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Restructured project. Created setup.py for pip install
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‎I pushed this.txt

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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.

‎roboticstoolbox/__init__.py

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

‎rtb/models/Panda.py renamed to ‎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 rtb.robot.ets import ets, et
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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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‎rtb/models/PandaMDH.py renamed to ‎roboticstoolbox/models/PandaMDH.py

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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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]

‎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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from numpy import *
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from utility import *
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from transform import *
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import copy
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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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- an; the link length
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- theta; the link rotation angle
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- dn; the link offset
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- sigma; 0 for a revolute joint, non-zero for prismatic
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rigid-body inertial parameters
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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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LINK_DH = 1
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LINK_MDH = 2
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def __init__(self, alpha=0, A=0, theta=0, D=0, sigma=0, convention=LINK_DH):
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"""
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L = LINK([alpha A theta D])
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L =LINK([alpha A theta D sigma])
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L =LINK([alpha A theta D sigma offset])
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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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"""
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self.alpha = alpha
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self.A = A
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self.theta = theta
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self.D = D
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self.sigma = sigma
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self.convention = convention
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# we know nothing about the dynamics
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self.m = None
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self.r = None
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self.v = None
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self.I = None
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self.Jm = None
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self.G = None
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self.B = None
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self.Tc = None
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self.qlim = None
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return None
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def __repr__(self):
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if self.convention == Link.LINK_DH:
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conv = 'std'
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else:
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conv = 'mod'
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if self.sigma == 0:
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jtype = 'R'
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else:
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jtype = 'P'
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if self.D == None:
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return "alpha=%f, A=%f, theta=%f jtype: (%c) conv: (%s)" % (self.alpha,
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self.A, self.theta, jtype, conv)
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elif self.theta == None:
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return "alpha=%f, A=%f, D=%f jtype: (%c) conv: (%s)" % (self.alpha,
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self.A, self.D, jtype, conv)
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else:
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return "alpha=%f, A=%f, theta=%f, D=%f jtype: (%c) conv: (%s)" % (self.alpha,
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self.A, self.theta, self.D, jtype, conv)
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# invoked at print
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def __str__(self):
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if self.convention == Link.LINK_DH:
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conv = 'std'
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else:
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conv = 'mod'
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if self.sigma == 0:
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jtype = 'R'
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else:
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jtype = 'P'
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if self.D == None:
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return "alpha = %f\tA = %f\ttheta = %f\t--\tjtype: %c\tconv: (%s)" % (
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self.alpha, self.A, self.theta, jtype, conv)
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elif self.theta == None:
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return "alpha = %f\tA = %f\t--\tD = %f\tjtype: %c\tconv: (%s)" % (
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self.alpha, self.A, self.D, jtype, conv)
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else:
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return "alpha = %f\tA = %f\ttheta = %f\tD=%f\tjtype: %c\tconv: (%s)" % (
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self.alpha, self.A, self.theta, self.D, jtype, conv)
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def display(self):
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print self;
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print
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if self.m != None:
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print "m:", self.m
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if self.r != None:
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print "r:", self.r
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if self.I != None:
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print "I:\n", self.I
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if self.Jm != None:
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print "Jm:", self.Jm
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if self.B != None:
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print "B:", self.B
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if self.Tc != None:
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print "Tc:", self.Tc
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if self.G != None:
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print "G:", self.G
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if self.qlim != None:
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print "qlim:\n", self.qlim
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def copy(self):
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"""
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Return copy of this Link
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"""
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return copy.copy(self);
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def friction(self, qd):
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"""
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Compute friction torque for joint rate C{qd}.
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Depending on fields in the Link object viscous and/or Coulomb friction
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are computed.
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@type qd: number
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@param qd: joint rate
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@rtype: number
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@return: joint friction torque
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"""
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tau = 0.0
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if isinstance(qd, (ndarray, matrix)):
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qd = qd.flatten().T
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if self.B == None:
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self.B = 0
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tau = self.B * qd
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if self.Tc == None:
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self.Tc = mat([0,0])
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tau = tau + (qd > 0) * self.Tc[0,0] + (qd < 0) * self.Tc[0,1]
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return tau
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def nofriction(self, all=False):
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"""
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Return a copy of the Link object with friction parameters set to zero.
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@type all: boolean
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@param all: if True then also zero viscous friction
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@rtype: Link
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@return: Copy of original Link object with zero friction
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@see: L{robot.nofriction}
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"""
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l2 = self.copy()
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l2.Tc = array([0, 0])
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if all:
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l2.B = 0
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return l2;
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# methods to set kinematic or dynamic parameters
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fields = ["alpha", "A", "theta", "D", "sigma", "offset", "m", "Jm", "G", "B", "convention"];
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def __setattr__(self, name, value):
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"""
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Set attributes of the Link object
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- alpha; scalar
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- A; scalar
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- theta; scalar
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- D; scalar
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- sigma; scalar
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- offset; scalar
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- m; scalar
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- Jm; scalar
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- G; scalar
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- B; scalar
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- r; 3-vector
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- I; 3x3 matrix, 3-vector or 6-vector
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- Tc; scalar or 2-vector
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- qlim; 2-vector
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Inertia, I, can be specified as:
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- 3x3 inertia tensor
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- 3-vector, the diagonal of the inertia tensor
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- 6-vector, the unique elements of the inertia tensor [Ixx Iyy Izz Ixy Iyz Ixz]
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Coloumb friction, Tc, can be specifed as:
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- scalar, for the symmetric case when Tc- = Tc+
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- 2-vector, the assymetric case [Tc- Tc+]
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Joint angle limits, qlim, is a 2-vector giving the lower and upper limits
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of motion.
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"""
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if value == None:
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self.__dict__[name] = value;
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return;
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if name in self.fields:
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# scalar parameter
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if isinstance(value, (ndarray,matrix)) and value.shape != (1,1):
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raise ValueError, "Scalar required"
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if not isinstance(value, (int,float,int32,float64)):
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raise ValueError;
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self.__dict__[name] = value
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elif name == "r":
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r = arg2array(value);
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if len(r) != 3:
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raise ValueError, "matrix required"
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self.__dict__[name] = mat(r)
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elif name == "I":
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if isinstance(value, matrix) and value.shape == (3,3):
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self.__dict__[name] = value;
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else:
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v = arg2array(value);
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if len(v) == 3:
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self.__dict__[name] = mat(diag(v))
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elif len(v) == 6:
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self.__dict__[name] = mat([
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[v[0],v[3],v[5]],
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[v[3],v[1],v[4]],
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[v[5],v[4],v[2]]])
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else:
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raise ValueError, "matrix required";
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elif name == "Tc":
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v = arg2array(value)
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if len(v) == 1:
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self.__dict__[name] = mat([-v[0], v[0]])
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elif len(v) == 2:
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self.__dict__[name] = mat(v)
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else:
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raise ValueError;
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elif name == "qlim":
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v = arg2array(value);
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if len(v) == 2:
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self.__dict__[name] = mat(v);
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else:
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raise ValueError
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else:
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raise NameError, "Unknown attribute <%s> of link" % name
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# LINK.islimit(q) return if limit is exceeded: -1, 0, +1
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def islimit(self,q):
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"""
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Check if joint limits exceeded. Returns
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- -1 if C{q} is less than the lower limit
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- 0 if C{q} is within the limits
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- +1 if C{q} is greater than the high limit
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@type q: number
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@param q: Joint coordinate
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@rtype: -1, 0, +1
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@return: joint limit status
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"""
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if not self.qlim:
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return 0
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return (q > self.qlim[1,0]) - (q < self.qlim[0,0])
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def tr(self, q):
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"""
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Compute the transformation matrix for this link. This is a function
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of kinematic parameters, the kinematic model (DH or MDH) and the joint
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coordinate C{q}.
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@type q: number
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@param q: joint coordinate
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@rtype: homogeneous transformation
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@return: Link transform M{A(q)}
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"""
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an = self.A
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dn = self.D
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theta = self.theta
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if self.sigma == 0:
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theta = q # revolute
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else:
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dn = q # prismatic
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sa = sin(self.alpha); ca = cos(self.alpha);
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st = sin(theta); ct = cos(theta);
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if self.convention == Link.LINK_DH:
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# standard
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t = mat([[ ct, -st*ca, st*sa, an*ct],
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[st, ct*ca, -ct*sa, an*st],
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[0, sa, ca, dn],
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[0, 0, 0, 1]]);
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else:
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# modified
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t = mat([[ ct, -st, 0, an],
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[st*ca, ct*ca, -sa, -sa*dn],
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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;

‎rtb/robot/Makefile renamed to ‎roboticstoolbox/robot/Makefile

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

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‎rtb/robot/Robot.py renamed to ‎roboticstoolbox/robot/Robot.py

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