration("qr", self.qr) + self.addconfiguration("qz", self.qz) + + +if __name__ == "__main__": # pragma nocover + + r = WAM() + + r.qz + + for link in r.grippers[0].links: + print(link) diff --git a/roboticstoolbox/models/URDF/__init__.py b/roboticstoolbox/models/URDF/__init__.py index 9517467e6..f075d80d7 100644 --- a/roboticstoolbox/models/URDF/__init__.py +++ b/roboticstoolbox/models/URDF/__init__.py @@ -23,6 +23,7 @@ from roboticstoolbox.models.URDF.FetchCamera import FetchCamera from roboticstoolbox.models.URDF.Valkyrie import Valkyrie from roboticstoolbox.models.URDF.AL5D import AL5D +from roboticstoolbox.models.URDF.WAM import WAM __all__ = [ "Panda", @@ -50,4 +51,5 @@ "FetchCamera", "Valkyrie", "AL5D", + "WAM", ] diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_link.stl b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link.stl new file mode 100644 index 000000000..27d2150fa Binary files /dev/null and b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link.stl differ diff --git a/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.dae b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.dae new file mode 100644 index 000000000..ac465475a --- /dev/null +++ b/rtb-data/rtbdata/xacro/wam_description/meshes/base_link_convex.dae @@ -0,0 +1,60 @@ + + + + + Blender User + Blender 2.71.0 commit date:2014-06-12, commit time:18:39, hash:169c95b + + 2014-12-11T15:10:37 + 2014-12-11T15:10:37 + + Y_UP + + + + + + + 0 -0.14 0 0.01754665 -0.1388961 0.157 0 -0.14 0.157 0.1397237 0.008790671 0.157 0.1397237 -0.008790671 0.157 0.14 0 0 0.1212435 -0.06999999 0 0.1315569 -0.04788279 0 0.1266757 -0.05960905 0.157 0.1212435 0.06999999 0 0.1266757 0.05960905 0.157 0.1315569 0.04788279 0 0.0243107 -0.1378731 0 0.03481656 -0.1356016 0.157 0.04788279 -0.1315569 0 0.1378731 0.0243107 0 0.1378731 -0.0243107 0 0.1331479 -0.04326236 0.157 0.1182059 0.07501572 0.157 0.1072462 0.08999025 0 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