A Python implementation of the Robotics Toolbox for MATLAB

Overview

Robotics Toolbox for Python

PyPI version Anaconda version PyPI - Python Version License: MIT Binder QUT Centre for Robotics Open Source

Build Status Coverage Language grade: Python PyPI - Downloads

A Python implementation of the Robotics Toolbox for MATLAB®

Synopsis

This toolbox brings robotics-specific functionality to Python, and leverages Python's advantages of portability, ubiquity and support, and the capability of the open-source ecosystem for linear algebra (numpy, scipy), graphics (matplotlib, three.js, WebGL), interactive development (jupyter, jupyterlab, mybinder.org), and documentation (sphinx).

The Toolbox provides tools for representing the kinematics and dynamics of serial-link manipulators - you can easily create your own in Denavit-Hartenberg form, import a URDF file, or use over 30 supplied models for well-known contemporary robots from Franka-Emika, Kinova, Universal Robotics, Rethink as well as classical robots such as the Puma 560 and the Stanford arm.

The toolbox will also support mobile robots with functions for robot motion models (unicycle, bicycle), path planning algorithms (bug, distance transform, D*, PRM), kinodynamic planning (lattice, RRT), localization (EKF, particle filter), map building (EKF) and simultaneous localization and mapping (EKF).

The Toolbox provides:

  • code that is mature and provides a point of comparison for other implementations of the same algorithms;
  • routines which are generally written in a straightforward manner which allows for easy understanding, perhaps at the expense of computational efficiency;
  • source code which can be read for learning and teaching;
  • backward compatability with the Robotics Toolbox for MATLAB

The Toolbox leverages the Spatial Maths Toolbox for Python to provide support for data types such as SO(n) and SE(n) matrices, quaternions, twists and spatial vectors.

Code Example

We will load a model of the Franka-Emika Panda robot defined classically using modified (Craig's convention) Denavit-Hartenberg notation

import roboticstoolbox as rtb
robot = rtb.models.DH.Panda()
print(robot)

	Panda (by Franka Emika): 7 axes (RRRRRRR), modified DH parameters
	┏━━━━━━━━┳━━━━━━━━┳━━━━━┳━━━━━━━┳━━━━━━━━━┳━━━━━━━━┓
	┃ aⱼ₋₁   ┃  ⍺ⱼ₋₁  ┃ θⱼ  ┃  dⱼ   ┃   q⁻    ┃   q⁺   ┃
	┣━━━━━━━━╋━━━━━━━━╋━━━━━╋━━━━━━━╋━━━━━━━━━╋━━━━━━━━┫
	┃    0.00.0° ┃  q10.333-166.0° ┃ 166.0° ┃
	┃    0.0-90.0° ┃  q20.0-101.0° ┃ 101.0° ┃
	┃    0.090.0° ┃  q30.316-166.0° ┃ 166.0° ┃
	┃ 0.082590.0° ┃  q40.0-176.0° ┃  -4.0° ┃
	┃-0.0825-90.0° ┃  q50.384-166.0° ┃ 166.0° ┃
	┃    0.090.0° ┃  q60.0-1.0° ┃ 215.0° ┃
	┃  0.08890.0° ┃  q70.107-166.0° ┃ 166.0° ┃
	┗━━━━━━━━┻━━━━━━━━┻━━━━━┻━━━━━━━┻━━━━━━━━━┻━━━━━━━━┛

	┌─────┬───────────────────────────────────────┐
	│toolt = 0, 0, 0.1; rpy/xyz = -45°, 0°, 0° │
	└─────┴───────────────────────────────────────┘

	┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
	│nameq0q1q2q3q4q5q6   │
	├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
	│  qz0° │  0°    │  0° │  0°   │  0° │  0°   │  0°  │
	│  qr0° │ -17.2° │  0° │ -126° │  0° │  115° │  45° │
	└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘

T = robot.fkine(robot.qz)  # forward kinematics
print(T)

	   0.707107    0.707107    0           0.088
	   0.707107   -0.707107    0           0
	   0           0          -1           0.823
	   0           0           0           1

(Python prompts are not shown to make it easy to copy+paste the code, console output is indented)

We can solve inverse kinematics very easily. We first choose an SE(3) pose defined in terms of position and orientation (end-effector z-axis down (A=-Z) and finger orientation parallel to y-axis (O=+Y)).

from spatialmath import SE3

T = SE3(0.7, 0.2, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
sol = robot.ikine_LM(T)         # solve IK
print(sol)
	IKsolution(q=array([  0.2134,    1.867,  -0.2264,   0.4825,   0.2198,    1.396,   -2.037]), success=True, reason=None, iterations=12, residual=1.4517646473808178e-11)

q_pickup = sol.q
print(robot.fkine(q_pickup))    # FK shows that desired end-effector pose was achieved

	Out[35]:
		-1            9.43001e-14  2.43909e-12  0.7
		 9.43759e-14  1            7.2574e-13   0.2
		-2.43913e-12  7.2575e-13  -1            0.1
		 0            0            0            1

Note that because this robot is redundant we don't have any control over the arm configuration apart from end-effector pose, ie. we can't control the elbow height.

We can animate a path from the upright qz configuration to this pickup configuration

qt = rtb.jtraj(robot.qz, q_pickup, 50)
robot.plot(qt.q, movie='panda1.gif')

Panda trajectory animation

which uses the default matplotlib backend. Grey arrows show the joint axes and the colored frame shows the end-effector pose.

Let's now load a URDF model of the same robot. The kinematic representation is no longer based on Denavit-Hartenberg parameters, it is now a rigid-body tree.

robot = rtb.models.URDF.Panda()  # load URDF version of the Panda
print(robot)    # display the model

	panda (by Franka Emika): 7 axes (RRRRRRR), ETS model
	┌───┬──────────────┬─────────────┬──────────────┬──────────────────────────────────────────────────────────────────────────────┐
	│idlinkparentjointETS                                      │
	├───┼──────────────┼─────────────┼──────────────┼──────────────────────────────────────────────────────────────────────────────┤
	│ 0panda_link0_O_ │              │ {panda_link0} = {_O_}                                                        │
	│ 1panda_link1panda_link0panda_joint1 │ {panda_link1} = {panda_link0}  * tz(0.333) * Rz(q0)                          │
	│ 2panda_link2panda_link1panda_joint2 │ {panda_link2} = {panda_link1}  * Rx(-90°) * Rz(q1)                           │
	│ 3panda_link3panda_link2panda_joint3 │ {panda_link3} = {panda_link2}  * ty(-0.316) * Rx(90°) * Rz(q2)               │
	│ 4panda_link4panda_link3panda_joint4 │ {panda_link4} = {panda_link3}  * tx(0.0825) * Rx(90°) * Rz(q3)               │
	│ 5panda_link5panda_link4panda_joint5 │ {panda_link5} = {panda_link4}  * tx(-0.0825) * ty(0.384) * Rx(-90°) * Rz(q4) │
	│ 6panda_link6panda_link5panda_joint6 │ {panda_link6} = {panda_link5}  * Rx(90°) * Rz(q5)                            │
	│ 7panda_link7panda_link6panda_joint7 │ {panda_link7} = {panda_link6}  * tx(0.088) * Rx(90°) * Rz(q6)                │
	│ 8 │ @panda_link8panda_link7panda_joint8 │ {panda_link8} = {panda_link7}  * tz(0.107)                                   │
	└───┴──────────────┴─────────────┴──────────────┴──────────────────────────────────────────────────────────────────────────────┘

	┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
	│nameq0q1q2q3q4q5q6   │
	├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
	│  qz0° │  0°    │  0° │  0°   │  0° │  0°   │  0°  │
	│  qr0° │ -17.2° │  0° │ -126° │  0° │  115° │  45° │
	└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘

The symbol @ indicates the link as an end-effector, a leaf node in the rigid-body tree.

We can instantiate our robot inside a browser-based 3d-simulation environment.

from roboticstoolbox.backends.Swift import Swift  # instantiate 3D browser-based visualizer
backend = Swift()
backend.launch()            # activate it
backend.add(robot)          # add robot to the 3D scene
for qk in qt.q:             # for each joint configuration on trajectory
      robot.q = qk          # update the robot state
      backend.step()        # update visualization

Getting going

Installing

You will need Python >= 3.6

Using pip

Install a snapshot from PyPI

pip3 install roboticstoolbox-python

Available options are:

  • vpython install VPython backend
  • collision install collision checking with pybullet

Put the options in a comma separated list like

pip3 install roboticstoolbox-python[optionlist]

Swift, a web-based visualizer, is installed as part of Robotics Toolbox.

From GitHub

To install the bleeding-edge version from GitHub

git clone https://github.com/petercorke/robotics-toolbox-python.git
cd robotics-toolbox-python
pip3 install -e .

Run some examples

The notebooks folder contains some tutorial Jupyter notebooks which you can browse on GitHub.

Or you can run them, and experiment with them, at mybinder.org.

Toolbox Research Applications

The toolbox is incredibly useful for developing and prototyping algorithms for research, thanks to the exhaustive set of well documented and mature robotic functions exposed through clean and painless APIs. Additionally, the ease at which a user can visualize their algorithm supports a rapid prototyping paradigm.

Publication List

J. Haviland, N. Sünderhauf and P. Corke, "A Holistic Approach to Reactive Mobile Manipulation,". In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the Swift Simulator.

[Arxiv Paper] [Project Website] [Video] [Code Example]

J. Haviland and P. Corke, "NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators," in IEEE Robotics and Automation Letters, doi: 10.1109/LRA.2021.3056060. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the Swift Simulator.

[Arxiv Paper] [IEEE Xplore] [Project Website] [Video] [Code Example]

A Purely-Reactive Manipulability-Maximising Motion Controller, J. Haviland and P. Corke. In the video, the robot is controlled using the Robotics toolbox for Python.

[Paper] [Project Website] [Video] [Code Example]


Common Issues

See the common issues with fixes here.

Comments
  • It is not possible to add new URDF robots in different path of models

    It is not possible to add new URDF robots in different path of models

    I am giving my robotic class using this amazing tool in python library, but I found a problem. In an exercise, I want that student use a specific urdf, but It is not possible to view the mesh because Mesh.filename use an absolute path àbspath to the models of the toolbox. I know that this is the only error, because I change to the specific path and works, but I do not find which could be the best solution in the architecture of your code

    https://github.com/petercorke/robotics-toolbox-python/blob/276efaaf3c67558cf2ef17e0360b6821fb8d7bfd/roboticstoolbox/tools/urdf/urdf.py#L301

    opened by olmerg 22
  • Calculate Forward and Inverse Kinematic from AR3

    Calculate Forward and Inverse Kinematic from AR3

    I'm trying to develop AR3 6DOF robot arm (https://www.anninrobotics.com/) web service from scratch with python, unfortunately I can't understand the existing forward/inverse kinematic source code cause too complex. I notice this toolbox can help calculate forward and inverse kinematic by provide DH parameter.

    Below is the DH parameter I get from their software (i'd attach image as below) Screenshot 2021-03-16 at 1 00 18 AM : a = [ 0.0642, 0.305, 0, 0, 0, 0 ] d = [0.16977, 0, 0, -0.22263, 0, -0.03625 ] alpha = [-pi / 2, zero, pi / 2, -pi / 2, pi / 2, zero]

    I have 2 question hope there is solution for me

    1. Can I calculate current xyz/rotation value by provide 6 joint angle? Example: [ 90, 0, 30, 45, 10, 0 ], desire answer something like [x:10, y: 0, z: 30....]

    2. Can I calculate inverse kinematic like [x:10+5, y:0, z:40...], it can reverse calculate joint angle become something like: [100, 0, 40,50,60,0]

    If above calculation is achievable, is there any sample we can refer cause I can't get from wiki?

    Thanks in advance.

    opened by kstan79 19
  • [Question]

    [Question]

    Hello @petercorke ,

    I've cloned an "alternative" repository of robotics-toolbox-python from Google Code:

    • https://code.google.com/p/robotics-toolbox-python/

    I've seen there's someone with the email ryanno1@gmail who have contributed changes, but his/her changes aren't in this repository. And the "opposite" is also true, your changes since 2008-04-06 aren't in the other repository.

    I've cloned it in https://github.com/castarco/robotics-toolbox-python/ , I don't know if it's an interesting idea to merge the contributions of both, or if it's preferable to use your version (I'm new in the robotics world, and I can't properly compare the two codebases).

    Thanks for your time.

    opened by castarco 11
  • robot.plot method never return in jupyter notebook

    robot.plot method never return in jupyter notebook

    %matplotlib notebook
    import matplotlib.pyplot as plt
    from roboticstoolbox.models.DH import Panda
    
    panda = Panda()
    panda.plot(panda.q)
    
    robot_plot_freeze

    The while True here https://github.com/petercorke/robotics-toolbox-python/blob/master/roboticstoolbox/backends/PyPlot/PyPlot.py#L316.

    opened by mfkenson 10
  • Pyplot not plotting DH robot

    Pyplot not plotting DH robot

    Check here first Common issues

    Describe the bug The pyplot in inline mode (spyder or jupyter notebook) of DH robot do not show the robot, I think that is the last update of some dependency.

    Version information

    Did you install from PyPI or GitHub? I install the last version with pip

    Robotics Toolbox depends heavily on two other packages: Swift (3D graphics) and SpatialMath toolbox (underpinning maths utilities). If you think your issue is related to these, then please answer the questions above for them.

    To Reproduce

    import matplotlib.pyplot as plt
    import roboticstoolbox as rtb
    %matplotlib inline  
    puma = rtb.models.DH.Puma560()
    puma.q=puma.qz
    puma.plot(puma.qz, block=False)
    

    generate a 3dplot without the robot draw

    Expected behavior See the robot like happen if the back is qt5 or before the error.

    Screenshots

    Environment (please complete the following information):

    • WINDOWS
    • Python 3.8.5.
    • anaconda
    bug 
    opened by olmerg 9
  • Can not start the vpython backend (Windows 7 64bit, Python 3.8.8.0)

    Can not start the vpython backend (Windows 7 64bit, Python 3.8.8.0)

    Hi, I have those packages:

    vpython 7.6.1
    swift-sim 0.8.1
    roboticstoolbox-python 0.9.1
    

    When I try to run the example code(the code is from the official release of the robotics-toolbox-python-0.9.1 package :

    #!/usr/bin/env python
    """
    @author Micah Huth
    """
    
    import roboticstoolbox as rtb
    import time
    from roboticstoolbox.backends import VPython
    
    env = VPython.VPython()  # lgtm [py/call-to-non-callable]
    env.launch()
    
    #  PUMA560
    puma = rtb.models.DH.Puma560()
    env.add(puma)
    
    for i in range(1000):
        env.step(puma)
        time.sleep(0.1)
    

    I got the following error:

    runfile('F:/code/robotics-toolbox-python-0.9.1/examples/VPython.py', wdir='F:/code/robotics-toolbox-python-0.9.1/examples')
    Traceback (most recent call last):
    
      File "F:\code\robotics-toolbox-python-0.9.1\examples\VPython.py", line 10, in <module>
        env = VPython.VPython()  # lgtm [py/call-to-non-callable]
    
    AttributeError: type object 'VPython' has no attribute 'VPython'
    

    Any idea how to fix this issue? Thanks.

    opened by asmwarrior 9
  • 'Mesh' object has no attribute '_sq'

    'Mesh' object has no attribute '_sq'

    win10 python3.8.9

    'Mesh' object has no attribute '_sq'

    error parsing URDF file D:\0ws_python\0MyPackages\rtb_data-0.9.1-py3.8\rtbdata\xacro\franka_description\robots\panda_arm_hand.urdf.xacro

    opened by oridong 8
  • End-effector parameter missing in `ikine_XX` methods

    End-effector parameter missing in `ikine_XX` methods

    Hello robotics-toolbox-python team,

    First off, I have to say it's wonderful that you brought this toolbox to Python, and even better, that this project is led by the creator of the original Matlab version! Big fan of Professor Corke and his work.

    Describe the bug I'm currently working on a model of a Kinova Gen3 to compute forward and inverse kinematics to pass into a Webots simulation. This arm has multiple end-effector options which requires passing an argument specifying the end-effector type to the solver. There is a parameter end to pass this argument to the fkine method but that parameter is absent for ikine_XX methods.

    Environment

    • Your OS (MacOS, Linux, Windows): Linux (Mint 20.1)
    • Your Python version: 3.8.5

    Version information Did you install from PyPI or GitHub? Conda install from conda-forge repo What version number? roboticstoolbox-python 0.10.1

    To Reproduce Load a model of a manipulator with multiple end-effector options (e.g. Kinova Gen 3) and select an end-effector:

    kvG3 = rtb.models.URDF.KinovaGen3()
    end = kvG3.ee_links[0].name  # 'camera_link'
    

    Calculate an end-pose transform, then use ikine_XX to calculate joint positions:

    Tr = kvG3.fkine(kvG3.qr, end=end)
    IK_sol = kvG3.ikine_LM(Tr)
    

    Python raises a ValueError that an end-effector must be specified: image

    Note how fkine (above) takes an end argument to specify this but ikine_XX methods do not. There does not seem to be a way to add an end-effector option:

    IK_sol = kvG3.ikine_LM(Tr, end=end)
    TypeError: ikine_LM() got an unexpected keyword argument 'end'
    
    import inspect
    print(inspect.getfullargspec(kvG3.ikine_LM).args)
    
    ['self', 'T', 'q0', 'mask', 'ilimit', 'rlimit', 'tol', 'L', 'Lmin', 'search', 'slimit', 'transpose']
    

    Expected behavior ikine_XX methods take an additional argument end to specify the end-effector. Perhaps better would be to make it an attribute of the robot class with a default value for arms with multiple end-effector options.

    enhancement 
    opened by tsoud 7
  • issue with swift

    issue with swift

    I am using a UR10 robot and plotting it using swift this the code i am using:

    `import roboticstoolbox as rtb

    model = rtb.models.URDF.UR10() print(model) qz = [0,30,-30,0,0,0] model.plot(qz,backend = 'swift')`

    and i get this error:

    Exception happened during processing of request from ('127.0.0.1', 37848) Traceback (most recent call last): File "/usr/lib/python3.8/socketserver.py", line 316, in _handle_request_noblock self.process_request(request, client_address) File "/usr/lib/python3.8/socketserver.py", line 347, in process_request self.finish_request(request, client_address) File "/usr/lib/python3.8/socketserver.py", line 360, in finish_request self.RequestHandlerClass(request, client_address, self) File "/home/ash/.local/lib/python3.8/site-packages/swift/SwiftRoute.py", line 221, in init super(MyHttpRequestHandler, self).init( File "/usr/lib/python3.8/http/server.py", line 647, in init super().init(*args, **kwargs) File "/usr/lib/python3.8/socketserver.py", line 747, in init self.handle() File "/usr/lib/python3.8/http/server.py", line 427, in handle self.handle_one_request() File "/usr/lib/python3.8/http/server.py", line 415, in handle_one_request method() File "/home/ash/.local/lib/python3.8/site-packages/swift/SwiftRoute.py", line 263, in do_GET self.send_file_via_real_path() File "/home/ash/.local/lib/python3.8/site-packages/swift/SwiftRoute.py", line 286, in send_file_via_real_path self.copyfile(f, self.wfile) File "/usr/lib/python3.8/http/server.py", line 853, in copyfile shutil.copyfileobj(source, outputfile) File "/usr/lib/python3.8/shutil.py", line 208, in copyfileobj fdst_write(buf) File "/usr/lib/python3.8/socketserver.py", line 826, in write self._sock.sendall(b) BrokenPipeError: [Errno 32] Broken pipe

    and the visualizer still open in the web and even if i remove the "backend = 'swift'" command it still plots it in webswift instead of using matplolib and gives the same error

    `import roboticstoolbox as rtb

    model = rtb.models.URDF.UR10() print(model) q = [0,30,-30,0,0,0] model.plot(q)`

    opened by sulaiman-01 6
  • fix issues affecting code quality

    fix issues affecting code quality

    Description

    Hi :wave: I ran the DeepSource analysis on the forked copy of this repo and found some interesting code quality issues.

    Motivation and Context

    Some of the issues I have fixed boost minor performance and a few removes the anti-patterns in code.

    Summary of changes

    • Used identity check for comparison with True
    • Replaced assertEquals with assertEqual
    • Refactored useless else block in the loop
    • Added the bound instance as method parameter
    • Used tuple unpacking to swap variables
    • Refactored unnecessary else / elif when if block has a continue statement
    • Added .deepsource.toml config
    opened by withshubh 6
  • Swift is not installed,

    Swift is not installed, " "install it using pip or conda (FIX)

    Hello, while working with Swift we found an issue, we are getting message: "Swift is not installed, " "install it using pip or conda". Problem can be solved by changing line 1244 in robotictoolbox\robot\Robot.py from: from roboticstoolbox.backends.swift import Swift to: from roboticstoolbox.backends.Swift import Swift

    Tested on Windows on below example:

    import roboticstoolbox as rtb
    from roboticstoolbox.tools.trajectory import *
    from spatialmath import *
    
    robot = rtb.models.Panda()
    T = SE3(0.7, 0.2, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
    solution = robot.ikine_LM(T)
    traj = jtraj(robot.qz, solution.q, 50)
    
    # Swift
    robot.plot(traj.q, backend = 'swift')
    
    opened by Jakubach 5
  • `ETS_fkine` outputs wrong `SE3` when sequence of `q` is passed

    `ETS_fkine` outputs wrong `SE3` when sequence of `q` is passed

    Check here first Common issues No related issue was found here.

    Describe the bug Forward kinematics in custom ERobot in version > 1.0.0 now is forced (with try / except) to pass through the Cpp function ETS_fkine But ETS_fkine does not handle the q parameter as its pythonic fkine does in versions < 1.0 and outputs wrong results when sequence of q is passed.

    For example, creating this simple robot in v1.0.2:

    import roboticstoolbox as rtb
    import numpy as np
    
    robot = rtb.ERobot(
        [
            rtb.Link(rtb.ET.tz()),
            rtb.Link(rtb.ET.tx())
        ]
    )
    traj = np.array([[0,0],[0,1]])
    print(robot.fkine(q=traj))
    

    Gives us the wrong fkine:

    0:
       1         0         1         0         
       0         1         0         1         
       0         0         0         1         
       0         0         0         0         
    1:
       0         0         0         0         
       0         0         0         0         
       1         0         1         0         
       0         1         0         1  
    

    Following the fkine docstring, that states "Trajectory operation: If q has multiple rows (mxn), it is considered a trajectory and the result is an SE3 instance with m values.", we would expect two SE(3) as a response for the two translations in traj, the first with z=0, x=0 and the second with z=0, x=1, or:

    0:
       1         0         0         0         
       0         1         0         0         
       0         0         1         0         
       0         0         0         1         
    1:
       1         0         0         1         
       0         1         0         0         
       0         0         1         0         
       0         0         0         1      
    

    The above result is indeed what we get in v0.11.0 with fkine argument fast=False as well as by cloning the bleeding-edge version from commit 07ad1259338d6dfd41af6e5e50973e315284a912 and putting back on the fast argument so it can skip the ETS_fkine function (which I guess is the fastest workaround for now)

    Version information v1.0.2 and v0.11.0 installed from PyPI commit 07ad1259338d6dfd41af6e5e50973e315284a912 from GitHub

    Environment (please complete the following information):

    • Windows 11 10.0.22621 Build 22621
    • Conda version 22.9.0
    • Python 3.10.8 Env created with
    conda create -n rtb python=3.10.8
    pip install roboticstoolbox-python
    
    bug 
    opened by FelipeCybis 0
  •     pyplot = rtb.backends.PyPlot()  # create a PyPlot backend TypeError: 'module' object is not callable

    pyplot = rtb.backends.PyPlot() # create a PyPlot backend TypeError: 'module' object is not callable

    Hello! When I try the backends example code in https://petercorke.github.io/robotics-toolbox-python/arm_backend_pyplot.html, ''' import roboticstoolbox as rtb

    robot = rtb.models.DH.Panda() # create a robot

    pyplot = rtb.backends.PyPlot() # create a PyPlot backend pyplot.add(robot) # add the robot to the backend robot.q = robot.qz # set the robot configuration pyplot.step() # update the backend and graphical view ''' I encountered the following error: ''' pyplot = rtb.backends.PyPlot() # create a PyPlot backend TypeError: 'module' object is not callable ''' I need some help. Thanks a lot.

    opened by River-mao 0
  • Changes in Dynamics and puma_fdyn

    Changes in Dynamics and puma_fdyn

    Hi,

    with the new updates, apparently there is not anymore qplot() as is not being imported (maybe this was in purpose). So, I just changed that for tools.xplot(). In addition, I did not succeed to find the printdyn() problem. Is not working anymore.

    Furthermore, Coriolis_x was still with jacob_dot. I just updated.

    Thanks in advance

    opened by Betancourt20 0
  • Error while using ikine_LM

    Error while using ikine_LM

    I tried to give a target position which is out of the reach of robot Cobra600 to the ikine_LM function. However, the result show it is success = True. How to make the success of ikine_LM function return False if the target position is out of reach??

    Cobra600 = rtb.models.DH.Cobra600() print(Cobra600) qe = [10,10,10,10] T = Cobra600.fkine(qe) sol = Cobra600.ikine_LM(T) print(sol) Cobra600.plot(sol.q, block=True)

    IKsolution(q=array([ 1.69963067, 2.56637061, 10. , 0.54918659]), success=True, reason=None, iterations=12, residual=1.8233519592079866e-11)

    Another problem is when i use the mask parameter in ikine_LM function. I always get this error. sol = Cobra600.ikine_LM(T, mask=[0,1,1,0,0,0]) How to solve this error?? Traceback (most recent call last): raise LinAlgError("Singular matrix") numpy.linalg.LinAlgError: Singular matrix

    opened by razoentaki 1
  • Unicycle model str and deriv function raises traces

    Unicycle model str and deriv function raises traces

    Describe the bug I tryied to use the Unicycle mobile model, and the str function did not work, as well as the diff function

    Version information

    Did you install from PyPI or GitHub? PyPi If PyPI what version number? 1.0.2 If GitHub what commit hash?

    Robotics Toolbox depends heavily on two other packages: Swift (3D graphics) and SpatialMath toolbox (underpinning maths utilities). If you think your issue is related to these, then please answer the questions above for them.

    To Reproduce Steps to reproduce the behavior:

    1. The shortest, complete, Python script that exhibits the bug.
    uni = Unicycle()
    str(uni)
    

    and

    uni = Unicycle()
    state = np.r_[0, 0, 0]
    input = [1, 0] # no rotation
    uni.deriv(state, input)
    
    1. The script output, including error messages.
    Traceback (most recent call last):
      File "/home/<redacted>/simple_movement.py", line 12, in <module>
        print(uni)
      File "/home/<redacted>/roboticstoolbox/mobile/Vehicle.py", line 1076, in __str__
        s += f"\n  W={self._w}, steer_max={self._steer_max}, vel_max={self._vel_max}, accel_max={self.accel_max}"
    AttributeError: 'Unicycle' object has no attribute '_steer_max'
    

    and for the second

    AttributeError: 'Unicycle' object has no attribute 'w'
    

    Expected behavior A clear and concise description of what you expected to happen. str should return a string describing the instance deriv should return the derivative state of a unicycle robot

    Screenshots If applicable, add screenshots to help explain your problem.

    Environment (please complete the following information):

    • Your OS: Linux
    • Your Python version: 3.9

    Additional context I will provide an PR with the fixes

    opened by pauloone 1
Releases(v1.0.3)
Owner
Peter Corke
Robotics research and education.
Peter Corke
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