8000 Revert "Merge branch 'master' of https://github.com/petercorke/roboti… · navrobot/robotics-toolbox-python@fbef42f · GitHub
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‎docs/source/arm_ets.rst

Lines changed: 26 additions & 72 deletions
Original file line numberDiff line numberDiff line change
@@ -3,90 +3,44 @@ Elementary transform sequence (ETS) models
33

44
.. codeauthor:: Jesse Haviland
55

6-
Elementary transforms are canonic rotations or translations about, or along,
7-
the x-, y- or z-axes. The amount of rotation or translation can be a constant
8-
or a variable. A variable amount corresponds to a joint.
9-
10-
Consider the example:
11-
12-
.. runblock:: pycon
13-
:linenos:
14-
15-
>>> from roboticstoolbox import ETS
16-
>>> ETS.rx(45, 'deg')
17-
>>> ETS.tz(0.75)
18-
>>> e = ETS.rx(0.3) * ETS.tz(0.75)
19-
>>> print(e)
20-
>>> e.eval()
21-
22-
In lines 2-5 we defined two elementary transforms. Line 2 defines a rotation
23-
of 45° about the x-axis, and line 4 defines a translation of 0.75m along the z-axis.
24-
Compounding them in line 6, the result is the two elementary transforms in a
25-
sequence - an elementary transform sequence (ETS). An ETS can be arbitrarily
26-
long.
27-
28-
Line 8 *evaluates* the sequence, substituting in values, and the result is an
29-
SE(3) matrix encapsulated in an ``SE3`` object.
30-
31-
The real power comes from having variable arguments to the elementary transforms
32-
as shown in this example where we define a simple two link planar manipulator.
33-
6+
A number of models are defined in terms of elementary transform sequences.
7+
They can be listed by:
348

359
.. runblock:: pycon
36-
:linenos:
37-
38-
>>> from roboticstoolbox import ETS
39-
>>> e = ETS.rz() * ETS.tx(1) * ETS.rz() * ETS.tx(1)
40-
>>> print(e)
41-
>>> len(e)
42-
>>> e[1:3]
43-
>>> e.eval([0, 0])
44-
>>> e.eval([90, -90], 'deg')
45-
46-
Line 2 succinctly describes the kinematics in terms of elementary transforms: a rotation around the z-axis by the
47-
first joint angle, then a translation in the x-direction, then a rotation around
48-
the z-axis by the second joint angle, and finally a translation in the
49-
x-direction.
50-
51-
Line 3 creates the elementary transform sequence, with variable transforms.
52-
``e`` is a single object that encapsulates a list of elementary transforms, and list like
53-
methods such as ``len`` as well as indexing and slicing as shown in lines 5-8.
54-
55-
Lines 9-18 *evaluate* the sequence, and substitutes elements from the passed
56-
arrays as the joint variables.
5710

58-
This approach is general enough to be able to describe any serial-link robot
59-
manipulator. For a branched manipulator we can use ETS to describe the
60-
connections between every parent and child link pair.
11+
>>> import roboticstoolbox as rtb
12+
>>> rtb.models.list(mtype="ETS")
6113

62-
**Reference:**
14+
:references:
6315

64-
- `A simple and systematic approach to assigning Denavit-Hartenberg parameters <https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters>`_.
65-
Peter I. Corke, IEEE Transactions on Robotics, 23(3), pp 590-594, June 2007.
16+
- https://petercorke.com/robotics/a-simple-and-systematic-approach-to-assigning-denavit-hartenberg-parameters/
6617

6718
ETS - 3D
6819
--------
69-
70-
.. autoclass:: roboticstoolbox.robot.ETS.ETS
71-
:members: rx, ry, rz, tx, ty, tz, eta, eval, T, joints, axis, jtype, config, __getitem__, __mul__, __repr__, __str__
20+
.. automodule:: roboticstoolbox.robot.ETS
21+
:members:
7222
:undoc-members:
7323
:show-inheritance:
24+
:inherited-members:
25+
:special-members:
26+
:exclude-members: count, index, sort, remove, __dict__, __weakref__, __add__, __init__, __repr__, __str__, __module__
7427

7528
ETS - 2D
7629
--------
77-
78-
.. autoclass:: roboticstoolbox.robot.ETS2.ETS
79-
:members: rx, ry, rz, tx, ty, tz, eta, eval, T, joints, axis, jtype, config, __getitem__, __mul__, __repr__, __str__
30+
.. automodule:: roboticstoolbox.robot.ETS2
31+
:members:
8032
:undoc-members:
8133
:show-inheritance:
82-
83-
ETS Robot models
84-
----------------
85-
86-
A number of models are defined in terms of elementary transform sequences.
87-
They can be listed by:
88-
89-
.. runblock:: pycon
90-
91-
>>> import roboticstoolbox as rtb
92-
>>> rtb.models.list(mtype="ETS")
34+
:inherited-members:
35+
:special-members:
36+
:exclude-members: count, index, sort, remove, __dict__, __weakref__, __add__, __init__, __repr__, __str__, __module__
37+
38+
ET
39+
------------
40+
.. automodule:: roboticstoolbox.robot.ET
41+
:members:
42+
:undoc-members:
43+
:show-inheritance:
44+
:inherited-members:
45+
:special-members:
46+
:exclude-members: count, index, sort, remove, __dict__, __weakref__, __add__, __init__, __repr__, __str__, __module__

‎roboticstoolbox/models/DH/Puma560.py

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -169,7 +169,7 @@ def __init__(self, symbolic=False):
169169
L,
170170
name="Puma 560",
171171
manufacturer="Unimation",
172-
keywords=('dynamics', 'symbolic', 'mesh'),
172+
keywords=('dynamics', 'symbolic'),
173173
symbolic=symbolic,
174174
meshdir="meshes/UNIMATE/puma560"
175175
)

‎roboticstoolbox/models/ETS/Panda.py

Lines changed: 14 additions & 36 deletions
Original file line numberDiff line numberDiff line change
@@ -29,43 +29,50 @@ def __init__(self):
2929
tool_offset = (103)*mm
3030

3131
l0 = ELink(
32-
ETS.tz(0.333) * ETS.rz(),
32+
ETS.tz(0.333),
33+
ETS.rz(),
3334
name='link0',
3435
parent=None
3536
)
3637

3738
l1 = ELink(
38-
ETS.rx(-90*deg) * ETS.rz(),
39+
ETS.rx(-90*deg),
40+
ETS.rz(),
3941
name='link1',
4042
parent=l0
4143
)
4244

4345
l2 = ELink(
44-
ETS.rx(90*deg) * ETS.tz(0.316) * ETS.rz(),
46+
ETS.rx(90*deg) * ETS.tz(0.316),
47+
ETS.rz(),
4548
name='link2',
4649
parent=l1
4750
)
4851

4952
l3 = ELink(
50-
ETS.tx(0.0825) * ETS.rx(90, 'deg') * ETS.rz(),
53+
ETS.tx(0.0825) * ETS.rx(90*deg),
54+
ETS.rz(),
5155
name='link3',
5256
parent=l2
5357
)
5458

5559
l4 = ELink(
56-
ETS.tx(-0.0825) * ETS.rx(-90, 'deg') * ETS.tz(0.384) * ETS.rz(),
60+
ETS.tx(-0.0825) * ETS.rx(-90*deg) * ETS.tz(0.384),
61+
ETS.rz(),
5762
name='link4',
5863
parent=l3
5964
)
6065

6166
l5 = ELink(
62-
ETS.rx(90, 'deg') * ETS.rz(),
67+
ETS.rx(90*deg),
68+
ETS.rz(),
6369
name='link5',
6470
parent=l4
6571
)
6672

6773
l6 = ELink(
68-
ETS.tx(0.088) * ETS.rx(90, 'deg') * ETS.tz(0.107) * ETS.rz(),
74+
ETS.tx(0.088) * ETS.rx(90*deg) * ETS.tz(0.107),
75+
ETS.rz(),
6976
name='link6',
7077
parent=l5
7178
)
@@ -93,32 +100,3 @@ def __init__(self):
93100

94101
robot = Panda()
95102
print(robot)
96-
97-
print(robot.n, robot.M)
98-
print(robot.elinks)
99-
print(robot.q_idx)
100-
for link in robot:
101-
print(link.name, link)
102-
print(link.ets, link.v, link.isjoint)
103-
print(link.parent, link.child)
104-
print(link.Ts)
105-
print(link.geometry, link.collision)
106-
107-
print()
108-
109-
from ansitable import ANSITable, Column
110-
111-
table = ANSITable(
112-
Column("link"),
113-
Column("parent"),
114-
Column("ETS", headalign="^", colalign="<"),
115-
border="thin")
116-
for link in robot:
117-
if link.isjoint:
118-
color = ""
119-
else:
120-
color = "<<blue>>"
121-
table.row(color + link.name,
122-
link.parent.name if link.parent is not None else "-",
123-
link.ets * link.v if link.v is not None else link.ets)
124-
table.print()

‎roboticstoolbox/models/ETS/Puma560.py

Lines changed: 0 additions & 14 deletions
This file was deleted.

‎roboticstoolbox/robot/DHDynamics.py

Lines changed: 0 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -381,14 +381,6 @@ def accel(self, q, qd, torque):
381381
382382
:math:`\ddot{q} = \mathbf{I}^{-1} \left(\tau - \mathbf{C}(q)\dot{q} - \mathbf{g}(q)\right)`
383383
384-
Example:
385-
386-
.. runblock:: pycon
387-
388-
>>> import roboticstoolbox as rtb
389-
>>> puma = rtb.models.DH.Puma560()
390-
>>> puma.accel(puma.qz, 0.5 * np.ones(6), np.zeros(6))
391-
392384
**Trajectory operation**
393385
394386
If `q`, `qd`, torque are matrices (m,n) then ``qdd`` is a matrix (m,n)

‎roboticstoolbox/robot/DHRobot.py

Lines changed: 31 additions & 71 deletions
Original file line numberDiff line numberDiff line change
@@ -119,102 +119,63 @@ def qs(j, link):
119119

120120
def angle(theta):
121121
if sym.issymbol(theta):
122-
return "<<red>>" + str(theta)
122+
return "<<red>>" + str(L.alpha)
123123
else:
124-
return str(theta * deg) + "\u00b0"
124+
str(L.alpha * deg) + "\u00b0"
125125

126-
has_qlim = any([link._qlim is not None for link in self])
127-
if has_qlim:
128-
qlim_columns = [
129-
Column("q⁻", headalign="^"), Column("q⁺", headalign="^"),
130-
]
131-
qlim = self.qlim
132-
133-
else:
134-
qlim_columns = []
135126
if self.mdh:
136-
# MDH format
137127
table = ANSITable(
138128
Column("aⱼ₋₁", headalign="^"),
139129
Column("⍺ⱼ₋₁", headalign="^"),
140130
Column("θⱼ", headalign="^"),
141131
Column("dⱼ", headalign="^"),
142-
*qlim_columns,
143132
border="thick"
144133
)
145134
for j, L in enumerate(self):
146-
if has_qlim:
147-
if L.isprismatic():
148-
ql = [qlim[0, j], qlim[1, j]]
149-
else:
150-
ql = [angle(qlim[k, j]) for k in [0, 1]]
151-
else:
152-
ql = []
153135
if L.isprismatic():
154-
10000 table.row(L.a, angle(L.alpha), angle(L.theta), qs(j, L), *ql)
136+
table.row(L.a, angle(L.alpha), angle(L.theta), qs(j, L))
155137
else:
156-
table.row(L.a, angle(L.alpha), qs(j, L), L.d, *ql)
138+
table.row(L.a, angle(L.alpha), qs(j, L), L.d)
157139
else:
158140
# DH format
159141
table = ANSITable(
160142
Column("θⱼ", headalign="^", colalign="<"),
161143
Column("dⱼ", headalign="^"),
162144
Column("aⱼ", headalign="^"),
163145
Column("⍺ⱼ", headalign="^"),
164-
*qlim_columns,
165146
border="thick"
166147
)
167148
for j, L in enumerate(self):
168-
if has_qlim:
169-
if L.isprismatic():
170-
ql = [qlim[0, j], qlim[1, j]]
171-
else:
172-
ql = [angle(qlim[k, j]) for k in [0, 1]]
173-
else:
174-
ql = []
175149
if L.isprismatic():
176150
table.row(
177-
angle(L.theta), qs(j, L), L.a, angle(L.alpha), *ql)
151+
angle(L.theta), qs(j, L), L.a, angle(L.alpha * deg))
178152
else:
179-
table.row(qs(j, L), L.d, L.a, angle(L.alpha), *ql)
153+
table.row(qs(j, L), L.d, L.a, angle(L.alpha))
180154

181155
s = str(table)
182156

183-
# show tool and base
184-
if self._tool is not None or self._tool is not None:
185-
table = ANSITable(
186-
Column("", colalign=">"),
187-
Column("", colalign="<"),
188-
border="thin", header=False)
189-
if self._base is not None:
190-
table.row(
191-
"base", self._base.printline(
192-
orient="rpy/xyz", fmt="{:.2g}", file=None))
193-
if self._tool is not None:
194-
table.row(
195-
"tool", self._tool.printline(
196-
orient="rpy/xyz", fmt="{:.2g}", file=None))
197-
s += "\n" + str(table)
198-
199-
# show named configurations
200-
if len(self._configdict) > 0:
201-
table = ANSITable(
202-
Column("name", colalign=">"),
203-
*[Column(f"q{j:d}", colalign="<", headalign="<") for j in range(self.n)],
204-
border="thin")
205-
206-
for name, q in self._configdict.items():
207-
qlist = []
208-
for i, L in enumerate(self):
209-
if L.isprismatic():
210-
qlist.append(f"{q[i]:.3g}")
211-
else:
212-
qlist.append(angle(q[i]))
213-
table.row(name, *qlist)
214-
215-
s += "\n" + str(table)
157+
table = ANSITable(
158+
Column("", colalign=">"),
159+
Column("", colalign="<"), border="thin", header=False)
160+
if self._base is not None:
161+
table.row(
162+
"base", self._base.printline(
163+
orient="rpy/xyz", fmt="{:.2g}", file=None))
164+
if self._tool is not None:
165+
table.row(
166+
"tool", self._tool.printline(
167+
orient="rpy/xyz", fmt="{:.2g}", file=None))
168+
169+
for name, q in self._configdict.items():
170+
qlist = []
171+
for i, L in enumerate(self):
172+
if L.isprismatic():
173+
qlist.append(f"{q[i]:.3g}")
174+
else:
175+
qlist.append(f"{q[i] * deg:.3g}\u00b0")
176+
table.row(name, ', '.join(qlist))
216177

217-
return s
178+
return s + "\n" + str(table)
218179

219180

220181
def __add__(self, L):
@@ -2554,13 +2515,12 @@ def __init__(self, *args, **kwargs):
25542515
import roboticstoolbox as rtb
25552516
# import spatialmath.base.symbolic as sym
25562517

2557-
planar = rtb.models.DH.Planar2()
2518+
puma = rtb.models.DH.Planar2()
25582519
# J = puma.jacob0(puma.qn)
25592520
# print(J)
25602521
# print(puma.manipulability(puma.qn))
25612522
# print(puma.manipulability(puma.qn, 'asada'))
25622523
#tw, T0 = puma.twists(puma.qz)
2563-
print(planar)
2564-
2565-
puma = rtb.models.DH.Puma560()
2566-
print(puma)
2524+
print(puma.qlim)
2525+
print(puma[0].qlim)
2526+
print(puma.islimit([0, -5]))

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