8000 Added uprighttl · lordkeks/robotics-toolbox-python@a1cc4f7 · GitHub
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Samuel-DrewSamuel-Drew
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Added uprighttl
Fixed serial link plot and added example code to create and plot an upright 3-link arm
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5 files changed

+67
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‎roboticstoolbox/robot/Link.py

Lines changed: 3 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -1,10 +1,6 @@
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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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Python implementation by Samuel Drew
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"""
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from numpy import *
@@ -19,8 +15,8 @@ class Link(list):
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def __init__(self, *argv):
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"""
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%Link Create robot link object
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%
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Link Create robot link object
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% This the class constructor which has several call signatures.
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%
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% L = Link() is a Link object with default parameters.

‎roboticstoolbox/robot/serial_link.py

Lines changed: 11 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -130,7 +130,12 @@ def objective(x):
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return sol.x
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def plot(self, jointconfig, unit='rad'):
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"""
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Creates a 3D plot of the robot in your web browser
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:param jointconfig: takes an array or list of joint angles
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:param unit: unit of angles. radians if not defined
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:return: a vpython robot object.
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"""
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if type(jointconfig) == list:
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jointconfig = argcheck.getvector(jointconfig)
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if unit == 'deg':
@@ -142,11 +147,13 @@ def plot(self, jointconfig, unit='rad'):
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t[i] = poses[i].t
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# add the base
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t.insert(0, SE3(self.base).t)
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grjoints = list(range(len(t)))
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grjoints = list(range(len(t)-1))
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canvas_grid = init_canvas()
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for i in range(1, len(t)):
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grjoints[i] = RotationalJoint(vector(t[i-1][0], t[i-1][1], t[i-1][2]), vector(t[i][0], t[i][1], t[i][2]))
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grjoints[i-1] = RotationalJoint(vector(t[i-1][0], t[i-1][1], t[i-1][2]), vector(t[i][0], t[i][1], t[i][2]))
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print(grjoints)
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x = GraphicalRobot(grjoints)
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return x

‎roboticstoolbox/robot/threelink.py

Lines changed: 2 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -1,7 +1,7 @@
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"""
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Defines the object 'robot' in the current workspace
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Defines the object 'tl' in the current workspace
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Also define the vector q = [0 0 0] which corresponds to the zero joint
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Also define the vector qz = [0 0 0] which corresponds to the zero joint
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angle configuration.
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@author: Luis Fernando Lara Tobar and Peter Corke

‎roboticstoolbox/robot/uprighttl.py

Lines changed: 19 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,19 @@
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"""
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Defines the object 'arm' in the current workspace
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Also define the vector qz = [pi/4,0,-pi/3]
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"""
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from roboticstoolbox.robot.serial_link import *
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L = []
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L.append(Link('a', 0.1, 'd', 1, 'alpha', pi/2, 'type', 'revolute'))
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L.append(Link('a', 1, 'type', 'revolute'))
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L.append(Link('a', 0.5, 'type', 'revolute'))
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qz = [pi/4,0,-pi/3]
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arm = SerialLink(L, name='Upright Arm')
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‎tests/Sam1.py

Lines changed: 32 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,32 @@
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"""
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NOT A UNIT TEST
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Simple Example for Serial_link plot function
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Starts by creating a robot arm.
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uncomment and copy code to console as needed
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"""
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from roboticstoolbox.robot.serial_link import *
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L = []
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# create links
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L.append(Link('a', 0.1, 'd', 1, 'alpha', pi/2, 'type', 'revolute'))
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L.append(Link('a', 1, 'type', 'revolute'))
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L.append(Link('a', 0.5, 'type', 'revolute'))
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# create initial joint array to be passed into plot as joint configuration
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qz = [pi/4,0,-pi/3]
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# create serial link robot
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arm = SerialLink(L, name='Upright Arm')
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# plot robot
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plotbot = arm.plot(qz)
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## Use this code to change the joint angles
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## lift arm
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# plotbot.set_joint_angle(1, -pi/2)
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## rotate base:
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# plotbot.set_joint_angle(0, pi/2)
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