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Merge branch 'master' of github.com:petercorke/robotics-toolbox-python
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‎.github/workflows/pythonpackage.yml

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runs-on: ${{ matrix.os }}
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strategy:
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matrix:
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os: [windows-latest, ubuntu-latest, macos-latest]
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python-version: [3.6, 3.7, 3.8]
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#os: [windows-latest, ubuntu-latest, macos-latest]
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#python-version: [3.6, 3.7, 3.8]
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os: [ubuntu-latest]
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python-version: [3.8]
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steps:
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- uses: actions/checkout@v2
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run: |
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pip install .[dev,collision,vpython]
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pip install pytest-timeout
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pytest --timeout=30 --timeout_method thread
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echo "========================"
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pwd -L
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pwd -P
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printenv
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echo "============ ls -R /opt ============"
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ls -R /opt/hostedtoolcache/Python/3.8.6/x64/lib/python3.8/site-packages/roboticstoolbox
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echo "============ ls -R . ============"
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ls -R .
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pytest --timeout=30 --timeout_method thread -s
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codecov:
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# If all tests pass:
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# Run coverage and upload to codecov

‎README.md

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[![Build Status](https://github.com/petercorke/robotics-toolbox-python/workflows/build/badge.svg?branch=master)](https://github.com/petercorke/robotics-toolbox-python/actions?query=workflow%3Abuild)
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[![Coverage](https://codecov.io/gh/petercorke/robotics-toolbox-python/branch/master/graph/badge.svg)](https://codecov.io/gh/petercorke/robotics-toolbox-python)
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[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/petercorke/robotics-toolbox-python.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/petercorke/robotics-toolbox-python/context:python)
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![pypi downloads](https://img.shields.io/pypi/dw/roboticstoolbox-python)
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[![PyPI - Downloads](https://img.shields.io/pypi/dw/roboticstoolbox-python)](https://pypistats.org/packages/roboticstoolbox-python)
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<table style="border:0px">
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<tr style="border:0px">
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### Publication List
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**NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators**, J. Haviland and P. Corke. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
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[[Paper](https://arxiv.org/abs/2010.08686)] [[Project Website](https://jhavl.github.io/neo/)] [[Video](https://youtu.be/jSLPJBr8QTY)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/master/examples/neo.py)]
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<p>
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<a href="https://youtu.be/jSLPJBr8QTY">
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<img src="https://github.com/petercorke/robotics-toolbox-python/blob/master/docs/figs/neo_youtube.png" width="560">
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</a>
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</p>
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**A Purely-Reactive Manipulability-Maximising Motion Controller**, J. Haviland and P. Corke. In the video, the robot is controlled using the Robotics toolbox for Python.
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[[Paper](https://arxiv.org/abs/2002.11901)] [[Project Website](https://jhavl.github.io/mmc/)] [[Video](https://youtu.be/Vu_rcPlaADI)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/master/examples/mmc.py)]
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<br>
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**NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators**, J. Haviland and P. Corke. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
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[[Paper](https://arxiv.org/abs/2010.08686)] [[Project Website](https://jhavl.github.io/neo/)] [[Video](https://youtu.be/jSLPJBr8QTY)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/master/examples/neo.py)]
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<p>
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<a href="https://youtu.be/jSLPJBr8QTY">
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<img src="https://github.com/petercorke/robotics-toolbox-python/blob/master/docs/figs/neo_youtube.png" width="560">
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</a>
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</p>

‎docs/source/_static/css/custom.css

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.viewcode-block {background-color: yellow;}
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/* override table width restrictions */
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@media screen and (min-width: 767px) {
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.wy-table-responsive table td {
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/* !important prevents the common CSS stylesheets from overriding
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this as on RTD they are loaded after this stylesheet */
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white-space: normal !important;
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}
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.wy-table-responsive {
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overflow: visible !important;
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}
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}

‎docs/source/conf.py

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# relative to this directory. They are copied after the builtin static files,
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# so a file named "default.css" will overwrite the builtin "default.css".
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html_static_path = ['_static']
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# html_css_files = [
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# 'css/custom.css',
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# ]
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html_css_files = [
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'css/custom.css',
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]
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# autodoc_mock_imports = ["numpy", "scipy"]
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‎docs/source/intro.rst

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Introduction
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============
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The Robotics Toolbox for MATLAB® (RTB-M) was created around 1991 to support the
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first author’s PhD research and was first published in 1995-6 [Corke95]_
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*This is a modified version of a paper submitted to ICRA2020*
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The Robotics Toolbox for MATLAB® (RTB-M) was created around 1991 to support
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Peter Corke’s PhD research and was first published in 1995-6 [Corke95]_
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[Corke96]_. It has evolved over 25 years to track changes and improvements to
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the MATLAB language and ecosystem, such as the addition of structures, objects,
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lists (cell arrays) and strings, myriad of other improvements to the language,
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>>> print(puma.qr)
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>>> T = puma.fkine([0.1, 0.2, 0.3, 0.4, 0.5, 0.6]) # forward kinematics
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>>> print(T)
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>>> q, *_ = puma.ikine(T) # inverse kinematics
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>>> print(q)
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>>> sol = puma.ikine_LM(T) # inverse kinematics
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>>> print(sol)
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The Toolbox supports named joint configurations and these are shown in the table
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at lines ??.
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at lines 16-22.
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``ikine_LM`` is a generalised iterative numerical solution based on
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Levenberg-Marquadt minimization, and additional status results are also
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returned as part of a named tuple.
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``ikine`` is a generalised iterative numerical solution based on Levenberg-Marquadt minimization, and additional status results are also returned.
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The default plot method::
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>>> puma.plot(q)
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>>> robot = rtb.ERobot(e)
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>>> print(robot)
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Line 3 defines the unique lengths of the Puma robot, and line ?? defines the kinematic chain in
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Line 3 defines the unique lengths of the Puma robot, and line 4 defines the kinematic chain in
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terms of elementary transforms.
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In line 7 we pass this to the constructor for an ``ERobot`` which partitions the
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elementary transform sequence into a series of links and joints -- link frames are declared
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> panda = rtb.models.URDF.Panda()
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>>> panda = rtb.models.DH.Panda()
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>>> print(panda)
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>>> T = panda.fkine(panda.qz)
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>>> print(T)
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as discussed above.
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For branched robots, with multiple end-effectors, the name of the frame of interest must be provided.
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Some URDF models have multiple end-effectors, in which case the particular
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end-effector must be specified.
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.. runblock:: pycon
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>>> import roboticstoolbox as rtb
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>>> panda = rtb.models.URDF.Panda()
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>>> print(panda)
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>>> T = panda.fkine(panda.qz, endlink='panda_hand')
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>>> print(T)
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In the table above we see the end-effectors indicated by @ (determined automatically
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from the URDF file), so we specify one of these. We can also specify any
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other link in order to determine the pose of that link's coordinate frame.
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This URDF model comes with meshes provided as Collada file which provide
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detailed geometry and color. This can be visualized using the Swift simulator:
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Trajectories
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============
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A joint-spae trajectory for the Puma robot from its zero angle
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A joint-space trajectory for the Puma robot from its zero angle
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pose to the upright (or READY) pose in 100 steps is
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.. runblock:: pycon
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>>> T1 = SE3(0.4, 0.5, 0.2)
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>>> Ts = rtb.tools.trajectory.ctraj(T0, T1, len(t))
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>>> len(Ts)
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>>> qs, *_ = puma.ikine(Ts)
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>>> qs.shape
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>>> sol = puma.ikine_LM(Ts) # array of named tuples
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>>> qt = np.array([x.q for x in sol]) # convert to 2d matrix
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>>> qt.shape
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At line 9 we see that the resulting trajectory, ``Ts``, is an ``SE3`` instance with 200 values.
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At line 11 we compute the inverse kinematics of each pose in the trajectory
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using a single call to the ``ikine`` method.
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At line 13 we see that the result ``qs`` is is an array of joint coordinates, one row per timestep.
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In this case the starting
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using a single call to the ``ikine_LM`` method.
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The result is a list of named tuples, which gives the IK success status for
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each time step.
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At line 12 we convert this into an array, with one row per time step, and each
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row is a joint coordinate.
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The starting
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joint coordinates for each inverse kinematic solution
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is taken as the result of the previous solution.
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is taken as the result of the solution at the previous time step.
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Symbolic manipulation
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>>> import roboticstoolbox as rtb
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>>> import spatialmath.base as base
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>>> phi, theta, psi = base.sym.symbol('phi, theta, psi')
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>>> rtb.rpy2r(phi, theta, psi)
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>>> base.rpy2r(phi, theta, psi)
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The capability extends to forward kinematics
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>>> puma = rtb.models.DH.Puma560()
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>>> m = puma.manipulability(puma.qn)
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>>> print("Yoshikawa manipulability is", m)
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>>> m = puma.manipulability(puma.qn, "asada")
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>>> m = puma.manipulability(puma.qn, method="asada")
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>>> print("Asada manipulability is", m)
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for the Yoshikawa and Asada measures respectively, and

‎docs/source/mobile.rst

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*************
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Vehicle models
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--------------
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The Robotics Toolbox supports kino-dynamic vehicle models, animation, planning
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and state estimation.
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.. automodule:: roboticstoolbox.robot.ETS
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members:
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:exclude-members: count, index, sort, remove, __dict__, __weakref__, __add__, __init__, __repr__, __str__, __module__
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.. toctree::
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:maxdepth: 2
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Path planning
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-------------
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EKF
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---
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mobile_vehicle
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mobile_vehicle_animation
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mobile_planner
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mobile_EKF

‎docs/source/mobile_planner.rst

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Mobile robot planner
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--------------------
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.. autoclass:: roboticstoolbox.mobile.Bug2
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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.. autoclass:: roboticstoolbox.mobile.DXform
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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.. autoclass:: roboticstoolbox.mobile.Dstar
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:

‎docs/source/mobile_vehicle.rst

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Mobile robot kinematic models
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=============================
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Bicycle model
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^^^^^^^^^^^^^
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.. autoclass:: roboticstoolbox.mobile.Bicycle
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:members:
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:undoc-members:
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:inherited-members:
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:special-members: __init__
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Unicycle model
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^^^^^^^^^^^^^^
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.. autoclass:: roboticstoolbox.mobile.Unicycle
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __init__
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Superclass
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^^^^^^^^^^
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.. autoclass:: roboticstoolbox.mobile.Vehicle
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __init__

‎docs/source/mobile_vehicle_animation.rst

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Mobile robot animations
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-----------------------
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These classes create a graphical object that can be animated to show vehicle
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position or pose. They are all subclasses of ``VehicleAnimation``.
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Simple marker
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^^^^^^^^^^^^^
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.. autoclass:: roboticstoolbox.mobile.VehicleMarker
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __init__
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Polygon shape
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^^^^^^^^^^^^^
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.. autoclass:: roboticstoolbox.mobile.VehiclePolygon
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __init__
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Image icon
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^^^^^^^^^^
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.. autoclass:: roboticstoolbox.mobile.VehicleIcon
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:members:
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:undoc-members:
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:show-inheritance:
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:inherited-members:
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:special-members: __init__

‎docs/source/mobile_vehicle_bicycle.rst

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Bicycle model
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-------------
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.. autoclass:: roboticstoolbox.mobile.Bicycle
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:members:
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:undoc-members:
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:inherited-members:
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:special-members: __init__

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