{ "cells": [ { "cell_type": "code", "execution_count": 15, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "from acrobotics.geometry import Shape, Collection\n", "from acrobotics.robot import Robot, Link, Tool, DHLink\n", "from acrobotics.util import translation, pose_z, get_default_axes3d\n", "from acrobotics.util import plot_reference_frame" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "# Robot models\n", "\n", "Let's build robots! Or at least highly simplified wireframe plots of robots. The obvious class to use is `Robot`. It's a base class used to create specific robots. A robot consist of links an optionally a tool. These two objects are also classes, `Link` and `Tool`.\n", "\n", "## A robot has links\n", "So let's start with the most basic part, a link. We create a nice `Collection` of shapes to represent the link." ] }, { "cell_type": "code", "execution_count": 16, "metadata": {}, "outputs": [], "source": [ "link_geometry = Collection([Shape(1, 0.1, 0.1)],\n", " [translation(0.5, 0, 0)])" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that by default a box is centered around it's reference frame. We move it by one half of it's length in the x direction by passing the transform `translation(0, 0.5, 0, 0)`.\n", "And we specify the Denavit-Hartenberg parameters using a named tuple `DHLink` with field (a, alpha, d, beta). In this case the first link of a 3R robot without offset or other strange stuff." ] }, { "cell_type": "code", "execution_count": 17, "metadata": {}, "outputs": [], "source": [ "link_dh_parameters = DHLink(1, 0, 0, 0)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we can create a Link of the revolute type (`'r'`). For a prismatic link one uses `'p'`." ] }, { "cell_type": "code", "execution_count": 18, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "first_link = Link(link_dh_parameters, 'r', link_geometry)\n", "\n", "# general plotting administration\n", "fig, ax = get_default_axes3d()\n", "ax.set_title('A simple link (green) that we can rotate (blue)',\n", " fontsize='18')\n", "\n", "\n", "# actually plotting the link\n", "first_link.plot(ax, np.eye(4), c='green')\n", "\n", "# we can even rotate the link\n", "first_link.plot(ax, pose_z(1.0, 0, 0, 0), c='blue')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "If you are confused about my seemingly arbitrary api of `Collection` and `Shape`, have a look at the page [Geometry, shapes and collision checking](geometry_nb.ipynb)." ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## A robot has tools (sometimes)\n", "\n", "A tool is a `Collection` of with one extra feature, can you guess what? \n", "Correct! A tool tip. This tell's the robot which frame to use when calculating forward and inverse kinematics. For example, a welding robot has a tip of the welding torch that has to be at the right place in the right time. This is where the tip frame is located.\n", "I have modelled a nice torch using boxes to show you this:" ] }, { "cell_type": "code", "execution_count": 19, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "from acrobotics.recources.torch_model import torch\n", "\n", "fig, ax = get_default_axes3d(xlim=[-0.2, 0.2], ylim=[-0.2, 0.2], zlim=[-0.2, 0.2])\n", "ax.set_title('A welding torch with a tip reference frame', fontsize='18')\n", "torch.plot(ax, c='black')\n", "plot_reference_frame(ax, torch.tf_tt)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## A robot has robots\n", "\n", "Uh, wait?! Ok let's bring it all togheter and create the 3R robot a mentioned earlier. But let's call it PlanarArm, as Siciliano does in his [book](https://www.springer.com/us/book/9781846286414)." ] }, { "cell_type": "code", "execution_count": 20, "metadata": {}, "outputs": [], "source": [ "class PlanarArm(Robot):\n", " \"\"\" Robot defined on page 69 in book Siciliano \"\"\"\n", "\n", " def __init__(self, a1=1, a2=1, a3=1):\n", " geometry = [Collection([Shape(a1, 0.1, 0.1)], [translation(-a1/2, 0, 0)]),\n", " Collection([Shape(a2, 0.1, 0.1)], [translation(-a2/2, 0, 0)]),\n", " Collection([Shape(a3, 0.1, 0.1)], [translation(-a3/2, 0, 0)])]\n", " super().__init__(\n", " [Link(DHLink(a1, 0, 0, 0), 'r', geometry[0]),\n", " Link(DHLink(a2, 0, 0, 0), 'r', geometry[1]),\n", " Link(DHLink(a3, 0, 0, 0), 'r', geometry[2])]\n", " )\n", "\n", "robot = PlanarArm(a3 = 0.2)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "By default you can calculate foward kinematics using `robot.fk(joint_values)`, check for collision `is_in_collision(Collection)` and visualize the robot (discussed in the next section)." ] }, { "cell_type": "code", "execution_count": 21, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "array([[1. , 0. , 0. , 2.2],\n", " [0. , 1. , 0. , 0. ],\n", " [0. , 0. , 1. , 0. ],\n", " [0. , 0. , 0. , 1. ]])" ] }, "execution_count": 21, "metadata": {}, "output_type": "execute_result" } ], "source": [ "robot.fk([0, 0, 0])" ] }, { "cell_type": "code", "execution_count": 22, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Collides with good box? False\n", "Collides with bad box? True\n" ] } ], "source": [ "joint_angles = [0.6, -1.1, 0.3]\n", "\n", "good_box = Collection([Shape(0.5, 0.5, 0.5)], [translation(1.5, 1.5, 0)])\n", "bad_box = Collection([Shape(0.5, 0.5, 0.5)], [translation(1.5, 0, 0)])\n", "\n", "res1 = robot.is_in_collision(joint_angles, good_box)\n", "res2 = robot.is_in_collision(joint_angles, bad_box)\n", "\n", "print('Collides with good box? {}'.format(res1))\n", "print('Collides with bad box? {}'.format(res2))" ] }, { "cell_type": "code", "execution_count": 23, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = get_default_axes3d(xlim=[0, 2], ylim=[0, 2], zlim=[-1, 1])\n", "ax.set_title('Collision objects', fontsize='18')\n", "ax.view_init(elev=60)\n", "\n", "robot.plot(ax, joint_angles, c='black')\n", "good_box.plot(ax, c='green')\n", "bad_box.plot(ax, c='red')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "But inverse kinematics don't come for free. Analytic inverse kinematics are implemented for specific robots in `acrobotics.resources.robots`.\n", "\n", "For example the anthropomorphic arm is a robot with 3 revolute joints. The frist one parellel with the z-axis and the other two perpendicular to the first. (Kind of the famous 2R arm that can move in 3D like a crane.)\n", "For a reachable position in Cartesian space, there are multiple robot configurations that get the end-effector in this position. (The orientation is ignored bij the inverse kinematics algorithm.)" ] }, { "cell_type": "code", "execution_count": 24, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Can we reach this position? True\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "from acrobotics.recources.robots import AnthropomorphicArm\n", "\n", "robot_2 = AnthropomorphicArm(a3=0.7)\n", "pose = translation(1.0, 0.2, 0.5)\n", "\n", "ik_sol = robot_2.ik(pose)\n", "print('Can we reach this position? {}'.format(ik_sol['success']))\n", "\n", "fig, ax = get_default_axes3d(xlim=[0, 1], ylim=[-0.5, 0.5], zlim=[0, 1])\n", "#ax.set_axis_off()\n", "colors = ['navy', 'orange']\n", "\n", "for color, qi in zip(colors, ik_sol['sol']):\n", " robot_2.plot(ax, qi, c=color)\n", "\n", "plot_reference_frame(ax, pose)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Show me them robots" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Now we can visualize the robot using the `Robot.plot(axes_handle, joint_values, ...)` function. This is a nice api, apart from all the setup code to create a nice plot. Using the `get_default_axes3d` from `acrobotics.util` greatly reduces this setup code (by 8 lines)." ] }, { "cell_type": "code", "execution_count": 25, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# specify some joint angles for the plot\n", "q_plot = [0.5, 0.3, -0.5]\n", "\n", "fig, ax = get_default_axes3d(xlim=[0, 2], ylim=[0, 2], zlim=[-1, 1])\n", "ax.set_title('A 3R planar arm', fontsize='18')\n", "ax.view_init(elev=60)\n", "\n", "robot.plot(ax, q_plot, c='black')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Notice that the link frames lie at the end of a link. This is a confusing ... from using Denavit-Hartenberg parameters. If I get to annoyed by it I will change this." ] }, { "cell_type": "code", "execution_count": 26, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = get_default_axes3d(xlim=[0, 2], ylim=[0, 2], zlim=[-1, 1])\n", "ax.set_title('Link reference frames', fontsize='18')\n", "ax.view_init(elev=60)\n", "\n", "robot.plot(ax, q_plot, c='black')\n", "\n", "tf_links = robot.fk_all_links(q_plot)\n", "for tfl in tf_links: plot_reference_frame(ax, tfl, 0.7)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "Also you can just plot the kinematics structure of the robot to get an idea whether you did it right without all the wireframes getting in your way." ] }, { "cell_type": "code", "execution_count": 27, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "fig, ax = get_default_axes3d(xlim=[0, 2], ylim=[0, 2], zlim=[-1, 1])\n", "ax.set_title('Robot X-ray', fontsize='18')\n", "ax.view_init(elev=60)\n", "\n", "robot.plot_kinematics(ax, q_plot)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Give it some tools\n", "\n", "We can give the robot a pen to write on a blackboard. (A long stick as end-effector and a flat plane as collision environment.)" ] }, { "cell_type": "code", "execution_count": 60, "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", 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" ] }, "metadata": { "needs_background": "light" }, "output_type": "display_data" } ], "source": [ "# create with a list of shapes, a list of tfs for the shapes\n", "# and a tf to specify the tool tip relative to the last link\n", "pen = Tool([Shape(0.3, 0.05, 0.05)],\n", " [translation(0.15, 0, 0)],\n", " translation(0.3, 0, 0))\n", "\n", "robot.tool = pen\n", "\n", "blackboard = Collection([Shape(0.1, 1.0, 0.5)],\n", " [translation(2, 0, 0.25)])\n", "\n", "fig, ax = get_default_axes3d(xlim=[0, 2],\n", " ylim=[0, 2],\n", " zlim=[-1, 1])\n", "ax.view_init(elev=70, azim = -90)\n", "\n", "q1 = [0.5, 0.3, -0.5]\n", "q2 = [0.6, -1.2, 0.6]\n", "\n", "robot.plot(ax, q1, c='navy')\n", "robot.plot(ax, q2, c='purple')\n", "\n", "plot_reference_frame(ax, robot.fk(q1))\n", "blackboard.plot(ax, c='black')" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "The tool is also added during collision checking with the environment." ] }, { "cell_type": "code", "execution_count": 56, "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "False\n", "True\n" ] } ], "source": [ "print(robot.is_in_collision(q1, blackboard))\n", "print(robot.is_in_collision(q2, blackboard))" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.6.6" } }, "nbformat": 4, "nbformat_minor": 2 }