Compare commits
2
Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 BlueOceanWave
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4ae30b82a0 | ||
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BlueOceanWave
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4bc3e30116 |
+191
-252
@@ -9,7 +9,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 2,
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"execution_count": 81,
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"metadata": {},
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"outputs": [],
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"source": [
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@@ -28,7 +28,7 @@
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},
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{
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"cell_type": "code",
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"execution_count": 3,
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"execution_count": 82,
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"metadata": {},
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"outputs": [],
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"source": [
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@@ -52,16 +52,23 @@
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},
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{
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"cell_type": "code",
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"execution_count": 75,
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"execution_count": 83,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"flip\n",
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"[62.18186071534606, -126.63734509021032, 142.6959710408549, -106.0586259506446]\n"
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"data": {
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"text/plain": [
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"[-243.619306486927,\n",
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" -123.2097721836616,\n",
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" 140.34764917140853,\n",
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" -107.13787698774695,\n",
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" -90.0,\n",
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" 90.0]"
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]
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},
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"execution_count": 83,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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@@ -77,28 +84,28 @@
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" # Return angle\n",
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" return normalized_theta\n",
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"\n",
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"def get_joints_from_xyz_rel(x, y, z, rx=0, ry=0, rz=0, tool_offset=(0.145, 0, 0.14), initial_guess = (math.pi/2, math.pi/2, 0)):\n",
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"def get_joints_from_xyz_rel(x, y, z, rx=0, ry=-math.pi/2, rz=0, initial_guess = (math.pi/2, math.pi/2, 0)):\n",
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" # Get limbs and offsets\n",
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" offset_x, offset_y, offset_z = tool_offset\n",
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" l_bs, l1, l2, l3 = (0.14, .422864, .359041, .15)\n",
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"\n",
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" offset_x, offset_y, offset_z = (0, 0, 0.14) # Tool offset\n",
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" l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997) # Limb lengths\n",
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" \n",
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" # Calculate base angle and r relative to shoulder joint\n",
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" def calculate_theta(x, y, a):\n",
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" # Calculate if we need the + or - in our equations\n",
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" if (x>-a and y>=0) or (x>a and y<0):\n",
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" print('no flip')\n",
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" if (x>a and y>=0) or (x>-a and y<0):\n",
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" flip = 1\n",
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" elif (x<-a and y>=0) or (x<a and y<0):\n",
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" print('flip')\n",
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" elif (x<a and y>=0) or (x<-a and y<0):\n",
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" flip = -1\n",
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" else: \n",
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" print('critical')\n",
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" # Critical section (x=a, or x=-a). Infinite slope\n",
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" # Return 0 or 180 depending on sign\n",
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" return math.atan2(y, 0)\n",
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" return math.atan2(y, 0) - math.pi/2\n",
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" \n",
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" # Calculate tangent line y = mx + b\n",
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" m = (x*y - math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)\n",
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" if abs(a) != abs(x): # If there is no division by 0\n",
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" m = (x*y + math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)\n",
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" else: # Deal with edge case when x^2=a^2\n",
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" m = flip*(-a*a+y*y)/(a*y-flip*abs(a*y))\n",
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" b = flip * a * math.sqrt(1+m*m)\n",
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"\n",
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" # Calculate equivalent tangent point on circle\n",
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@@ -108,11 +115,11 @@
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" # Calculate base angle, make angle negative if flip=1\n",
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" theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)\n",
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"\n",
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" return theta\n",
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" return theta \n",
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" \n",
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" base_theta = calculate_theta(x, y, l_bs)\n",
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" cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(l_bs)\n",
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" r = math.sqrt((x-cx)**2 + (y-cy)**2) - 0.1\n",
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" cx, cy = l_bs*math.cos(base_theta), l_bs*math.sin(base_theta)\n",
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" r = math.sqrt((x-cx)**2 + (y-cy)**2) \n",
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"\n",
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"\n",
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" # Formulas to find out joint positions for (r, z)\n",
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@@ -120,7 +127,7 @@
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" a, b, c = p \n",
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"\n",
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" return (l1*math.cos(a) + l2*math.cos(a-b) + l3*math.cos(a-b-c) - r, # r\n",
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" l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - (z+offset_z), # z\n",
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" l1*math.sin(a) + l2*math.sin(a-b) - l3*math.sin(a-b-c) - (l3*math.sin(a-b-c)) - (z + offset_z), # z\n",
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" a-b-c) # wrist angle\n",
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"\n",
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"\n",
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@@ -130,123 +137,46 @@
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" # Return result\n",
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" return base, shoulder, elbow, wrist1, ry, rz\n",
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"\n",
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"def get_joints_from_xyz_abs(x, y, z):\n",
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" joints = get_joints_from_xyz_rel(x, y, z)\n",
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"def get_joints_from_xyz_abs(x, y, z, rx=0, ry=-math.pi/2, rz=math.pi/2):\n",
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" joints = get_joints_from_xyz_rel(x, y, z, rx, ry, rz)\n",
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"\n",
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" # Joint offsets\n",
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" # Base, Shoulder, Elbow, Wrist\n",
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" inverse = [1, -1, 1, 1, 1, 1]\n",
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" offsets = [-math.pi/2, 0, 0, -math.pi/2, -math.pi/2, 0]\n",
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" offsets = [-math.pi/2, 0, 0, -math.pi/2, 0, 0]\n",
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"\n",
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" # Return adjusted joint positions\n",
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" return [o+j*i for j, o, i in zip(joints, offsets, inverse)]\n",
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"\n",
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"# print([math.degrees(deg) for deg in get_joints_from_xyz_rel(0.3, 0.3, 0.3)])\n",
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"print([math.degrees(deg) for deg in get_joints_from_xyz_abs(0, -0.3, 0.1)])"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 64,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"no flip\n"
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]
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},
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{
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"data": {
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"text/plain": [
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"-126.86989764584402"
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]
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},
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"execution_count": 64,
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"metadata": {},
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"output_type": "execute_result"
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}
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],
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"source": [
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"def calculate_theta(x, y, a):\n",
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" # Calculate if we need the + or - in our equations\n",
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" if (x>a and y>=0) or (x>-a and y<0):\n",
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" print('no flip')\n",
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" flip = 1\n",
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" elif (x<a and y>=0) or (x<-a and y<0):\n",
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" print('flip')\n",
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" flip = -1\n",
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" else: \n",
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" print('critical')\n",
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" # Critical section (x=a, or x=-a). Infinite slope\n",
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" # Return 0 or 180 depending on sign\n",
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" return math.atan2(y, 0)\n",
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" \n",
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" # Calculate tangent line y = mx + b\n",
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" m = (x*y + math.sqrt(x*x*y*y-(x*x-a*a)*(y*y-a*a)))/(x*x-a*a)\n",
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" b = flip * a * math.sqrt(1+m*m)\n",
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"\n",
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" # Calculate equivalent tangent point on circle\n",
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" cx = (-flip*m*b)/(1+m*m)\n",
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" cy = m*cx + flip*b\n",
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"\n",
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" # Calculate base angle\n",
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" theta = math.atan2(cy, cx) + (-math.pi if flip==1 else 0)\n",
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"\n",
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" return theta\n",
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"\n",
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"calculate_theta(5,-5,1)"
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"# Print degree rotation for each joint (robot angles)\n",
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"[math.degrees(deg) for deg in get_joints_from_xyz_abs(0, -0.3, 0.1)]"
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]
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},
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{
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"cell_type": "markdown",
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"metadata": {},
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"source": [
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"### Simulate arm and joint angles"
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"### Simulate Arm and Joint Angles"
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]
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},
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{
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"cell_type": "code",
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"execution_count": 70,
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"execution_count": 84,
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"metadata": {},
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"outputs": [
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{
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"name": "stdout",
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"output_type": "stream",
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"text": [
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"no flip\n",
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"Target position (x,y,z): 0.3 0.3 0.3\n",
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"Angles (base, shoulder, elbow, wrist): [-25.7322, 113.4225, 127.6133, -14.1908]\n",
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"no flip\n",
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"Robot Angles: [-115.7322, -113.4225, 127.6133, -104.1908]\n",
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"elbow (x,y): -0.168 0.388\n",
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"wrist (x,y): 0.18 0.3\n",
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"tool (x,y): 0.33 0.3\n"
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]
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},
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{
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"data": {
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||||
"image/png": "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 truncated
|
||||
"text/plain": [
|
||||
"<Figure size 640x480 with 1 Axes>"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
}
|
||||
],
|
||||
"outputs": [],
|
||||
"source": [
|
||||
"def draw_arm(x, y, z):\n",
|
||||
"def draw_arm_side_view(x, y, z, details=False):\n",
|
||||
"\n",
|
||||
" # Get joint angles\n",
|
||||
" l1, l2, l3 = (.422864, .359041, .15)\n",
|
||||
" offset_x, offset_y, offset_z = (0.145, 0, 0.195)\n",
|
||||
" l1, l2, l3 = .425, .39225, .1267\n",
|
||||
" offset_x, offset_y, offset_z = (0, 0, 0.14)\n",
|
||||
" r, theta = cartesian_to_polar(x, y)\n",
|
||||
" base, shoulder, elbow, wrist = get_joints_from_xyz_rel(x, y, z)\n",
|
||||
" base, shoulder, elbow, wrist, _, _ = get_joints_from_xyz_rel(x, y, z)\n",
|
||||
"\n",
|
||||
" # Print angles\n",
|
||||
" if details:\n",
|
||||
" print('Target position (x,y,z):', x, y, z)\n",
|
||||
" print('R: ', round(math.sqrt(x**2+y**2),4))\n",
|
||||
" print('Angles (base, shoulder, elbow, wrist):', [round(math.degrees(i), 4) for i in [base, shoulder, elbow, wrist]])\n",
|
||||
" print('Robot Angles:', [round(math.degrees(i), 4) for i in get_joints_from_xyz_abs(x, y, z)])\n",
|
||||
"\n",
|
||||
@@ -263,6 +193,7 @@
|
||||
" ty = y3 - offset_z\n",
|
||||
"\n",
|
||||
" # Print each joint's endpoint position\n",
|
||||
" if details:\n",
|
||||
" print('elbow (x,y):', round(x1,3), round(y1,3))\n",
|
||||
" print('wrist (x,y):', round(x2,3), round(y2,3))\n",
|
||||
" print('tool (x,y):', round(x3,3), round(y3,3))\n",
|
||||
@@ -287,148 +218,13 @@
|
||||
"\n",
|
||||
" # Display z arrow\n",
|
||||
" plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(tx, ty), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
|
||||
" plt.annotate(f'z={round(ty,4)}', xy=(x3+0.01, y2/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
|
||||
" plt.annotate(f'z={round(ty,4)}', xy=(tx+0.01, ty/2), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
|
||||
" \n",
|
||||
" # Display plot\n",
|
||||
" ax = plt.subplot(111)\n",
|
||||
" ax.spines[['right', 'top']].set_visible(False)\n",
|
||||
" plt.axis('equal')\n",
|
||||
" plt.show()\n",
|
||||
"\n",
|
||||
"draw_arm(0.3, 0.3, 0.3)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 18,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Target position (x,y,z): 0.3 0.3 0.3\n",
|
||||
"Angles (base, shoulder, elbow, wrist): [33.9862, 85.2162, 73.3858, 11.8304]\n",
|
||||
"Robot Angles: [33.9862, -85.2162, 73.3858, -78.1696]\n",
|
||||
"elbow (x,y): 0.035 0.421\n",
|
||||
"wrist (x,y): 0.387 0.495\n",
|
||||
"tool (x,y): 0.537 0.495\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"data": {
|
||||
"image/png": 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truncated
|
||||
"text/plain": [
|
||||
"<Figure size 640x480 with 1 Axes>"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
},
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Target position (x,y,z): -0.3 -0.3 0.7\n",
|
||||
"Angles (base, shoulder, elbow, wrist): [-117.3239, 78.0693, 0.0255, 79.0945]\n",
|
||||
"Robot Angles: [-117.3239, -78.0693, 0.0255, -10.9055]\n",
|
||||
"elbow (x,y): 0.087 0.414\n",
|
||||
"wrist (x,y): 0.162 0.765\n",
|
||||
"tool (x,y): 0.312 0.762\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"name": "stderr",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"c:\\Users\\nadee\\AppData\\Local\\Programs\\Python\\Python310\\lib\\site-packages\\scipy\\optimize\\_minpack_py.py:178: RuntimeWarning: The iteration is not making good progress, as measured by the \n",
|
||||
" improvement from the last ten iterations.\n",
|
||||
" warnings.warn(msg, RuntimeWarning)\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"data": {
|
||||
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truncated
|
||||
"text/plain": [
|
||||
"<Figure size 640x480 with 1 Axes>"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
},
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Target position (x,y,z): -0.3 0.4 0.2\n",
|
||||
"Angles (base, shoulder, elbow, wrist): [111.1813, 100.8341, 104.0795, -3.2455]\n",
|
||||
"Robot Angles: [111.1813, -100.8341, 104.0795, -93.2455]\n",
|
||||
"elbow (x,y): -0.079 0.415\n",
|
||||
"wrist (x,y): 0.279 0.395\n",
|
||||
"tool (x,y): 0.429 0.395\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"data": {
|
||||
"image/png": 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truncated
|
||||
"text/plain": [
|
||||
"<Figure size 640x480 with 1 Axes>"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"draw_arm(0.3, 0.3, 0.3)\n",
|
||||
"draw_arm(-0.3, -0.3, 0.7)\n",
|
||||
"draw_arm(-0.3, 0.4, 0.2)"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "markdown",
|
||||
"metadata": {},
|
||||
"source": [
|
||||
"## Interactive Arm"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 19,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"data": {
|
||||
"application/vnd.jupyter.widget-view+json": {
|
||||
"model_id": "30dd696bcdc14aec9a1d4c17fb4787d4",
|
||||
"version_major": 2,
|
||||
"version_minor": 0
|
||||
},
|
||||
"text/plain": [
|
||||
"interactive(children=(FloatSlider(value=0.3, description='x', max=1.0, step=0.01), FloatSlider(value=0.3, desc…"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
},
|
||||
{
|
||||
"data": {
|
||||
"text/plain": [
|
||||
"<function __main__.draw_arm(x, y, z)>"
|
||||
]
|
||||
},
|
||||
"execution_count": 19,
|
||||
"metadata": {},
|
||||
"output_type": "execute_result"
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"from ipywidgets import interact, FloatSlider\n",
|
||||
"\n",
|
||||
"# Interactive slider for z coordinate\n",
|
||||
"interact(draw_arm, x=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
|
||||
" y=FloatSlider(min=0, max=1, step=0.01, value=0.3),\n",
|
||||
" z=FloatSlider(min=0, max=1, step=0.01, value=0.3))\n"
|
||||
" plt.show()"
|
||||
]
|
||||
},
|
||||
{
|
||||
@@ -436,7 +232,150 @@
|
||||
"execution_count": null,
|
||||
"metadata": {},
|
||||
"outputs": [],
|
||||
"source": []
|
||||
"source": [
|
||||
"def draw_arm_top_view(x, y, z, details=False):\n",
|
||||
" # Get joint and position information\n",
|
||||
" angles = get_joints_from_xyz_rel(x, y, z)\n",
|
||||
" offset_x, offset_y, offset_z = (0, 0, 0.14) # Tool offset\n",
|
||||
" l_bs, l1, l2, l3, l_wt = (0.1333, .425, .39225, .1267, .0997) # Limb lengths\n",
|
||||
" cx, cy = l_bs*math.cos(angles[0]), l_bs*math.sin(angles[0]) # Base tangent point\n",
|
||||
" line_angle = math.pi/2+angles[0]\n",
|
||||
"\n",
|
||||
" if details:\n",
|
||||
" print('Angles:', [round(math.degrees(angle),3) for angle in angles])\n",
|
||||
" print(f'Circle position (cx, cy): ({round(cx, 3)}, {round(cy, 3)})')\n",
|
||||
"\n",
|
||||
"\n",
|
||||
" # Plot coordinate system\n",
|
||||
" fig = plt.figure()\n",
|
||||
" ax = fig.add_subplot(1, 1, 1)\n",
|
||||
" ax.spines['left'].set_position('center')\n",
|
||||
" ax.spines['bottom'].set_position('center')\n",
|
||||
" ax.spines['right'].set_color('none')\n",
|
||||
" ax.spines['top'].set_color('none')\n",
|
||||
" ax.set_yticklabels([])\n",
|
||||
" ax.set_xticklabels([])\n",
|
||||
" ax.set_xticks([])\n",
|
||||
" ax.set_yticks([])\n",
|
||||
"\n",
|
||||
" # Target point\n",
|
||||
" # plt.plot(x, y, 'go')\n",
|
||||
"\n",
|
||||
" # Circle\n",
|
||||
" circle = plt.Circle((0, 0), l_bs, color='b', fill=False, linewidth=1)\n",
|
||||
" plt.plot([0, cx], [0, cy], color='b', linewidth=1)\n",
|
||||
" ax.add_patch(circle)\n",
|
||||
"\n",
|
||||
" # Draw limbs\n",
|
||||
" # Shoulder\n",
|
||||
" x1, y1 = polar_to_cartesian(l1*math.cos(angles[1]), line_angle)\n",
|
||||
" x1, y1 = cx+x1, cy+y1\n",
|
||||
" z1 = l1*math.sin(angles[1])\n",
|
||||
" plt.plot([cx, x1], [cy, y1], color='cyan', linewidth=3)\n",
|
||||
"\n",
|
||||
" # Elbow\n",
|
||||
" x2, y2 = polar_to_cartesian(l2*math.cos(angles[1]-angles[2]), line_angle)\n",
|
||||
" x2 += x1\n",
|
||||
" y2 += y1\n",
|
||||
" z2 = z1 + l2*math.sin(angles[1]-angles[2])\n",
|
||||
" plt.plot([x1, x2], [y1, y2], color='orange', linewidth=2)\n",
|
||||
"\n",
|
||||
" # Wrist\n",
|
||||
" x3, y3 = polar_to_cartesian(l3*math.cos(angles[1]-angles[2]-angles[3]), line_angle)\n",
|
||||
" x3 += x2\n",
|
||||
" y3 += y2\n",
|
||||
" z3 = z2 + l3*math.sin(angles[1]-angles[2]-angles[3]) \n",
|
||||
" plt.plot([x2, x3], [y2, y3], color='red', linewidth=2)\n",
|
||||
"\n",
|
||||
" # Print joint positions\n",
|
||||
" if details:\n",
|
||||
" print(f'Shoulder (x, y, z): ({round(x1,3)}, {round(y1,3)}, {round(z1,3)})')\n",
|
||||
" print(f'Elbow (x, y, z): ({round(x2,3)}, {round(y2,3)}, {round(z2,3)})')\n",
|
||||
" print(f'Wrist (x, y, z): ({round(x3,3)}, {round(y3,3)}, {round(z3,3)})')\n",
|
||||
"\n",
|
||||
" # Display angle\n",
|
||||
" plt.text(0.01, -0.01-cy/abs(cy+0.00001)*0.02, f'{round(math.degrees(angles[0]), 2)}°', fontsize=7)\n",
|
||||
"\n",
|
||||
" # Display x arrow\n",
|
||||
" sign = x3/abs(x3)\n",
|
||||
" plt.annotate(f'', xy=(0, y3), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
|
||||
" plt.annotate(f'x={round(x3,3)}', xy=(-0.1-sign*0.13, y3-0.015), xycoords='data', xytext=(x2/2, 0), textcoords='offset points')\n",
|
||||
"\n",
|
||||
" # Display y arrow\n",
|
||||
" sign = y3/abs(y3)\n",
|
||||
" plt.annotate(f'', xy=(x3, 0), xycoords='data', xytext=(x3, y3), textcoords='data', arrowprops={'arrowstyle': '<->'})\n",
|
||||
" plt.annotate(f'y={round(y3,3)}', xy=((x3-0.1), -0.015-sign*0.03), xycoords='data', xytext=(x3/2, 0), textcoords='offset points')\n",
|
||||
"\n",
|
||||
"\n",
|
||||
" # Set axis limits and labels\n",
|
||||
" axis_limit = math.hypot(x, y)+.1\n",
|
||||
" plt.axis('square')\n",
|
||||
" plt.xlim(-axis_limit, axis_limit)\n",
|
||||
" plt.ylim(-axis_limit, axis_limit)\n",
|
||||
"\n",
|
||||
" # Adjust the position of axis labels\n",
|
||||
" plt.xlabel('+x', horizontalalignment='right', x=1.05)\n",
|
||||
" plt.ylabel('+y', verticalalignment='top', rotation=0, y=1.05)\n",
|
||||
" plt.show()"
|
||||
]
|
||||
},
|
||||
{
|
||||
"cell_type": "code",
|
||||
"execution_count": 89,
|
||||
"metadata": {},
|
||||
"outputs": [
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Target position (x,y,z): 0.5 0.5 0.3\n",
|
||||
"R: 0.7071\n",
|
||||
"Angles (base, shoulder, elbow, wrist): [-34.1339, 65.0453, 57.0325, 8.0128]\n",
|
||||
"Robot Angles: [-124.1339, -65.0453, 57.0325, -81.9872, -90.0, 90.0]\n",
|
||||
"elbow (x,y): 0.179 0.385\n",
|
||||
"wrist (x,y): 0.568 0.44\n",
|
||||
"tool (x,y): 0.694 0.44\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"data": {
|
||||
"image/png": "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 truncated
|
||||
"text/plain": [
|
||||
"<Figure size 640x480 with 1 Axes>"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
},
|
||||
{
|
||||
"name": "stdout",
|
||||
"output_type": "stream",
|
||||
"text": [
|
||||
"Angles: [-34.134, 65.045, 57.033, 8.013, -90.0, 0.0]\n",
|
||||
"Circle position (cx, cy): (0.11, -0.075)\n",
|
||||
"Shoulder (x, y, z): (0.211, 0.074, 0.385)\n",
|
||||
"Elbow (x, y, z): (0.429, 0.395, 0.44)\n",
|
||||
"Wrist (x, y, z): (0.5, 0.5, 0.44)\n"
|
||||
]
|
||||
},
|
||||
{
|
||||
"data": {
|
||||
"image/png": "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 truncated
|
||||
"text/plain": [
|
||||
"<Figure size 640x480 with 1 Axes>"
|
||||
]
|
||||
},
|
||||
"metadata": {},
|
||||
"output_type": "display_data"
|
||||
}
|
||||
],
|
||||
"source": [
|
||||
"def draw_arm(x, y, z, details=False):\n",
|
||||
" draw_arm_side_view(x,y,z, details=details)\n",
|
||||
" draw_arm_top_view(x,y,z, details=details)\n",
|
||||
"\n",
|
||||
"draw_arm(0.5,0.5,0.3, details=True)"
|
||||
]
|
||||
}
|
||||
],
|
||||
"metadata": {
|
||||
|
||||
Reference in new issue
Block a user