From e4ea7c412e5318114f4df52b90546bab23fcf342 Mon Sep 17 00:00:00 2001 From: rhys Date: Fri, 4 Feb 2022 20:24:08 +1100 Subject: [PATCH 01/12] fetch experiments/math fixes --- roboticstoolbox/models/URDF/Fetch.py | 76 +++ roboticstoolbox/models/URDF/__init__.py | 3 +- roboticstoolbox/robot/ERobot.py | 267 ++++++++- .../fetch_description/meshes/base_link.dae | 134 +++++ .../meshes/base_link_collision.STL | Bin 0 -> 236084 bytes .../fetch_description/meshes/base_link_uv.png | Bin 0 -> 442058 bytes .../fetch_description/meshes/bellows_link.STL | Bin 0 -> 71884 bytes .../meshes/bellows_link_collision.STL | Bin 0 -> 1084 bytes .../meshes/elbow_flex_link.dae | 134 +++++ .../meshes/elbow_flex_link_collision.STL | Bin 0 -> 48684 bytes .../meshes/elbow_flex_uv.png | Bin 0 -> 212497 bytes .../fetch_description/meshes/estop_link.STL | Bin 0 -> 386884 bytes .../fetch_description/meshes/estop_link.dae | 99 ++++ .../meshes/forearm_roll_link.dae | 134 +++++ .../meshes/forearm_roll_link_collision.STL | Bin 0 -> 50084 bytes .../meshes/forearm_roll_uv.png | Bin 0 -> 149277 bytes .../fetch_description/meshes/gripper_link.STL | Bin 0 -> 75384 bytes .../fetch_description/meshes/gripper_link.dae | 225 ++++++++ .../fetch_description/meshes/gripper_uv.png | Bin 0 -> 220 bytes .../meshes/head_pan_link.dae | 134 +++++ .../meshes/head_pan_link_collision.STL | Bin 0 -> 105984 bytes .../fetch_description/meshes/head_pan_uv.png | Bin 0 -> 6619 bytes .../meshes/head_tilt_link.dae | 134 +++++ .../meshes/head_tilt_link_collision.STL | Bin 0 -> 35384 bytes .../fetch_description/meshes/head_tilt_uv.png | Bin 0 -> 52016 bytes .../meshes/l_gripper_finger_link.STL | Bin 0 -> 11484 bytes .../fetch_description/meshes/l_wheel_link.STL | Bin 0 -> 104384 bytes .../meshes/l_wheel_link_collision.STL | Bin 0 -> 68684 bytes .../fetch_description/meshes/laser_link.STL | Bin 0 -> 355884 bytes .../meshes/r_gripper_finger_link.STL | Bin 0 -> 11484 bytes .../fetch_description/meshes/r_wheel_link.STL | Bin 0 -> 104384 bytes .../meshes/r_wheel_link_collision.STL | Bin 0 -> 68684 bytes .../meshes/shoulder_lift_link.dae | 134 +++++ .../meshes/shoulder_lift_link_collision.STL | Bin 0 -> 45384 bytes .../meshes/shoulder_lift_uv.png | Bin 0 -> 172947 bytes .../meshes/shoulder_pan_link.dae | 134 +++++ .../meshes/shoulder_pan_link_collision.STL | Bin 0 -> 65684 bytes .../meshes/shoulder_pan_uv.png | Bin 0 -> 245540 bytes .../meshes/torso_fixed_link.STL | Bin 0 -> 5884 bytes .../meshes/torso_fixed_link.dae | 134 +++++ .../meshes/torso_fixed_uv.png | Bin 0 -> 219 bytes .../meshes/torso_lift_link.dae | 134 +++++ .../meshes/torso_lift_link_collision.STL | Bin 0 -> 50084 bytes .../meshes/torso_lift_uv.png | Bin 0 -> 87431 bytes .../meshes/upperarm_roll_link.dae | 134 +++++ .../meshes/upperarm_roll_link_collision.STL | Bin 0 -> 49984 bytes .../meshes/upperarm_roll_uv.png | Bin 0 -> 209404 bytes .../meshes/wrist_flex_link.dae | 134 +++++ .../meshes/wrist_flex_link_collision.STL | Bin 0 -> 49784 bytes .../meshes/wrist_flex_uv.png | Bin 0 -> 64012 bytes .../meshes/wrist_roll_link.dae | 134 +++++ .../meshes/wrist_roll_link_collision.STL | Bin 0 -> 26084 bytes .../meshes/wrist_roll_uv.png | Bin 0 -> 1694 bytes .../xacro/fetch_description/robots/fetch.urdf | 524 ++++++++++++++++++ .../robots/fetch_camera.urdf | 144 +++++ .../fetch_description/robots/freight.urdf | 148 +++++ 56 files changed, 3088 insertions(+), 6 deletions(-) create mode 100644 roboticstoolbox/models/URDF/Fetch.py create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/base_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/base_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/base_link_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/bellows_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/bellows_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/elbow_flex_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/elbow_flex_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/elbow_flex_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/estop_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/estop_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/forearm_roll_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/forearm_roll_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/forearm_roll_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/gripper_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/gripper_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/gripper_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/head_pan_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/head_pan_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/head_pan_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/head_tilt_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/head_tilt_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/head_tilt_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/l_gripper_finger_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/l_wheel_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/l_wheel_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/laser_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/r_gripper_finger_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/r_wheel_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/r_wheel_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/shoulder_lift_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/shoulder_lift_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/shoulder_lift_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/shoulder_pan_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/shoulder_pan_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/shoulder_pan_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/torso_fixed_link.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/torso_fixed_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/torso_fixed_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/torso_lift_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/torso_lift_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/torso_lift_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/upperarm_roll_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/upperarm_roll_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/upperarm_roll_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/wrist_flex_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/wrist_flex_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/wrist_flex_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/wrist_roll_link.dae create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/wrist_roll_link_collision.STL create mode 100644 rtb-data/rtbdata/xacro/fetch_description/meshes/wrist_roll_uv.png create mode 100644 rtb-data/rtbdata/xacro/fetch_description/robots/fetch.urdf create mode 100644 rtb-data/rtbdata/xacro/fetch_description/robots/fetch_camera.urdf create mode 100644 rtb-data/rtbdata/xacro/fetch_description/robots/freight.urdf diff --git a/roboticstoolbox/models/URDF/Fetch.py b/roboticstoolbox/models/URDF/Fetch.py new file mode 100644 index 000000000..dc6cc58e3 --- /dev/null +++ b/roboticstoolbox/models/URDF/Fetch.py @@ -0,0 +1,76 @@ +#!/usr/bin/env python + +import numpy as np +from roboticstoolbox.robot.ERobot import ERobot +from spatialmath import SE3 + + +class Fetch(ERobot): + """ + Class that imports a Fetch URDF model + + ``Fetch()`` is a class which imports a Fetch robot definition + from a URDF file. The model describes its kinematic and graphical + characteristics. + + .. runblock:: pycon + + >>> import roboticstoolbox as rtb + >>> robot = rtb.models.URDF.Fetch() + >>> print(robot) + + Defined joint configurations are: + + - qz, zero joint angle configuration, 'L' shaped configuration + - qr, vertical 'READY' configuration + - qs, arm is stretched out in the x-direction + - qn, arm is at a nominal non-singular configuration + + .. codeauthor:: Jesse Haviland + .. sectionauthor:: Peter Corke + """ + + def __init__(self): + + links, name, urdf_string, urdf_filepath = self.URDF_read( + "fetch_description/robots/fetch.urdf" + ) + + super().__init__( + links, + name=name, + manufacturer="Fetch", + gripper_links=links[11], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + # self.grippers[0].tool = SE3(0, 0, 0.1034) + + self.qdlim = np.array( + [4.0, 4.0, 0.1, 1.25, 1.45, 1.57, 1.52, 1.57, 2.26, 2.26] + ) + + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0])) + + self.addconfiguration( + "qr", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) + ) + + +if __name__ == "__main__": # pragma nocover + + robot = Fetch() + print(robot) + + for link in robot.links: + print(link.name) + print(link.isjoint) + print(len(link.collision)) + + print() + + for link in robot.grippers[0].links: + print(link.name) + print(link.isjoint) + print(len(link.collision)) diff --git a/roboticstoolbox/models/URDF/__init__.py b/roboticstoolbox/models/URDF/__init__.py index 2c8a2f75f..0c851912b 100644 --- a/roboticstoolbox/models/URDF/__init__.py +++ b/roboticstoolbox/models/URDF/__init__.py @@ -19,7 +19,7 @@ from roboticstoolbox.models.URDF.LBR import LBR from roboticstoolbox.models.URDF.KinovaGen3 import KinovaGen3 from roboticstoolbox.models.URDF.YuMi import YuMi - +from roboticstoolbox.models.URDF.Fetch import Fetch __all__ = [ "Panda", "Frankie", @@ -42,4 +42,5 @@ "LBR", "KinovaGen3", "YuMi", + "Fetch" ] diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index b5412055e..bba49fb29 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -2066,6 +2066,7 @@ def link_collision_damper( j = 0 Ain = None bin = None + din = None def indiv_calculation(link, link_col, q): d, wTlp, wTcp = link_col.closest_point(shape, di) @@ -2074,22 +2075,30 @@ def indiv_calculation(link, link_col, q): lpTcp = -wTlp + wTcp norm = lpTcp / d + # norm = self.fkine(q, end=link, fast=True)[:3, :3] @ norm norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) - Je = self.jacobe( - q, start=self.base_link, end=link, tool=link_col.base.A, fast=True + tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) + + Je = self.jacob0( + q, end=link, tool=tool.A, fast=True ) + Je[:3, :] = self._base.A[:3, :3] @ Je[:3, :] + + + # print(Je) + n_dim = Je.shape[1] dp = norm_h @ shape.v - l_Ain = np.zeros((1, n)) + l_Ain = np.zeros((1, self.n)) l_Ain[0, :n_dim] = norm_h @ Je - l_bin = (xi * (d - ds) / (di - ds)) + dp + l_bin = (xi * (d - ds) / (di - ds)) + 0 else: l_Ain = None l_bin = None return l_Ain, l_bin, d, wTcp - + for link in links: if link.isjoint: j += 1 @@ -2113,8 +2122,256 @@ def indiv_calculation(link, link_col, q): else: bin = np.r_[bin, l_bin] + if din is None: + din = d + else: + din = np.r_[din, d] + return Ain, bin + def vision_collision_damper( + self, + shape, + q=None, + di=0.3, + ds=0.05, + xi=1.0, + end=None, + start=None, + collision_list=None, + camera=None + ): + """ + Formulates an inequality contraint which, when optimised for will + make it impossible for the robot to run into a collision. Requires + See examples/neo.py for use case + :param ds: The minimum distance in which a joint is allowed to + approach the collision object shape + :type ds: float + :param di: The influence distance in which the velocity + damper becomes active + :type di: float + :param xi: The gain for the velocity damper + :type xi: float + :param from_link: The first link to consider, defaults to the base + link + :type from_link: ELink + :param to_link: The last link to consider, will consider all links + between from_link and to_link in the robot, defaults to the + end-effector link + :type to_link: ELink + :returns: Ain, Bin as the inequality contraints for an omptimisor + :rtype: ndarray(6), ndarray(6) + """ + + if start is None: + start = self.base_link + + if end is None: + end = self.ee_link + + links, n, _ = self.get_path(start=start, end=end) + + # if q is None: + # q = np.copy(self.q) + # else: + # q = getvector(q, n) + + j = 0 + Ain = None + bin = None + din = None + + def indiv_calculation(link, link_col, q): + d, wTlp, wTcp = link_col.closest_point(shape, di) + + if d is not None: + lpTcp = -wTlp + wTcp + + norm = lpTcp / d + norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) + + tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) + + Je = self.jacob0( + q, end=link, tool=tool.A, fast=True + ) + Je[:3, :] = self._base.A[:3, :3] @ Je[:3, :] + + wTc = camera.fkine(camera.q, fast=True) + Jv = camera.jacob0( + camera.q, tool=SE3(np.linalg.inv(wTc[:3, :3]) @ (wTcp - wTc[:3, -1])).A, fast=True + ) + Jv[:3, :] = self._base.A[:3, :3] @ Jv[:3, :] + + n_dim = Je.shape[1] + dp = norm_h @ Jv + l_Ain = np.zeros((1, self.n + 2 + 10)) + l_Ain[0, :n_dim] = norm_h @ Je + l_Ain -= np.r_[dp[0, :3], np.zeros(7), dp[0, 3:], np.zeros(9), 1] + l_bin = (xi * (d - ds) / (di - ds)) + else: + l_Ain = None + l_bin = None + + return l_Ain, l_bin, d, wTcp + + for link in links: + if link.isjoint: + j += 1 + + if collision_list is None: + col_list = link.collision + else: + col_list = collision_list[j - 1] + + for link_col in col_list: + l_Ain, l_bin, d, wTcp = indiv_calculation(link, link_col, q) + + if l_Ain is not None and l_bin is not None: + if Ain is None: + Ain = l_Ain + else: + Ain = np.r_[Ain, l_Ain] + + if bin is None: + bin = np.array(l_bin) + else: + bin = np.r_[bin, l_bin] + + if din is None: + din = d + else: + din = np.r_[din, d] + + return Ain, bin, din + + def new_vision_collision_damper( + self, + shape, + q=None, + di=0.3, + ds=0.05, + xi=1.0, + end=None, + start=None, + collision_list=None, + camera=None, + obj=None + ): + """ + Formulates an inequality contraint which, when optimised for will + make it impossible for the robot to run into a collision. Requires + See examples/neo.py for use case + :param ds: The minimum distance in which a joint is allowed to + approach the collision object shape + :type ds: float + :param di: The influence distance in which the velocity + damper becomes active + :type di: float + :param xi: The gain for the velocity damper + :type xi: float + :param from_link: The first link to consider, defaults to the base + link + :type from_link: ELink + :param to_link: The last link to consider, will consider all links + between from_link and to_link in the robot, defaults to the + end-effector link + :type to_link: ELink + :returns: Ain, Bin as the inequality contraints for an omptimisor + :rtype: ndarray(6), ndarray(6) + """ + + if start is None: + start = self.base_link + + if end is None: + end = self.ee_link + + links, n, _ = self.get_path(start=start, end=end) + + # if q is None: + # q = np.copy(self.q) + # else: + # q = getvector(q, n) + + j = 0 + Ain = None + bin = None + din = None + + def indiv_calculation(link, link_col, q): + d, wTlp, wTcp = link_col.closest_point(shape, di) + + if d is not None: + lpTcp = -wTlp + wTcp + + norm = lpTcp / d + + norm_e = self.fkine(q, end=link, fast=True)[:3, :3] @ norm + norm_v = camera.fkine(camera.q, fast=True)[:3, :3] @ norm + + norm_e = np.expand_dims(np.r_[norm_e, 0, 0, 0], axis=0) + norm_v = np.expand_dims(np.r_[norm_v, 0, 0, 0], axis=0) + + norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) + + tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) + + Je = self.jacobe( + q, end=link, tool=tool.A, fast=True + ) + + Jv = camera.jacobe(camera.q, fast=True) + + total_length = shape._length + length = np.linalg.norm(wTcp - obj) + Jv *= length / total_length + + n_dim = Je.shape[1] + dp = norm_v @ Jv + l_Ain = np.zeros((1, self.n + 2 + 10)) + l_Ain[0, :n_dim] = norm_e @ Je + l_Ain -= np.r_[dp[0, :3], np.zeros(7), dp[0, 3:], np.zeros(9), 1] + l_bin = (xi * (d - ds) / (di - ds)) + + else: + l_Ain = None + l_bin = None + + return l_Ain, l_bin, d, wTcp + + for link in links: + if link.isjoint: + j += 1 + + if collision_list is None: + col_list = link.collision + else: + col_list = collision_list[j - 1] + + for link_col in col_list: + l_Ain, l_bin, d, wTcp = indiv_calculation(link, link_col, q) + + if l_Ain is not None and l_bin is not None: + if Ain is None: + Ain = l_Ain + else: + Ain = np.r_[Ain, l_Ain] + + if bin is None: + bin = np.array(l_bin) + else: + bin = np.r_[bin, l_bin] + + if din is None: + din = d + else: + din = np.r_[din, d] + + return Ain, bin, din + + # inverse dynamics (recursive Newton-Euler) using spatial vector notation def rne(robot, q, qd, qdd, symbolic=False, gravity=None): diff --git a/rtb-data/rtbdata/xacro/fetch_description/meshes/base_link.dae b/rtb-data/rtbdata/xacro/fetch_description/meshes/base_link.dae new file mode 100644 index 000000000..cd8a33737 --- /dev/null +++ b/rtb-data/rtbdata/xacro/fetch_description/meshes/base_link.dae @@ -0,0 +1,134 @@ + + + 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6000 11603 34811 6000 11604 34812 5979 11604 34813 5978 11604 34814 5996 11605 34815 6000 11605 34816 5999 11605 34817 5999 11606 34818 6000 11606 34819 5978 11606 34820 5999 11607 34821 5978 11607 34822 5984 11607 34823 5995 11608 34824 5997 11608 34825 5996 11608 34826 5996 11609 34827 5997 11609 34828 5998 11609 34829 5996 11610 34830 5998 11610 34831 6000 11610 34832 6000 11611 34833 5998 11611 34834 1648 11611 34835 6000 11612 34836 1648 11612 34837 5977 11612 34838 5977 11613 34839 1648 11613 34840 1647 11613 34841 5981 11614 34842 2313 11614 34843 5999 11614 34844 5999 11615 34845 2313 11615 34846 2315 11615 34847 5999 11616 34848 2315 11616 34849 5996 11616 34850 5996 11617 34851 2315 11617 34852 2317 11617 34853 5996 11618 34854 2317 11618 34855 2319 11618 34856 2355 11619 34857 2357 11619 34858 5993 11619 34859 2355 11620 34860 5993 11620 34861 6001 11620 34862 6001 11621 34863 5993 11621 34864 5991 11621 34865 6001 11622 34866 5991 11622 34867 6002 11622 34868 6002 11623 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/rtb-data/rtbdata/xacro/fetch_description/robots/freight.urdf b/rtb-data/rtbdata/xacro/fetch_description/robots/freight.urdf new file mode 100644 index 000000000..5bc260788 --- /dev/null +++ b/rtb-data/rtbdata/xacro/fetch_description/robots/freight.urdf @@ -0,0 +1,148 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From e4d9d326d0f808b83a8ba59e1edd0ce14fe6df1f Mon Sep 17 00:00:00 2001 From: rhys Date: Fri, 4 Feb 2022 21:00:03 +1100 Subject: [PATCH 02/12] removed duplicate function --- environment.yml | 198 ++++++++++++++++++++++++++++++++ roboticstoolbox/robot/ERobot.py | 127 +------------------- 2 files changed, 200 insertions(+), 125 deletions(-) create mode 100644 environment.yml diff --git a/environment.yml b/environment.yml new file mode 100644 index 000000000..ee6e50927 --- /dev/null +++ b/environment.yml @@ -0,0 +1,198 @@ +name: mobile +channels: + - conda-forge + - defaults +dependencies: + - aiohttp=3.8.1=py38h294d835_0 + - aiosignal=1.2.0=pyhd8ed1ab_0 + - ansitable=0.9.6=pyhd8ed1ab_0 + - anyio=3.4.0=py38haa244fe_0 + - argon2-cffi=21.1.0=py38h294d835_2 + - async-timeout=4.0.2=pyhd8ed1ab_0 + - async_generator=1.10=py_0 + - attrs=21.2.0=pyhd8ed1ab_0 + - autobahn=21.11.1=pyhd8ed1ab_0 + - backcall=0.2.0=pyh9f0ad1d_0 + - backports=1.0=py_2 + - backports.functools_lru_cache=1.6.4=pyhd8ed1ab_0 + - bleach=4.1.0=pyhd8ed1ab_0 + - brotli=1.0.9=h8ffe710_6 + - brotli-bin=1.0.9=h8ffe710_6 + - bullet=3.17=h57928b3_1 + - bullet-cpp=3.17=h5d928e2_1 + - ca-certificates=2021.10.8=h5b45459_0 + - certifi=2021.10.8=py38haa244fe_1 + - cffi=1.15.0=py38hd8c33c5_0 + - charset-normalizer=2.0.9=pyhd8ed1ab_0 + - colorama=0.4.4=pyh9f0ad1d_0 + - colored=1.4.2=py_0 + - cryptography=36.0.1=py38hb7941b4_0 + - cvxopt=1.2.7=py38he924ae6_1 + - cycler=0.11.0=pyhd8ed1ab_0 + - cython=0.29.26=py38h885f38d_0 + - debugpy=1.5.1=py38h885f38d_0 + - decorator=5.1.0=pyhd8ed1ab_0 + - defusedxml=0.7.1=pyhd8ed1ab_0 + - dsdp=5.8=h6e01ec9_1203 + - ecos=2.0.8=py38h6f4d8f0_2 + - entrypoints=0.3=pyhd8ed1ab_1003 + - ffmpeg=4.3.1=ha925a31_0 + - fftw=3.3.10=nompi_h77347bd_102 + - fonttools=4.28.5=py38h294d835_0 + - freeglut=3.2.1=h0e60522_2 + - freetype=2.10.4=h546665d_1 + - frozenlist=1.2.0=py38h294d835_1 + - glpk=4.65=h8ffe710_1004 + - gsl=2.7=hdfb1a43_0 + - hyperlink=21.0.0=pyhd3deb0d_0 + - icu=68.2=h0e60522_0 + - idna=3.1=pyhd3deb0d_0 + - imageio=2.13.4=pyh239f2a4_0 + - imageio-ffmpeg=0.4.5=pyhd8ed1ab_0 + - importlib-metadata=4.10.0=py38haa244fe_0 + - importlib_resources=5.4.0=pyhd8ed1ab_0 + - intel-openmp=2021.4.0=h57928b3_3556 + - ipykernel=6.5.1=py38h595d716_0 + - ipython=7.30.1=py38haa244fe_0 + - ipython_genutils=0.2.0=py_1 + - ipywidgets=7.6.5=pyhd8ed1ab_0 + - jasper=2.0.33=h77af90b_0 + - jbig=2.1=h8d14728_2003 + - jedi=0.18.1=py38haa244fe_0 + - jinja2=3.0.3=pyhd8ed1ab_0 + - jpeg=9d=h8ffe710_0 + - jsonschema=4.3.2=pyhd8ed1ab_0 + - jupyter=1.0.0=py38haa244fe_7 + - jupyter-server-proxy=3.2.0=pyhd8ed1ab_0 + - jupyter_client=6.1.12=pyhd8ed1ab_0 + - jupyter_console=6.4.0=pyhd8ed1ab_1 + - jupyter_core=4.9.1=py38haa244fe_1 + - jupyter_server=1.13.1=pyhd8ed1ab_0 + - jupyterlab_pygments=0.1.2=pyh9f0ad1d_0 + - jupyterlab_widgets=1.0.2=pyhd8ed1ab_0 + - kiwisolver=1.3.2=py38hbd9d945_1 + - lcms2=2.12=h2a16943_0 + - lerc=3.0=h0e60522_0 + - libblas=3.9.0=12_win64_mkl + - libbrotlicommon=1.0.9=h8ffe710_6 + - libbrotlidec=1.0.9=h8ffe710_6 + - libbrotlienc=1.0.9=h8ffe710_6 + - libcblas=3.9.0=12_win64_mkl + - libclang=11.1.0=default_h5c34c98_1 + - libdeflate=1.8=h8ffe710_0 + - liblapack=3.9.0=12_win64_mkl + - liblapacke=3.9.0=12_win64_mkl + - libopencv=4.5.5=py38hd5548a8_0 + - libpng=1.6.37=h1d00b33_2 + - libprotobuf=3.19.3=h7755175_0 + - libsodium=1.0.18=h8d14728_1 + - libtiff=4.3.0=hd413186_2 + - libwebp-base=1.2.1=h8ffe710_0 + - libzlib=1.2.11=h8ffe710_1013 + - lz4-c=1.9.3=h8ffe710_1 + - m2w64-gcc-libgfortran=5.3.0=6 + - m2w64-gcc-libs=5.3.0=7 + - m2w64-gcc-libs-core=5.3.0=7 + - m2w64-gmp=6.1.0=2 + - m2w64-libwinpthread-git=5.0.0.4634.697f757=2 + - markupsafe=2.0.1=py38h294d835_1 + - matplotlib-base=3.5.1=py38h1f000d6_0 + - matplotlib-inline=0.1.3=pyhd8ed1ab_0 + - mistune=0.8.4=py38h294d835_1005 + - mkl=2021.4.0=h0e2418a_729 + - mpmath=1.2.1=pyhd8ed1ab_0 + - msys2-conda-epoch=20160418=1 + - multidict=5.2.0=py38h294d835_1 + - munkres=1.1.4=pyh9f0ad1d_0 + - nbclient=0.5.9=pyhd8ed1ab_0 + - nbconvert=6.3.0=py38haa244fe_1 + - nbformat=5.1.3=pyhd8ed1ab_0 + - nest-asyncio=1.5.4=pyhd8ed1ab_0 + - notebook=6.4.6=pyha770c72_0 + - numpy=1.21.5=py38hcf66579_0 + - numpy-stl=2.16.3=py38h6f4d8f0_1 + - olefile=0.46=pyh9f0ad1d_1 + - opencv=4.5.5=py38haa244fe_0 + - openjpeg=2.4.0=hb211442_1 + - openssl=1.1.1l=h8ffe710_0 + - osqp=0.6.2.post0=py38h5d928e2_3 + - packaging=21.3=pyhd8ed1ab_0 + - pandoc=2.16.2=h8ffe710_0 + - pandocfilters=1.5.0=pyhd8ed1ab_0 + - parso=0.8.3=pyhd8ed1ab_0 + - pgraph-python=0.6.1=pyhd8ed1ab_0 + - pickleshare=0.7.5=py_1003 + - pillow=8.4.0=py38h794f750_0 + - pip=21.3.1=pyhd8ed1ab_0 + - progress=1.6=pyhd8ed1ab_0 + - prometheus_client=0.12.0=pyhd8ed1ab_0 + - prompt-toolkit=3.0.24=pyha770c72_0 + - prompt_toolkit=3.0.24=hd8ed1ab_0 + - py-opencv=4.5.5=py38h595d716_0 + - pybullet=3.17=py38h5d928e2_1 + - pycparser=2.21=pyhd8ed1ab_0 + - pygments=2.10.0=pyhd8ed1ab_0 + - pyparsing=3.0.6=pyhd8ed1ab_0 + - pyqt=5.12.3=py38haa244fe_8 + - pyqt-impl=5.12.3=py38h885f38d_8 + - pyqt5-sip=4.19.18=py38h885f38d_8 + - pyqtchart=5.12=py38h885f38d_8 + - pyqtwebengine=5.12.1=py38h885f38d_8 + - pyrsistent=0.18.0=py38h294d835_0 + - python=3.8.12=h7840368_2_cpython + - python-dateutil=2.8.2=pyhd8ed1ab_0 + - python-utils=2.6.3=pyhd8ed1ab_0 + - python_abi=3.8=2_cp38 + - pywin32=302=py38h294d835_2 + - pywinpty=1.1.6=py38hd3f51b4_0 + - pyyaml=6.0=py38h294d835_3 + - pyzmq=22.3.0=py38h09162b1_1 + - qdldl-python=0.1.5=py38h5d928e2_2 + - qpsolvers=1.7.2=pyhd8ed1ab_0 + - qt=5.12.9=h5909a2a_4 + - qtconsole=5.2.2=pyhd8ed1ab_0 + - qtpy=2.0.0=pyhd8ed1ab_0 + - quadprog=0.1.11=py38hbd9d945_0 + - roboticstoolbox-python=0.11.0=py38h6f4d8f0_0 + - rtb-data=0.10.0=pyhd8ed1ab_0 + - scipy=1.7.3=py38ha1292f7_0 + - send2trash=1.8.0=pyhd8ed1ab_0 + - setuptools=60.0.4=py38haa244fe_0 + - simpervisor=0.4=pyhd8ed1ab_0 + - six=1.16.0=pyh6c4a22f_0 + - sniffio=1.2.0=py38haa244fe_2 + - spatialgeometry=0.2.0=pyhd8ed1ab_0 + - spatialmath-python=0.11=pyhd8ed1ab_0 + - sphinxcontrib-jsmath=1.0.1=py_0 + - sqlite=3.37.0=h8ffe710_0 + - swift-sim=0.10.0=py38h6f4d8f0_1 + - sympy=1.9=py38haa244fe_1 + - tbb=2021.4.0=h2d74725_1 + - terminado=0.12.1=py38haa244fe_1 + - testpath=0.5.0=pyhd8ed1ab_0 + - tk=8.6.11=h8ffe710_1 + - tornado=6.1=py38h294d835_2 + - traitlets=5.1.1=pyhd8ed1ab_0 + - txaio=21.2.1=pyhd8ed1ab_0 + - typing-extensions=4.0.1=hd8ed1ab_0 + - typing_extensions=4.0.1=pyha770c72_0 + - ucrt=10.0.20348.0=h57928b3_0 + - unicodedata2=14.0.0=py38h294d835_0 + - vc=14.2=hb210afc_5 + - vpython=7.6.2=py38h294d835_0 + - vs2015_runtime=14.29.30037=h902a5da_5 + - wcwidth=0.2.5=pyh9f0ad1d_2 + - webencodings=0.5.1=py_1 + - websocket-client=1.2.3=pyhd8ed1ab_0 + - websockets=10.1=py38h294d835_0 + - wheel=0.37.1=pyhd8ed1ab_0 + - widgetsnbextension=3.5.2=py38haa244fe_1 + - winpty=0.4.3=4 + - xz=5.2.5=h62dcd97_1 + - yaml=0.2.5=he774522_0 + - yarl=1.7.2=py38h294d835_1 + - zeromq=4.3.4=h0e60522_1 + - zipp=3.6.0=pyhd8ed1ab_0 + - zlib=1.2.11=h8ffe710_1013 + - zstd=1.5.0=h6255e5f_0 +prefix: D:\conda\envs\mobile diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index bba49fb29..5ee6fc15c 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -2130,123 +2130,6 @@ def indiv_calculation(link, link_col, q): return Ain, bin def vision_collision_damper( - self, - shape, - q=None, - di=0.3, - ds=0.05, - xi=1.0, - end=None, - start=None, - collision_list=None, - camera=None - ): - """ - Formulates an inequality contraint which, when optimised for will - make it impossible for the robot to run into a collision. Requires - See examples/neo.py for use case - :param ds: The minimum distance in which a joint is allowed to - approach the collision object shape - :type ds: float - :param di: The influence distance in which the velocity - damper becomes active - :type di: float - :param xi: The gain for the velocity damper - :type xi: float - :param from_link: The first link to consider, defaults to the base - link - :type from_link: ELink - :param to_link: The last link to consider, will consider all links - between from_link and to_link in the robot, defaults to the - end-effector link - :type to_link: ELink - :returns: Ain, Bin as the inequality contraints for an omptimisor - :rtype: ndarray(6), ndarray(6) - """ - - if start is None: - start = self.base_link - - if end is None: - end = self.ee_link - - links, n, _ = self.get_path(start=start, end=end) - - # if q is None: - # q = np.copy(self.q) - # else: - # q = getvector(q, n) - - j = 0 - Ain = None - bin = None - din = None - - def indiv_calculation(link, link_col, q): - d, wTlp, wTcp = link_col.closest_point(shape, di) - - if d is not None: - lpTcp = -wTlp + wTcp - - norm = lpTcp / d - norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) - - tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) - - Je = self.jacob0( - q, end=link, tool=tool.A, fast=True - ) - Je[:3, :] = self._base.A[:3, :3] @ Je[:3, :] - - wTc = camera.fkine(camera.q, fast=True) - Jv = camera.jacob0( - camera.q, tool=SE3(np.linalg.inv(wTc[:3, :3]) @ (wTcp - wTc[:3, -1])).A, fast=True - ) - Jv[:3, :] = self._base.A[:3, :3] @ Jv[:3, :] - - n_dim = Je.shape[1] - dp = norm_h @ Jv - l_Ain = np.zeros((1, self.n + 2 + 10)) - l_Ain[0, :n_dim] = norm_h @ Je - l_Ain -= np.r_[dp[0, :3], np.zeros(7), dp[0, 3:], np.zeros(9), 1] - l_bin = (xi * (d - ds) / (di - ds)) - else: - l_Ain = None - l_bin = None - - return l_Ain, l_bin, d, wTcp - - for link in links: - if link.isjoint: - j += 1 - - if collision_list is None: - col_list = link.collision - else: - col_list = collision_list[j - 1] - - for link_col in col_list: - l_Ain, l_bin, d, wTcp = indiv_calculation(link, link_col, q) - - if l_Ain is not None and l_bin is not None: - if Ain is None: - Ain = l_Ain - else: - Ain = np.r_[Ain, l_Ain] - - if bin is None: - bin = np.array(l_bin) - else: - bin = np.r_[bin, l_bin] - - if din is None: - din = d - else: - din = np.r_[din, d] - - return Ain, bin, din - - def new_vision_collision_damper( self, shape, q=None, @@ -2261,8 +2144,8 @@ def new_vision_collision_damper( ): """ Formulates an inequality contraint which, when optimised for will - make it impossible for the robot to run into a collision. Requires - See examples/neo.py for use case + make it impossible for the robot to self-occlude + :param shape: The line of sight object. :param ds: The minimum distance in which a joint is allowed to approach the collision object shape :type ds: float @@ -2290,11 +2173,6 @@ def new_vision_collision_damper( links, n, _ = self.get_path(start=start, end=end) - # if q is None: - # q = np.copy(self.q) - # else: - # q = getvector(q, n) - j = 0 Ain = None bin = None @@ -2371,7 +2249,6 @@ def indiv_calculation(link, link_col, q): return Ain, bin, din - # inverse dynamics (recursive Newton-Euler) using spatial vector notation def rne(robot, q, qd, qdd, symbolic=False, gravity=None): From ac91e6271328be35470fbdd9d807f7518bcfbe57 Mon Sep 17 00:00:00 2001 From: rhys Date: Fri, 4 Feb 2022 21:00:53 +1100 Subject: [PATCH 03/12] removed accidental file --- environment.yml | 198 ------------------------------------------------ 1 file changed, 198 deletions(-) delete mode 100644 environment.yml diff --git a/environment.yml b/environment.yml deleted file mode 100644 index ee6e50927..000000000 --- a/environment.yml +++ /dev/null @@ -1,198 +0,0 @@ -name: mobile -channels: - - conda-forge - - defaults -dependencies: - - aiohttp=3.8.1=py38h294d835_0 - - aiosignal=1.2.0=pyhd8ed1ab_0 - - ansitable=0.9.6=pyhd8ed1ab_0 - - anyio=3.4.0=py38haa244fe_0 - - argon2-cffi=21.1.0=py38h294d835_2 - - async-timeout=4.0.2=pyhd8ed1ab_0 - - async_generator=1.10=py_0 - - attrs=21.2.0=pyhd8ed1ab_0 - - autobahn=21.11.1=pyhd8ed1ab_0 - - backcall=0.2.0=pyh9f0ad1d_0 - - backports=1.0=py_2 - - backports.functools_lru_cache=1.6.4=pyhd8ed1ab_0 - - bleach=4.1.0=pyhd8ed1ab_0 - - brotli=1.0.9=h8ffe710_6 - - brotli-bin=1.0.9=h8ffe710_6 - - bullet=3.17=h57928b3_1 - - bullet-cpp=3.17=h5d928e2_1 - - ca-certificates=2021.10.8=h5b45459_0 - - certifi=2021.10.8=py38haa244fe_1 - - cffi=1.15.0=py38hd8c33c5_0 - - charset-normalizer=2.0.9=pyhd8ed1ab_0 - - colorama=0.4.4=pyh9f0ad1d_0 - - colored=1.4.2=py_0 - - cryptography=36.0.1=py38hb7941b4_0 - - cvxopt=1.2.7=py38he924ae6_1 - - cycler=0.11.0=pyhd8ed1ab_0 - - cython=0.29.26=py38h885f38d_0 - - debugpy=1.5.1=py38h885f38d_0 - - decorator=5.1.0=pyhd8ed1ab_0 - - defusedxml=0.7.1=pyhd8ed1ab_0 - - dsdp=5.8=h6e01ec9_1203 - - ecos=2.0.8=py38h6f4d8f0_2 - - entrypoints=0.3=pyhd8ed1ab_1003 - - ffmpeg=4.3.1=ha925a31_0 - - fftw=3.3.10=nompi_h77347bd_102 - - fonttools=4.28.5=py38h294d835_0 - - freeglut=3.2.1=h0e60522_2 - - freetype=2.10.4=h546665d_1 - - frozenlist=1.2.0=py38h294d835_1 - - glpk=4.65=h8ffe710_1004 - - gsl=2.7=hdfb1a43_0 - - hyperlink=21.0.0=pyhd3deb0d_0 - - icu=68.2=h0e60522_0 - - idna=3.1=pyhd3deb0d_0 - - imageio=2.13.4=pyh239f2a4_0 - - imageio-ffmpeg=0.4.5=pyhd8ed1ab_0 - - importlib-metadata=4.10.0=py38haa244fe_0 - - importlib_resources=5.4.0=pyhd8ed1ab_0 - - intel-openmp=2021.4.0=h57928b3_3556 - - ipykernel=6.5.1=py38h595d716_0 - - ipython=7.30.1=py38haa244fe_0 - - ipython_genutils=0.2.0=py_1 - - ipywidgets=7.6.5=pyhd8ed1ab_0 - - jasper=2.0.33=h77af90b_0 - - jbig=2.1=h8d14728_2003 - - jedi=0.18.1=py38haa244fe_0 - - jinja2=3.0.3=pyhd8ed1ab_0 - - jpeg=9d=h8ffe710_0 - - jsonschema=4.3.2=pyhd8ed1ab_0 - - jupyter=1.0.0=py38haa244fe_7 - - jupyter-server-proxy=3.2.0=pyhd8ed1ab_0 - - jupyter_client=6.1.12=pyhd8ed1ab_0 - - jupyter_console=6.4.0=pyhd8ed1ab_1 - - jupyter_core=4.9.1=py38haa244fe_1 - - jupyter_server=1.13.1=pyhd8ed1ab_0 - - jupyterlab_pygments=0.1.2=pyh9f0ad1d_0 - - jupyterlab_widgets=1.0.2=pyhd8ed1ab_0 - - kiwisolver=1.3.2=py38hbd9d945_1 - - lcms2=2.12=h2a16943_0 - - lerc=3.0=h0e60522_0 - - libblas=3.9.0=12_win64_mkl - - libbrotlicommon=1.0.9=h8ffe710_6 - - libbrotlidec=1.0.9=h8ffe710_6 - - libbrotlienc=1.0.9=h8ffe710_6 - - libcblas=3.9.0=12_win64_mkl - - libclang=11.1.0=default_h5c34c98_1 - - libdeflate=1.8=h8ffe710_0 - - liblapack=3.9.0=12_win64_mkl - - liblapacke=3.9.0=12_win64_mkl - - libopencv=4.5.5=py38hd5548a8_0 - - libpng=1.6.37=h1d00b33_2 - - libprotobuf=3.19.3=h7755175_0 - - libsodium=1.0.18=h8d14728_1 - - libtiff=4.3.0=hd413186_2 - - libwebp-base=1.2.1=h8ffe710_0 - - libzlib=1.2.11=h8ffe710_1013 - - lz4-c=1.9.3=h8ffe710_1 - - m2w64-gcc-libgfortran=5.3.0=6 - - m2w64-gcc-libs=5.3.0=7 - - m2w64-gcc-libs-core=5.3.0=7 - - m2w64-gmp=6.1.0=2 - - m2w64-libwinpthread-git=5.0.0.4634.697f757=2 - - markupsafe=2.0.1=py38h294d835_1 - - matplotlib-base=3.5.1=py38h1f000d6_0 - - matplotlib-inline=0.1.3=pyhd8ed1ab_0 - - mistune=0.8.4=py38h294d835_1005 - - mkl=2021.4.0=h0e2418a_729 - - mpmath=1.2.1=pyhd8ed1ab_0 - - msys2-conda-epoch=20160418=1 - - multidict=5.2.0=py38h294d835_1 - - munkres=1.1.4=pyh9f0ad1d_0 - - nbclient=0.5.9=pyhd8ed1ab_0 - - nbconvert=6.3.0=py38haa244fe_1 - - nbformat=5.1.3=pyhd8ed1ab_0 - - nest-asyncio=1.5.4=pyhd8ed1ab_0 - - notebook=6.4.6=pyha770c72_0 - - numpy=1.21.5=py38hcf66579_0 - - numpy-stl=2.16.3=py38h6f4d8f0_1 - - olefile=0.46=pyh9f0ad1d_1 - - opencv=4.5.5=py38haa244fe_0 - - openjpeg=2.4.0=hb211442_1 - - openssl=1.1.1l=h8ffe710_0 - - osqp=0.6.2.post0=py38h5d928e2_3 - - packaging=21.3=pyhd8ed1ab_0 - - pandoc=2.16.2=h8ffe710_0 - - pandocfilters=1.5.0=pyhd8ed1ab_0 - - parso=0.8.3=pyhd8ed1ab_0 - - pgraph-python=0.6.1=pyhd8ed1ab_0 - - pickleshare=0.7.5=py_1003 - - pillow=8.4.0=py38h794f750_0 - - pip=21.3.1=pyhd8ed1ab_0 - - progress=1.6=pyhd8ed1ab_0 - - prometheus_client=0.12.0=pyhd8ed1ab_0 - - prompt-toolkit=3.0.24=pyha770c72_0 - - prompt_toolkit=3.0.24=hd8ed1ab_0 - - py-opencv=4.5.5=py38h595d716_0 - - pybullet=3.17=py38h5d928e2_1 - - pycparser=2.21=pyhd8ed1ab_0 - - pygments=2.10.0=pyhd8ed1ab_0 - - pyparsing=3.0.6=pyhd8ed1ab_0 - - pyqt=5.12.3=py38haa244fe_8 - - pyqt-impl=5.12.3=py38h885f38d_8 - - pyqt5-sip=4.19.18=py38h885f38d_8 - - pyqtchart=5.12=py38h885f38d_8 - - pyqtwebengine=5.12.1=py38h885f38d_8 - - pyrsistent=0.18.0=py38h294d835_0 - - python=3.8.12=h7840368_2_cpython - - python-dateutil=2.8.2=pyhd8ed1ab_0 - - python-utils=2.6.3=pyhd8ed1ab_0 - - python_abi=3.8=2_cp38 - - pywin32=302=py38h294d835_2 - - pywinpty=1.1.6=py38hd3f51b4_0 - - pyyaml=6.0=py38h294d835_3 - - pyzmq=22.3.0=py38h09162b1_1 - - qdldl-python=0.1.5=py38h5d928e2_2 - - qpsolvers=1.7.2=pyhd8ed1ab_0 - - qt=5.12.9=h5909a2a_4 - - qtconsole=5.2.2=pyhd8ed1ab_0 - - qtpy=2.0.0=pyhd8ed1ab_0 - - quadprog=0.1.11=py38hbd9d945_0 - - roboticstoolbox-python=0.11.0=py38h6f4d8f0_0 - - rtb-data=0.10.0=pyhd8ed1ab_0 - - scipy=1.7.3=py38ha1292f7_0 - - send2trash=1.8.0=pyhd8ed1ab_0 - - setuptools=60.0.4=py38haa244fe_0 - - simpervisor=0.4=pyhd8ed1ab_0 - - six=1.16.0=pyh6c4a22f_0 - - sniffio=1.2.0=py38haa244fe_2 - - spatialgeometry=0.2.0=pyhd8ed1ab_0 - - spatialmath-python=0.11=pyhd8ed1ab_0 - - sphinxcontrib-jsmath=1.0.1=py_0 - - sqlite=3.37.0=h8ffe710_0 - - swift-sim=0.10.0=py38h6f4d8f0_1 - - sympy=1.9=py38haa244fe_1 - - tbb=2021.4.0=h2d74725_1 - - terminado=0.12.1=py38haa244fe_1 - - testpath=0.5.0=pyhd8ed1ab_0 - - tk=8.6.11=h8ffe710_1 - - tornado=6.1=py38h294d835_2 - - traitlets=5.1.1=pyhd8ed1ab_0 - - txaio=21.2.1=pyhd8ed1ab_0 - - typing-extensions=4.0.1=hd8ed1ab_0 - - typing_extensions=4.0.1=pyha770c72_0 - - ucrt=10.0.20348.0=h57928b3_0 - - unicodedata2=14.0.0=py38h294d835_0 - - vc=14.2=hb210afc_5 - - vpython=7.6.2=py38h294d835_0 - - vs2015_runtime=14.29.30037=h902a5da_5 - - wcwidth=0.2.5=pyh9f0ad1d_2 - - webencodings=0.5.1=py_1 - - websocket-client=1.2.3=pyhd8ed1ab_0 - - websockets=10.1=py38h294d835_0 - - wheel=0.37.1=pyhd8ed1ab_0 - - widgetsnbextension=3.5.2=py38haa244fe_1 - - winpty=0.4.3=4 - - xz=5.2.5=h62dcd97_1 - - yaml=0.2.5=he774522_0 - - yarl=1.7.2=py38h294d835_1 - - zeromq=4.3.4=h0e60522_1 - - zipp=3.6.0=pyhd8ed1ab_0 - - zlib=1.2.11=h8ffe710_1013 - - zstd=1.5.0=h6255e5f_0 -prefix: D:\conda\envs\mobile From a0e500210511abfd90802a5f54f20a92b17adce5 Mon Sep 17 00:00:00 2001 From: rhys Date: Tue, 8 Feb 2022 22:15:11 +1100 Subject: [PATCH 04/12] added ratios for velocity --- roboticstoolbox/robot/ERobot.py | 52 ++++++++++++++++----------------- 1 file changed, 26 insertions(+), 26 deletions(-) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 5ee6fc15c..bc4e919bc 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -2026,6 +2026,8 @@ def link_collision_damper( end=None, start=None, collision_list=None, + wTcamp=None, + wTtp=None ): """ Formulates an inequality contraint which, when optimised for will @@ -2075,7 +2077,6 @@ def indiv_calculation(link, link_col, q): lpTcp = -wTlp + wTcp norm = lpTcp / d - # norm = self.fkine(q, end=link, fast=True)[:3, :3] @ norm norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) @@ -2085,11 +2086,13 @@ def indiv_calculation(link, link_col, q): ) Je[:3, :] = self._base.A[:3, :3] @ Je[:3, :] - - # print(Je) - n_dim = Je.shape[1] dp = norm_h @ shape.v + if wTcamp is not None and wTtp is not None: + length = np.linalg.norm(wTcp - wTcamp) + total_length = np.linalg.norm(wTtp - wTcamp) + dp *= length/total_length + l_Ain = np.zeros((1, self.n)) l_Ain[0, :n_dim] = norm_h @ Je l_bin = (xi * (d - ds) / (di - ds)) + 0 @@ -2098,7 +2101,7 @@ def indiv_calculation(link, link_col, q): l_bin = None return l_Ain, l_bin, d, wTcp - + for link in links: if link.isjoint: j += 1 @@ -2127,7 +2130,7 @@ def indiv_calculation(link, link_col, q): else: din = np.r_[din, d] - return Ain, bin + return Ain, bin, din def vision_collision_damper( self, @@ -2139,13 +2142,12 @@ def vision_collision_damper( end=None, start=None, collision_list=None, - camera=None, - obj=None + camera=None ): """ Formulates an inequality contraint which, when optimised for will - make it impossible for the robot to self-occlude - :param shape: The line of sight object. + make it impossible for the robot to run into a collision. Requires + See examples/neo.py for use case :param ds: The minimum distance in which a joint is allowed to approach the collision object shape :type ds: float @@ -2173,6 +2175,11 @@ def vision_collision_damper( links, n, _ = self.get_path(start=start, end=end) + # if q is None: + # q = np.copy(self.q) + # else: + # q = getvector(q, n) + j = 0 Ain = None bin = None @@ -2185,34 +2192,27 @@ def indiv_calculation(link, link_col, q): lpTcp = -wTlp + wTcp norm = lpTcp / d - - norm_e = self.fkine(q, end=link, fast=True)[:3, :3] @ norm - norm_v = camera.fkine(camera.q, fast=True)[:3, :3] @ norm - - norm_e = np.expand_dims(np.r_[norm_e, 0, 0, 0], axis=0) - norm_v = np.expand_dims(np.r_[norm_v, 0, 0, 0], axis=0) - norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) - Je = self.jacobe( + Je = self.jacob0( q, end=link, tool=tool.A, fast=True ) + Je[:3, :] = self._base.A[:3, :3] @ Je[:3, :] - Jv = camera.jacobe(camera.q, fast=True) - - total_length = shape._length - length = np.linalg.norm(wTcp - obj) - Jv *= length / total_length + wTc = camera.fkine(camera.q, fast=True) + Jv = camera.jacob0( + camera.q, tool=SE3(np.linalg.inv(wTc[:3, :3]) @ (wTcp - wTc[:3, -1])).A, fast=True + ) + Jv[:3, :] = self._base.A[:3, :3] @ Jv[:3, :] n_dim = Je.shape[1] - dp = norm_v @ Jv + dp = norm_h @ Jv l_Ain = np.zeros((1, self.n + 2 + 10)) - l_Ain[0, :n_dim] = norm_e @ Je + l_Ain[0, :n_dim] = norm_h @ Je l_Ain -= np.r_[dp[0, :3], np.zeros(7), dp[0, 3:], np.zeros(9), 1] l_bin = (xi * (d - ds) / (di - ds)) - else: l_Ain = None l_bin = None From 66bcd033e3b065ce794992c06487bd052f1ba9d0 Mon Sep 17 00:00:00 2001 From: Rhys Date: Fri, 18 Feb 2022 15:52:09 +1100 Subject: [PATCH 05/12] added fetchcamera --- roboticstoolbox/models/URDF/FetchCamera.py | 75 ++++++++++++++++++++++ 1 file changed, 75 insertions(+) create mode 100644 roboticstoolbox/models/URDF/FetchCamera.py diff --git a/roboticstoolbox/models/URDF/FetchCamera.py b/roboticstoolbox/models/URDF/FetchCamera.py new file mode 100644 index 000000000..a20dc752b --- /dev/null +++ b/roboticstoolbox/models/URDF/FetchCamera.py @@ -0,0 +1,75 @@ +#!/usr/bin/env python + +import numpy as np +from roboticstoolbox.robot.ERobot import ERobot +from spatialmath import SE3 + + +class FetchCamera(ERobot): + """ + Class that imports a Fetch URDF model + + ``Fetch()`` is a class which imports a Fetch robot definition + from a URDF file. The model describes its kinematic and graphical + characteristics. + + .. runblock:: pycon + + >>> import roboticstoolbox as rtb + >>> robot = rtb.models.URDF.Fetch() + >>> print(robot) + + Defined joint configurations are: + + - qz, zero joint angle configuration, 'L' shaped configuration + - qr, vertical 'READY' configuration + - qs, arm is stretched out in the x-direction + - qn, arm is at a nominal non-singular configuration + + .. codeauthor:: Jesse Haviland + .. sectionauthor:: Peter Corke + """ + + def __init__(self): + + links, name, urdf_string, urdf_filepath = self.URDF_read( + "fetch_description/robots/fetch_camera.urdf" + ) + + super().__init__( + links, + name=name, + manufacturer="Fetch", + gripper_links=links[6], + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + # self.grippers[0].tool = SE3(0, 0, 0.1034) + self.qdlim = np.array( + [4.0, 4.0, 0.1, 1.57, 1.57] + ) + + self.addconfiguration("qz", np.array([0, 0, 0, 0, 0])) + + self.addconfiguration( + "qr", np.array([0, 0, 0, 0, 0]) + ) + + +if __name__ == "__main__": # pragma nocover + + robot = FetchCamera() + print(robot) + + for link in robot.links: + print(link.name) + print(link.isjoint) + print(len(link.collision)) + + print() + + for link in robot.grippers[0].links: + print(link.name) + print(link.isjoint) + print(len(link.collision)) From 056f76cd33b19245424ce1f37aaf0b086b2cf467 Mon Sep 17 00:00:00 2001 From: Rhys Date: Fri, 18 Feb 2022 16:14:00 +1100 Subject: [PATCH 06/12] fetch camera --- roboticstoolbox/models/URDF/__init__.py | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/models/URDF/__init__.py b/roboticstoolbox/models/URDF/__init__.py index 0c851912b..033477817 100644 --- a/roboticstoolbox/models/URDF/__init__.py +++ b/roboticstoolbox/models/URDF/__init__.py @@ -20,6 +20,8 @@ from roboticstoolbox.models.URDF.KinovaGen3 import KinovaGen3 from roboticstoolbox.models.URDF.YuMi import YuMi from roboticstoolbox.models.URDF.Fetch import Fetch +from roboticstoolbox.models.URDF.FetchCamera import FetchCamera + __all__ = [ "Panda", "Frankie", @@ -42,5 +44,6 @@ "LBR", "KinovaGen3", "YuMi", - "Fetch" + "Fetch", + "FetchCamera", ] From f144168a0e64a85e28ebeb6520ab2ee2c5483273 Mon Sep 17 00:00:00 2001 From: Rhys Date: Fri, 18 Feb 2022 16:29:47 +1100 Subject: [PATCH 07/12] set up rtb-data --- setup.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/setup.py b/setup.py index f44ccd84f..9f1ee8aaf 100644 --- a/setup.py +++ b/setup.py @@ -19,7 +19,6 @@ "ansitable", "swift-sim>=0.10.0", "qpsolvers", - "rtb-data", "progress", ] @@ -44,7 +43,7 @@ extra_folders = [ # 'roboticstoolbox/models/URDF/xacro', # 'roboticstoolbox/models/DH/meshes', - # 'roboticstoolbox/data', + "roboticstoolbox/rtb-data", "roboticstoolbox/core", ] From f7cdb44d797c27c6c6f7a3713b3735953657a24f Mon Sep 17 00:00:00 2001 From: Kerry Date: Tue, 3 May 2022 12:39:54 +1000 Subject: [PATCH 08/12] Cleaned up collision functions. Cleaned up Fetch code. Added example code. --- roboticstoolbox/examples/fetch_vision.py | 229 +++++++++++++++++++++ roboticstoolbox/models/URDF/Fetch.py | 12 +- roboticstoolbox/models/URDF/FetchCamera.py | 12 +- roboticstoolbox/robot/ERobot.py | 119 ++++++----- 4 files changed, 308 insertions(+), 64 deletions(-) create mode 100644 roboticstoolbox/examples/fetch_vision.py diff --git a/roboticstoolbox/examples/fetch_vision.py b/roboticstoolbox/examples/fetch_vision.py new file mode 100644 index 000000000..da10872a1 --- /dev/null +++ b/roboticstoolbox/examples/fetch_vision.py @@ -0,0 +1,229 @@ +#!/usr/bin/env python +""" +@author Kerry He and Rhys Newbury +""" + +import swift +import spatialgeometry as sg +import roboticstoolbox as rtb +import spatialmath as sm +import numpy as np +import qpsolvers as qp +import math + + +def transform_between_vectors(a, b): + # Finds the shortest rotation between two vectors using angle-axis, + # then outputs it as a 4x4 transformation matrix + a = a / np.linalg.norm(a) + b = b / np.linalg.norm(b) + + angle = np.arccos(np.dot(a, b)) + axis = np.cross(a, b) + + return sm.SE3.AngleAxis(angle, axis) + +# Launch the simulator Swift +env = swift.Swift() +env.launch() + +# Create a Fetch and Camera robot object +fetch = rtb.models.Fetch() +fetch_camera = rtb.models.FetchCamera() + +# Set joint angles to zero configuration +fetch.q = fetch.qz +fetch_camera.q = fetch_camera.qz + +# Make target object obstacles with velocities +target = sg.Sphere(radius=0.05, base=sm.SE3(-2.0, 0.0, 0.5)) + +# Make line of sight object to visualize where the camera is looking +sight_base = sm.SE3.Ry(np.pi / 2) * sm.SE3(0.0, 0.0, 2.5) +centroid_sight = sg.Cylinder( + radius=0.001, + length=5.0, + base=fetch_camera.fkine(fetch_camera.q, fast=True) @ sight_base.A, +) + +# Add the Fetch and other shapes to the simulator +env.add(fetch) +env.add(fetch_camera) +env.add(centroid_sight) +env.add(target) + +# Set the desired end-effector pose to the location of target +Tep = fetch.fkine(fetch.q) +Tep.A[:3, :3] = sm.SE3.Rz(np.pi).R +Tep.A[:3, 3] = target.base.t + +env.step() + +n_base = 2 +n_arm = 8 +n_camera = 2 +n = n_base + n_arm + n_camera + + +def step(): + + # Find end-effector pose in world frame + wTe = fetch.fkine(fetch.q, fast=True) + # Find camera pose in world frame + wTc = fetch_camera.fkine(fetch_camera.q, fast=True) + + # Find transform between end-effector and goal + eTep = np.linalg.inv(wTe) @ Tep.A + # Find transform between camera and goal + cTep = np.linalg.inv(wTc) @ Tep.A + + # Spatial error between end-effector and target + et = np.sum(np.abs(eTep[:3, -1])) + + # Weighting function used for objective function + def w_lambda(et, alpha, gamma): + return alpha * np.power(et, gamma) + + # Quadratic component of objective function + Q = np.eye(n + 10) + + Q[: n_base + n_arm, : n_base + n_arm] *= 0.01 # Robotic manipulator + Q[:n_base, :n_base] *= w_lambda(et, 1.0, -1.0) # Mobile base + Q[n_base + n_arm : n, n_base + n_arm : n] *= 0.01 # Camera + Q[n : n + 3, n : n + 3] *= w_lambda(et, 1000.0, -2.0) # Slack arm linear + Q[n + 3 : n + 6, n + 3 : n + 6] *= w_lambda(et, 0.01, -5.0) # Slack arm angular + Q[n + 6:-1, n + 6:-1] *= 100 # Slack camera + Q[-1, -1] *= w_lambda(et, 1000.0, 3.0) # Slack self-occlusion + + # Calculate target velocities for end-effector to reach target + v_manip, _ = rtb.p_servo(wTe, Tep, 1.5) + v_manip[3:] *= 1.3 + + # Calculate target angular velocity for camera to rotate towards target + head_rotation = transform_between_vectors( + np.array([1, 0, 0]), cTep[:3, 3] + ) + v_camera, _ = rtb.p_servo(sm.SE3(), head_rotation, 25) + + # The equality contraints to achieve velocity targets + Aeq = np.c_[ + fetch.jacobe(fetch.q, fast=True), + np.zeros((6, 2)), + np.eye(6), + np.zeros((6, 4)) + ] + beq = v_manip.reshape((6,)) + + jacobe_cam = fetch_camera.jacobe(fetch_camera.q, fast=True)[3:, :] + Aeq_cam = np.c_[ + jacobe_cam[:, :3], + np.zeros((3, 7)), + jacobe_cam[:, 3:], + np.zeros((3, 6)), + np.eye(3), + np.zeros((3, 1)), + ] + Aeq = np.r_[Aeq, Aeq_cam] + beq = np.r_[beq, v_camera[3:].reshape((3,))] + + # The inequality constraints for joint limit avoidance + Ain = np.zeros((n + 10, n + 10)) + bin = np.zeros(n + 10) + + # The minimum angle (in radians) in which the joint is allowed to approach + # to its limit + ps = 0.1 + + # The influence angle (in radians) in which the velocity damper + # becomes active + pi = 0.9 + + # Form the joint limit velocity damper + Ain[: fetch.n, : fetch.n], bin[: fetch.n] = fetch.joint_velocity_damper( + ps, pi, fetch.n + ) + + Ain_torso, bin_torso = fetch_camera.joint_velocity_damper(0.0, 0.05, fetch_camera.n) + Ain[2, 2] = Ain_torso[2, 2] + bin[2] = bin_torso[2] + + Ain_cam, bin_cam = fetch_camera.joint_velocity_damper(ps, pi, fetch_camera.n) + Ain[n_base + n_arm : n, n_base + n_arm : n] = Ain_cam[3:, 3:] + bin[n_base + n_arm : n] = bin_cam[3:] + + # Create line of sight object between camera and object + c_Ain, c_bin = fetch.vision_collision_damper( + target, + camera=fetch_camera, + camera_n=2, + q=fetch.q[: fetch.n], + di=0.3, + ds=0.2, + xi=1.0, + end=fetch.link_dict["gripper_link"], + start=fetch.link_dict["shoulder_pan_link"], + ) + + if c_Ain is not None and c_bin is not None: + c_Ain = np.c_[c_Ain, np.zeros((c_Ain.shape[0], 9)), -np.ones((c_Ain.shape[0], 1))] + + Ain = np.r_[Ain, c_Ain] + bin = np.r_[bin, c_bin] + + # Linear component of objective function: the manipulability Jacobian + c = np.concatenate( + ( + np.zeros(n_base), + -fetch.jacobm(start=fetch.links[3]).reshape((n_arm,)), + np.zeros(n_camera), + np.zeros(10), + ) + ) + + # Get base to face end-effector + kε = 0.5 + bTe = fetch.fkine(fetch.q, include_base=False, fast=True) + θε = math.atan2(bTe[1, -1], bTe[0, -1]) + ε = kε * θε + c[0] = -ε + + # The lower and upper bounds on the joint velocity and slack variable + lb = -np.r_[ + fetch.qdlim[: fetch.n], + fetch_camera.qdlim[3 : fetch_camera.n], + 100 * np.ones(9), + 0, + ] + ub = np.r_[ + fetch.qdlim[: fetch.n], + fetch_camera.qdlim[3 : fetch_camera.n], + 100 * np.ones(9), + 100, + ] + + # Solve for the joint velocities dq + qd = qp.solve_qp(Q, c, Ain, bin, Aeq, beq, lb=lb, ub=ub) + qd_cam = np.concatenate((qd[:3], qd[fetch.n : fetch.n + 2])) + qd = qd[: fetch.n] + + if et > 0.5: + qd *= 0.7 / et + qd_cam *= 0.7 / et + else: + qd *= 1.4 + qd_cam *= 1.4 + + arrived = et < 0.02 + + fetch.qd = qd + fetch_camera.qd = qd_cam + centroid_sight._base = fetch_camera.fkine(fetch_camera.q, fast=True) @ sight_base.A + + return arrived + + +arrived = False +while not arrived: + arrived = step() + env.step(0.01) + diff --git a/roboticstoolbox/models/URDF/Fetch.py b/roboticstoolbox/models/URDF/Fetch.py index dc6cc58e3..e85927b08 100644 --- a/roboticstoolbox/models/URDF/Fetch.py +++ b/roboticstoolbox/models/URDF/Fetch.py @@ -21,12 +21,10 @@ class Fetch(ERobot): Defined joint configurations are: - - qz, zero joint angle configuration, 'L' shaped configuration - - qr, vertical 'READY' configuration - - qs, arm is stretched out in the x-direction - - qn, arm is at a nominal non-singular configuration + - qz, zero joint angle configuration, arm is stretched out in the x-direction + - qr, tucked arm configuration - .. codeauthor:: Jesse Haviland + .. codeauthor:: Kerry He .. sectionauthor:: Peter Corke """ @@ -45,8 +43,6 @@ def __init__(self): urdf_filepath=urdf_filepath, ) - # self.grippers[0].tool = SE3(0, 0, 0.1034) - self.qdlim = np.array( [4.0, 4.0, 0.1, 1.25, 1.45, 1.57, 1.52, 1.57, 2.26, 2.26] ) @@ -54,7 +50,7 @@ def __init__(self): self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0])) self.addconfiguration( - "qr", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) + "qr", np.array([0, 0, 0.05, 1.32, 1.4, -0.2, 1.72, 0, 1.66, 0]) ) diff --git a/roboticstoolbox/models/URDF/FetchCamera.py b/roboticstoolbox/models/URDF/FetchCamera.py index a20dc752b..f8b4f588b 100644 --- a/roboticstoolbox/models/URDF/FetchCamera.py +++ b/roboticstoolbox/models/URDF/FetchCamera.py @@ -7,9 +7,9 @@ class FetchCamera(ERobot): """ - Class that imports a Fetch URDF model + Class that imports a FetchCamera URDF model - ``Fetch()`` is a class which imports a Fetch robot definition + ``FetchCamera()`` is a class which imports a FetchCamera robot definition from a URDF file. The model describes its kinematic and graphical characteristics. @@ -21,12 +21,10 @@ class FetchCamera(ERobot): Defined joint configurations are: - - qz, zero joint angle configuration, 'L' shaped configuration - - qr, vertical 'READY' configuration - - qs, arm is stretched out in the x-direction - - qn, arm is at a nominal non-singular configuration + - qz, zero joint angle configuration + - qr, zero joint angle configuration - .. codeauthor:: Jesse Haviland + .. codeauthor:: Kerry He .. sectionauthor:: Peter Corke """ diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index bc4e919bc..dfe9ff27c 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -11,6 +11,7 @@ import numpy as np from spatialmath import SE3, SE2 from spatialmath.base.argcheck import getvector, verifymatrix, getmatrix, islistof +from spatialgeometry import Cylinder from roboticstoolbox.robot.ELink import ELink, ELink2, BaseELink from roboticstoolbox.robot.ETS import ETS, ETS2 @@ -2026,8 +2027,6 @@ def link_collision_damper( end=None, start=None, collision_list=None, - wTcamp=None, - wTtp=None ): """ Formulates an inequality contraint which, when optimised for will @@ -2068,7 +2067,6 @@ def link_collision_damper( j = 0 Ain = None bin = None - din = None def indiv_calculation(link, link_col, q): d, wTlp, wTcp = link_col.closest_point(shape, di) @@ -2088,19 +2086,14 @@ def indiv_calculation(link, link_col, q): n_dim = Je.shape[1] dp = norm_h @ shape.v - if wTcamp is not None and wTtp is not None: - length = np.linalg.norm(wTcp - wTcamp) - total_length = np.linalg.norm(wTtp - wTcamp) - dp *= length/total_length - l_Ain = np.zeros((1, self.n)) l_Ain[0, :n_dim] = norm_h @ Je - l_bin = (xi * (d - ds) / (di - ds)) + 0 + l_bin = (xi * (d - ds) / (di - ds)) + dp else: l_Ain = None l_bin = None - return l_Ain, l_bin, d, wTcp + return l_Ain, l_bin for link in links: if link.isjoint: @@ -2112,7 +2105,7 @@ def indiv_calculation(link, link_col, q): col_list = collision_list[j - 1] for link_col in col_list: - l_Ain, l_bin, d, wTcp = indiv_calculation(link, link_col, q) + l_Ain, l_bin = indiv_calculation(link, link_col, q) if l_Ain is not None and l_bin is not None: if Ain is None: @@ -2125,29 +2118,30 @@ def indiv_calculation(link, link_col, q): else: bin = np.r_[bin, l_bin] - if din is None: - din = d - else: - din = np.r_[din, d] - - return Ain, bin, din + return Ain, bin def vision_collision_damper( self, shape, + camera=None, + camera_n=0, q=None, di=0.3, ds=0.05, xi=1.0, end=None, start=None, - collision_list=None, - camera=None + collision_list=None ): """ Formulates an inequality contraint which, when optimised for will - make it impossible for the robot to run into a collision. Requires - See examples/neo.py for use case + make it impossible for the robot to run into a line of sight. + See examples/fetch_vision.py for use case + :param camera: The camera link, either as a robotic link or SE3 + pose + :type camera: ERobot or SE3 + :param camera_n: Degrees of freedom of the camera link + :type camera_n: int :param ds: The minimum distance in which a joint is allowed to approach the collision object shape :type ds: float @@ -2175,23 +2169,43 @@ def vision_collision_damper( links, n, _ = self.get_path(start=start, end=end) - # if q is None: - # q = np.copy(self.q) - # else: - # q = getvector(q, n) - j = 0 Ain = None bin = None - din = None - def indiv_calculation(link, link_col, q): - d, wTlp, wTcp = link_col.closest_point(shape, di) + def rotation_between_vectors(a, b): + a = a / np.linalg.norm(a) + b = b / np.linalg.norm(b) + + angle = np.arccos(np.dot(a, b)) + axis = np.cross(a, b) + + return SE3.AngleAxis(angle, axis) + + if isinstance(camera, ERobot): + wTcp = camera.fkine(camera.q, fast=True)[:3, 3] + elif isinstance(camera, SE3): + wTcp = camera.t + + wTtp = shape.base.t + + # Create line of sight object + los_mid = SE3((wTcp + wTtp) / 2) + los_orientation = rotation_between_vectors(np.array([0., 0., 1.]), wTcp - wTtp) + + los = Cylinder(radius=0.001, + length=np.linalg.norm(wTcp - wTtp), + base=(los_mid * los_orientation) + ) + + def indiv_calculation(link, link_col, q): + d, wTlp, wTvp = link_col.closest_point(los, di) + if d is not None: - lpTcp = -wTlp + wTcp + lpTvp = -wTlp + wTvp - norm = lpTcp / d + norm = lpTvp / d norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) tool = SE3((np.linalg.inv(self.fkine(q, end=link, fast=True)) @ SE3(wTlp).A)[:3, 3]) @@ -2200,24 +2214,36 @@ def indiv_calculation(link, link_col, q): q, end=link, tool=tool.A, fast=True ) Je[:3, :] = self._base.A[:3, :3] @ Je[:3, :] + n_dim = Je.shape[1] + + + if isinstance(camera, ERobot): + Jv = camera.jacob0(camera.q, fast=True) + Jv[:3, :] = self._base.A[:3, :3] @ Jv[:3, :] + + Jv *= np.linalg.norm(wTvp - shape.base.t) / los.length + + dpc = norm_h @ Jv + dpc = np.r_[ + dpc[0, :-camera_n], + np.zeros(self.n - (camera.n - camera_n)), + dpc[0, -camera_n:] + ] + else: + dpc = np.zeros((1, self.n + camera_n)) - wTc = camera.fkine(camera.q, fast=True) - Jv = camera.jacob0( - camera.q, tool=SE3(np.linalg.inv(wTc[:3, :3]) @ (wTcp - wTc[:3, -1])).A, fast=True - ) - Jv[:3, :] = self._base.A[:3, :3] @ Jv[:3, :] + dpt = norm_h @ shape.v + dpt *= np.linalg.norm(wTvp - wTcp) / los.length - n_dim = Je.shape[1] - dp = norm_h @ Jv - l_Ain = np.zeros((1, self.n + 2 + 10)) + l_Ain = np.zeros((1, self.n + camera_n)) l_Ain[0, :n_dim] = norm_h @ Je - l_Ain -= np.r_[dp[0, :3], np.zeros(7), dp[0, 3:], np.zeros(9), 1] - l_bin = (xi * (d - ds) / (di - ds)) + l_Ain -= dpc + l_bin = (xi * (d - ds) / (di - ds)) + dpt else: l_Ain = None l_bin = None - return l_Ain, l_bin, d, wTcp + return l_Ain, l_bin for link in links: if link.isjoint: @@ -2229,7 +2255,7 @@ def indiv_calculation(link, link_col, q): col_list = collision_list[j - 1] for link_col in col_list: - l_Ain, l_bin, d, wTcp = indiv_calculation(link, link_col, q) + l_Ain, l_bin = indiv_calculation(link, link_col, q) if l_Ain is not None and l_bin is not None: if Ain is None: @@ -2242,12 +2268,7 @@ def indiv_calculation(link, link_col, q): else: bin = np.r_[bin, l_bin] - if din is None: - din = d - else: - din = np.r_[din, d] - - return Ain, bin, din + return Ain, bin # inverse dynamics (recursive Newton-Euler) using spatial vector notation def rne(robot, q, qd, qdd, symbolic=False, gravity=None): From ef6c8025d7b6037b161ebf1e406a0ce13f8a5538 Mon Sep 17 00:00:00 2001 From: Rhys Date: Tue, 3 May 2022 15:12:34 +1000 Subject: [PATCH 09/12] revert setup.py --- setup.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/setup.py b/setup.py index 9f1ee8aaf..f44ccd84f 100644 --- a/setup.py +++ b/setup.py @@ -19,6 +19,7 @@ "ansitable", "swift-sim>=0.10.0", "qpsolvers", + "rtb-data", "progress", ] @@ -43,7 +44,7 @@ extra_folders = [ # 'roboticstoolbox/models/URDF/xacro', # 'roboticstoolbox/models/DH/meshes', - "roboticstoolbox/rtb-data", + # 'roboticstoolbox/data', "roboticstoolbox/core", ] From f9937b65f730f2aba33ebaa60894cbea02781878 Mon Sep 17 00:00:00 2001 From: jhavl Date: Thu, 12 May 2022 14:58:19 +1000 Subject: [PATCH 10/12] fix to work with v1.0.0 --- roboticstoolbox/examples/fetch_vision.py | 50 +++++++++++------------- 1 file changed, 23 insertions(+), 27 deletions(-) diff --git a/roboticstoolbox/examples/fetch_vision.py b/roboticstoolbox/examples/fetch_vision.py index da10872a1..e6ebdcbfe 100644 --- a/roboticstoolbox/examples/fetch_vision.py +++ b/roboticstoolbox/examples/fetch_vision.py @@ -23,6 +23,7 @@ def transform_between_vectors(a, b): return sm.SE3.AngleAxis(angle, axis) + # Launch the simulator Swift env = swift.Swift() env.launch() @@ -43,7 +44,7 @@ def transform_between_vectors(a, b): centroid_sight = sg.Cylinder( radius=0.001, length=5.0, - base=fetch_camera.fkine(fetch_camera.q, fast=True) @ sight_base.A, + base=fetch_camera.fkine(fetch_camera.q).A @ sight_base.A, ) # Add the Fetch and other shapes to the simulator @@ -55,7 +56,7 @@ def transform_between_vectors(a, b): # Set the desired end-effector pose to the location of target Tep = fetch.fkine(fetch.q) Tep.A[:3, :3] = sm.SE3.Rz(np.pi).R -Tep.A[:3, 3] = target.base.t +Tep.A[:3, 3] = target.T[:3, -1] env.step() @@ -68,9 +69,9 @@ def transform_between_vectors(a, b): def step(): # Find end-effector pose in world frame - wTe = fetch.fkine(fetch.q, fast=True) + wTe = fetch.fkine(fetch.q).A # Find camera pose in world frame - wTc = fetch_camera.fkine(fetch_camera.q, fast=True) + wTc = fetch_camera.fkine(fetch_camera.q).A # Find transform between end-effector and goal eTep = np.linalg.inv(wTe) @ Tep.A @@ -87,34 +88,27 @@ def w_lambda(et, alpha, gamma): # Quadratic component of objective function Q = np.eye(n + 10) - Q[: n_base + n_arm, : n_base + n_arm] *= 0.01 # Robotic manipulator - Q[:n_base, :n_base] *= w_lambda(et, 1.0, -1.0) # Mobile base - Q[n_base + n_arm : n, n_base + n_arm : n] *= 0.01 # Camera - Q[n : n + 3, n : n + 3] *= w_lambda(et, 1000.0, -2.0) # Slack arm linear - Q[n + 3 : n + 6, n + 3 : n + 6] *= w_lambda(et, 0.01, -5.0) # Slack arm angular - Q[n + 6:-1, n + 6:-1] *= 100 # Slack camera - Q[-1, -1] *= w_lambda(et, 1000.0, 3.0) # Slack self-occlusion + Q[: n_base + n_arm, : n_base + n_arm] *= 0.01 # Robotic manipulator + Q[:n_base, :n_base] *= w_lambda(et, 1.0, -1.0) # Mobile base + Q[n_base + n_arm : n, n_base + n_arm : n] *= 0.01 # Camera + Q[n : n + 3, n : n + 3] *= w_lambda(et, 1000.0, -2.0) # Slack arm linear + Q[n + 3 : n + 6, n + 3 : n + 6] *= w_lambda(et, 0.01, -5.0) # Slack arm angular + Q[n + 6 : -1, n + 6 : -1] *= 100 # Slack camera + Q[-1, -1] *= w_lambda(et, 1000.0, 3.0) # Slack self-occlusion # Calculate target velocities for end-effector to reach target v_manip, _ = rtb.p_servo(wTe, Tep, 1.5) v_manip[3:] *= 1.3 # Calculate target angular velocity for camera to rotate towards target - head_rotation = transform_between_vectors( - np.array([1, 0, 0]), cTep[:3, 3] - ) + head_rotation = transform_between_vectors(np.array([1, 0, 0]), cTep[:3, 3]) v_camera, _ = rtb.p_servo(sm.SE3(), head_rotation, 25) # The equality contraints to achieve velocity targets - Aeq = np.c_[ - fetch.jacobe(fetch.q, fast=True), - np.zeros((6, 2)), - np.eye(6), - np.zeros((6, 4)) - ] + Aeq = np.c_[fetch.jacobe(fetch.q), np.zeros((6, 2)), np.eye(6), np.zeros((6, 4))] beq = v_manip.reshape((6,)) - jacobe_cam = fetch_camera.jacobe(fetch_camera.q, fast=True)[3:, :] + jacobe_cam = fetch_camera.jacobe(fetch_camera.q)[3:, :] Aeq_cam = np.c_[ jacobe_cam[:, :3], np.zeros((3, 7)), @@ -162,10 +156,12 @@ def w_lambda(et, alpha, gamma): xi=1.0, end=fetch.link_dict["gripper_link"], start=fetch.link_dict["shoulder_pan_link"], - ) + ) if c_Ain is not None and c_bin is not None: - c_Ain = np.c_[c_Ain, np.zeros((c_Ain.shape[0], 9)), -np.ones((c_Ain.shape[0], 1))] + c_Ain = np.c_[ + c_Ain, np.zeros((c_Ain.shape[0], 9)), -np.ones((c_Ain.shape[0], 1)) + ] Ain = np.r_[Ain, c_Ain] bin = np.r_[bin, c_bin] @@ -174,7 +170,8 @@ def w_lambda(et, alpha, gamma): c = np.concatenate( ( np.zeros(n_base), - -fetch.jacobm(start=fetch.links[3]).reshape((n_arm,)), + # -fetch.jacobm(start=fetch.links[3]).reshape((n_arm,)), + np.zeros(n_arm), np.zeros(n_camera), np.zeros(10), ) @@ -182,7 +179,7 @@ def w_lambda(et, alpha, gamma): # Get base to face end-effector kε = 0.5 - bTe = fetch.fkine(fetch.q, include_base=False, fast=True) + bTe = fetch.fkine(fetch.q, include_base=False).A θε = math.atan2(bTe[1, -1], bTe[0, -1]) ε = kε * θε c[0] = -ε @@ -217,7 +214,7 @@ def w_lambda(et, alpha, gamma): fetch.qd = qd fetch_camera.qd = qd_cam - centroid_sight._base = fetch_camera.fkine(fetch_camera.q, fast=True) @ sight_base.A + centroid_sight.T = fetch_camera.fkine(fetch_camera.q).A @ sight_base.A return arrived @@ -226,4 +223,3 @@ def w_lambda(et, alpha, gamma): while not arrived: arrived = step() env.step(0.01) - From dc97c56b5745f79fc5ebb1ecdf0870ef1dcfcb30 Mon Sep 17 00:00:00 2001 From: jhavl Date: Thu, 12 May 2022 14:59:43 +1000 Subject: [PATCH 11/12] fix named configs --- roboticstoolbox/models/URDF/Fetch.py | 12 +++++------- roboticstoolbox/models/URDF/FetchCamera.py | 12 +++++------- 2 files changed, 10 insertions(+), 14 deletions(-) diff --git a/roboticstoolbox/models/URDF/Fetch.py b/roboticstoolbox/models/URDF/Fetch.py index e85927b08..9eef529b4 100644 --- a/roboticstoolbox/models/URDF/Fetch.py +++ b/roboticstoolbox/models/URDF/Fetch.py @@ -43,15 +43,13 @@ def __init__(self): urdf_filepath=urdf_filepath, ) - self.qdlim = np.array( - [4.0, 4.0, 0.1, 1.25, 1.45, 1.57, 1.52, 1.57, 2.26, 2.26] - ) + self.qdlim = np.array([4.0, 4.0, 0.1, 1.25, 1.45, 1.57, 1.52, 1.57, 2.26, 2.26]) - self.addconfiguration("qz", np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0])) + self.qz = np.array([0, 0, 0, 0, 0, 0, 0, 0, 0, 0]) + self.qr = np.array([0, 0, 0.05, 1.32, 1.4, -0.2, 1.72, 0, 1.66, 0]) - self.addconfiguration( - "qr", np.array([0, 0, 0.05, 1.32, 1.4, -0.2, 1.72, 0, 1.66, 0]) - ) + self.addconfiguration("qr", self.qr) + self.addconfiguration("qz", self.qz) if __name__ == "__main__": # pragma nocover diff --git a/roboticstoolbox/models/URDF/FetchCamera.py b/roboticstoolbox/models/URDF/FetchCamera.py index f8b4f588b..069609732 100644 --- a/roboticstoolbox/models/URDF/FetchCamera.py +++ b/roboticstoolbox/models/URDF/FetchCamera.py @@ -44,15 +44,13 @@ def __init__(self): ) # self.grippers[0].tool = SE3(0, 0, 0.1034) - self.qdlim = np.array( - [4.0, 4.0, 0.1, 1.57, 1.57] - ) + self.qdlim = np.array([4.0, 4.0, 0.1, 1.57, 1.57]) - self.addconfiguration("qz", np.array([0, 0, 0, 0, 0])) + self.qz = np.array([0, 0, 0, 0, 0]) + self.qr = np.array([0, 0, 0, 0, 0]) - self.addconfiguration( - "qr", np.array([0, 0, 0, 0, 0]) - ) + self.addconfiguration("qr", self.qr) + self.addconfiguration("qz", self.qz) if __name__ == "__main__": # pragma nocover From 61e1331d96d39a0ec23995c9923c62b11617b7bb Mon Sep 17 00:00:00 2001 From: jhavl Date: Thu, 12 May 2022 15:08:02 +1000 Subject: [PATCH 12/12] cleanup np --- roboticstoolbox/robot/ERobot.py | 56 +++++++++++++++++++-------------- 1 file changed, 33 insertions(+), 23 deletions(-) diff --git a/roboticstoolbox/robot/ERobot.py b/roboticstoolbox/robot/ERobot.py index 53d8bd745..5aa8da164 100644 --- a/roboticstoolbox/robot/ERobot.py +++ b/roboticstoolbox/robot/ERobot.py @@ -8,7 +8,20 @@ import tempfile import subprocess import webbrowser -from numpy import array, ndarray, isnan, zeros, eye, expand_dims, empty, concatenate +from numpy import ( + array, + ndarray, + isnan, + zeros, + eye, + expand_dims, + empty, + concatenate, + cross, + arccos, + dot, +) +from numpy.linalg import norm as npnorm, inv from spatialmath import SE3, SE2 from spatialgeometry import Cylinder from spatialmath.base.argcheck import getvector, islistof @@ -2019,7 +2032,6 @@ def vision_collision_damper( :returns: Ain, Bin as the inequality contraints for an omptimisor :rtype: ndarray(6), ndarray(6) """ - import numpy as np if start is None: start = self.base_link @@ -2034,11 +2046,11 @@ def vision_collision_damper( bin = None def rotation_between_vectors(a, b): - a = a / np.linalg.norm(a) - b = b / np.linalg.norm(b) + a = a / npnorm(a) + b = b / npnorm(b) - angle = np.arccos(np.dot(a, b)) - axis = np.cross(a, b) + angle = arccos(dot(a, b)) + axis = cross(a, b) return SE3.AngleAxis(angle, axis) @@ -2051,13 +2063,11 @@ def rotation_between_vectors(a, b): # Create line of sight object los_mid = SE3((wTcp + wTtp) / 2) - los_orientation = rotation_between_vectors( - np.array([0.0, 0.0, 1.0]), wTcp - wTtp - ) + los_orientation = rotation_between_vectors(array([0.0, 0.0, 1.0]), wTcp - wTtp) los = Cylinder( radius=0.001, - length=np.linalg.norm(wTcp - wTtp), + length=npnorm(wTcp - wTtp), base=(los_mid * los_orientation), ) @@ -2068,11 +2078,9 @@ def indiv_calculation(link, link_col, q): lpTvp = -wTlp + wTvp norm = lpTvp / d - norm_h = np.expand_dims(np.r_[norm, 0, 0, 0], axis=0) + norm_h = expand_dims(concatenate((norm, [0, 0, 0])), axis=0) - tool = SE3( - (np.linalg.inv(self.fkine(q, end=link).A) @ SE3(wTlp).A)[:3, 3] - ) + tool = SE3((inv(self.fkine(q, end=link).A) @ SE3(wTlp).A)[:3, 3]) Je = self.jacob0(q, end=link, tool=tool.A) Je[:3, :] = self._T[:3, :3] @ Je[:3, :] @@ -2082,21 +2090,23 @@ def indiv_calculation(link, link_col, q): Jv = camera.jacob0(camera.q) Jv[:3, :] = self._T[:3, :3] @ Jv[:3, :] - Jv *= np.linalg.norm(wTvp - shape.T[:3, -1]) / los.length + Jv *= npnorm(wTvp - shape.T[:3, -1]) / los.length dpc = norm_h @ Jv - dpc = np.r_[ - dpc[0, :-camera_n], - np.zeros(self.n - (camera.n - camera_n)), - dpc[0, -camera_n:], - ] + dpc = concatenate( + ( + dpc[0, :-camera_n], + zeros(self.n - (camera.n - camera_n)), + dpc[0, -camera_n:], + ) + ) else: - dpc = np.zeros((1, self.n + camera_n)) + dpc = zeros((1, self.n + camera_n)) dpt = norm_h @ shape.v - dpt *= np.linalg.norm(wTvp - wTcp) / los.length + dpt *= npnorm(wTvp - wTcp) / los.length - l_Ain = np.zeros((1, self.n + camera_n)) + l_Ain = zeros((1, self.n + camera_n)) l_Ain[0, :n_dim] = norm_h @ Je l_Ain -= dpc l_bin = (xi * (d - ds) / (di - ds)) + dpt

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