Skip to content

Commit 21be21a

Browse files
mrcymemrcyme
committed
brieckiebot
1 parent f80aeab commit 21be21a

Some content is hidden

Large Commits have some content hidden by default. Use the searchbox below for content that may be hidden.

69 files changed

+195765
-21
lines changed

‎roboticstoolbox/examples/branched_robot.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -69,8 +69,8 @@
6969

7070
while not arrivedl or not arrivedr:
7171

72-
vl, arrivedl = rtb.p_servo(la.fkine(r.q), lTep, gain=gain, threshold=0.001)
73-
vr, arrivedr = rtb.p_servo(ra.fkine(r.q), rTep, gain=gain, threshold=0.001)
72+
vl, arrivedl = rtb.cp_servo(la.fkine(r.q), lTep, gain=gain, threshold=0.001)
73+
vr, arrivedr = rtb.cp_servo(ra.fkine(r.q), rTep, gain=gain, threshold=0.001)
7474

7575
r.qd[la.jindices] = np.linalg.pinv(la.jacobe(r.q)) @ vl
7676
r.qd[ra.jindices] = np.linalg.pinv(ra.jacobe(r.q)) @ vr

‎roboticstoolbox/examples/puma_swift.py

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -1,4 +1,5 @@
11
#!/usr/bin/env python
2+
# %%
23
"""
34
@author John Skinner
45
"""

‎roboticstoolbox/examples/twistdemo.py

Lines changed: 4 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -53,6 +53,10 @@ def update_twist():
5353

5454
axis = SO3.Rx(twist_params['R']) @ SO3.Ry(twist_params['P'])
5555
point = [twist_params['x'], twist_params['y'], 0]
56+
print(axis)
57+
print(axis.A[:, 2])
58+
print(point)
59+
print(twist_params['p'])
5660
twist = Twist3.UnitRevolute(axis.A[:, 2], point, twist_params['p'])
5761
print(axis.A[:,2])
5862
update_screw_axis(axis, point)

‎roboticstoolbox/models/URDF/Lite6.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ class Lite6(Robot):
3131
"""
3232

3333
def __init__(self):
34-
filepath = "ufactory_description/lite6/urdf/lite6_with_gripper_pen.urdf.xacro"
34+
filepath = "ufactory_description/lite6/urdf/lite6_with_gripper.urdf.xacro"
3535
#filepath = "ufactory_description/lite6/urdf/lite6.urdf.xacro"
3636
links, name, urdf_string, urdf_filepath = self.URDF_read(
3737
filepath
@@ -45,7 +45,7 @@ def __init__(self):
4545
gripper_links=links[8],
4646
urdf_filepath=urdf_filepath,
4747
)
48-
self.grippers[0].tool = SE3(0, 0, 0.15)
48+
self.grippers[0].tool = SE3(0, 0, 0.8)
4949
self.qdlim = np.array(
5050
[2.1750, 2.1750, 2.1750, 2.1750, 2.6100, 2.6100, 2.6100, 3.0, 3.0]
5151
)

‎roboticstoolbox/models/URDF/Mycobot280.py

Lines changed: 68 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,68 @@
1+
#!/usr/bin/env python
2+
3+
import numpy as np
4+
from roboticstoolbox.robot.Robot import Robot
5+
from spatialmath import SE3
6+
7+
8+
class Mycobot280(Robot):
9+
"""
10+
Class that imports a Panda URDF model
11+
12+
``Panda()`` is a class which imports a Franka-Emika Panda robot definition
13+
from a URDF file. The model describes its kinematic and graphical
14+
characteristics.
15+
16+
.. runblock:: pycon
17+
18+
>>> import roboticstoolbox as rtb
19+
>>> robot = rtb.models.URDF.Lite6()
20+
>>> print(robot)
21+
22+
Defined joint configurations are:
23+
24+
- qz, zero joint angle configuration, 'L' shaped configuration
25+
- qr, vertical 'READY' configuration
26+
- qs, arm is stretched out in the x-direction
27+
- qn, arm is at a nominal non-singular configuration
28+
29+
.. codeauthor:: Jesse Haviland
30+
.. sectionauthor:: Peter Corke
31+
"""
32+
33+
def __init__(self):
34+
35+
links, name, urdf_string, urdf_filepath = self.URDF_read(
36+
"elephantrobotics_description/mycobot_280_pi/urdf/mycobot_280_pi.urdf"
37+
)
38+
39+
super().__init__(
40+
links,
41+
name=name,
42+
manufacturer="elephant_robotics",
43+
#gripper_links=links[7],
44+
urdf_string=urdf_string,
45+
urdf_filepath=urdf_filepath,
46+
)
47+
48+
#self.grippers[0].tool = SE3(0, 0, 0)
49+
50+
self.qdlim = np.array(
51+
[2*np.pi, 2.61799, 5.235988, 2*np.pi, 2.1642, 2.0*np.pi]
52+
)
53+
54+
self.qr = np.array([0, -0.3, 0, -2.2, 0, 2.0])
55+
self.qz = np.zeros(6)
56+
57+
self.addconfiguration("qr", self.qr)
58+
self.addconfiguration("qz", self.qz)
59+
60+
"""
61+
if __name__ == "__main__": # pragma nocover
62+
63+
r = Mycobot280()
64+
r.qz
65+
T = r.fkine(r.qz)
66+
r.plot(r.qr, backend="swift")
67+
"""
68+

‎roboticstoolbox/models/URDF/SOARM100.py

Lines changed: 67 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,67 @@
1+
#!/usr/bin/env python
2+
3+
import numpy as np
4+
from roboticstoolbox.robot.Robot import Robot
5+
from spatialmath import SE3
6+
import roboticstoolbox as rtb
7+
8+
class SOARM100(Robot):
9+
"""
10+
Class that imports a Panda URDF model
11+
12+
``Panda()`` is a class which imports a Franka-Emika Panda robot definition
13+
from a URDF file. The model describes its kinematic and graphical
14+
characteristics.
15+
16+
.. runblock:: pycon
17+
18+
>>> import roboticstoolbox as rtb
19+
>>> robot = rtb.models.URDF.Panda()
20+
>>> print(robot)
21+
22+
Defined joint configurations are:
23+
24+
- qz, zero joint angle configuration, 'L' shaped configuration
25+
- qr, vertical 'READY' configuration
26+
- qs, arm is stretched out in the x-direction
27+
- qn, arm is at a nominal non-singular configuration
28+
29+
.. codeauthor:: Jesse Haviland
30+
.. sectionauthor:: Peter Corke
31+
"""
32+
33+
def __init__(self):
34+
filepath = "huggingface_description/SO-ARM100/urdf/SO_5DOF_ARM100_8j_URDF.SLDASM.urdf"
35+
#filepath = "ufactory_description/lite6/urdf/lite6.urdf.xacro"
36+
links, name, urdf_string, urdf_filepath = self.URDF_read(
37+
filepath
38+
)
39+
40+
super().__init__(
41+
links,
42+
name=name,
43+
manufacturer="HuggingFace",
44+
urdf_string=urdf_string,
45+
gripper_links=links[6],
46+
urdf_filepath=urdf_filepath,
47+
)
48+
#self.grippers[0].tool = SE3(0, 0, 0.4)
49+
self.qdlim = np.array(
50+
[2.1750, 2.1750, 2.1750, 2.1750, 2.6100]
51+
)
52+
53+
self.qr = np.array([0, -0.6, 1, 0, 1])
54+
self.qz = np.zeros(5)
55+
56+
self.addconfiguration("qr", self.qr)
57+
self.addconfiguration("qz", self.qz)
58+
59+
60+
if __name__ == "__main__": # pragma nocover
61+
62+
r = SOARM100()
63+
r.qz
64+
T = r.fkine(r.qz)
65+
r.plot(r.qr, backend="swift")
66+
67+

‎roboticstoolbox/models/URDF/__init__.py

Lines changed: 5 additions & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -24,6 +24,8 @@
2424
from roboticstoolbox.models.URDF.Valkyrie import Valkyrie
2525
from roboticstoolbox.models.URDF.AL5D import AL5D
2626
from roboticstoolbox.models.URDF.Lite6 import Lite6
27+
from roboticstoolbox.models.URDF.SOARM100 import SOARM100
28+
from roboticstoolbox.models.URDF.Mycobot280 import Mycobot280
2729

2830
__all__ = [
2931
"Panda",
@@ -51,5 +53,7 @@
5153
"FetchCamera",
5254
"Valkyrie",
5355
"AL5D",
54-
"Lite6"
56+
"Lite6",
57+
"Mycobot280",
58+
"SOARM100",
5559
]

‎roboticstoolbox/robot/IK.py

Lines changed: 0 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -488,13 +488,11 @@ def _check_jl(self, ets: "rtb.ETS", q: np.ndarray) -> bool:
488488
True if joints within feasible limits otherwise False
489489
490490
"""
491-
492491
# Loop through the joints in the ETS
493492
for i in range(ets.n):
494493
# Get the corresponding joint limits
495494
ql0 = ets.qlim[0, i]
496495
ql1 = ets.qlim[1, i]
497-
498496
# Check if q exceeds the limits
499497
if q[i] < ql0 or q[i] > ql1:
500498
return False

‎rtb-data/rtbdata/xacro/elephantrobotics_description/mycobot_280_pi/meshes/collision/G_base.dae

Lines changed: 260 additions & 0 deletions
Large diffs are not rendered by default.

‎rtb-data/rtbdata/xacro/elephantrobotics_description/mycobot_280_pi/meshes/collision/camera_flange.dae

Lines changed: 308 additions & 0 deletions
Large diffs are not rendered by default.

0 commit comments

Comments
 (0)
pFad - Phonifier reborn

Pfad - The Proxy pFad of © 2024 Garber Painting. All rights reserved.

Note: This service is not intended for secure transactions such as banking, social media, email, or purchasing. Use at your own risk. We assume no liability whatsoever for broken pages.


Alternative Proxies:

Alternative Proxy

pFad Proxy

pFad v3 Proxy

pFad v4 Proxy