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

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) : 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.

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 [email protected] 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.

%matplotlib notebook
import matplotlib.pyplot as plt
from roboticstoolbox.models.DH import Panda

panda = Panda()
panda.plot(panda.q)

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

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

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.

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

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:

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.

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)`

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

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')

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

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.

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

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

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)

3. 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