Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.
Home Page: http://modernrobotics.org/
License: MIT License
Hi guys. I encountered a strange problem.
When I use the torques which calculated by InverseDynamics function as inputs of ForwardDynamics function. Then I get a bad results of angles and angular velocity.
Both of them are based on the same model, and the input torques of ForwardDynamics are equal to InverseDynamics outputs. And the integration algorithm I used is EulerStep function.
Hope you guys can help me.
We wrote a tool that can calculate the M and Slist parameters for Modern Robotics' kinematics functions given a kinematic chain's URDF. Functionality and performance are pretty limited at this point, but we thought it might be useful to some.
Here's the link to its repo: kinematics_from_description
I wrote a python code that can generate the M, Slist, Blist, Mlist and Glist params for MR kinematics & dynamics.
it provides ur5 simulation using pybullet.
Here's the link to its repo: mr_urdf_loader
There are a variety of formatting issues in the docstrings in the Python library. While this isn't a huge deal, it does mean that some of the example usage cannot be directly copy-pasted into a Python interpreter and have it run successfully. This is true even with an indention-aware, "smart" interpreter like IPython's %paste function. Here are a few issues that I noticed:
modern_robotics but they fail to import numpy or print_function.Hello. I want to implement the UR10e Force control using InverseDynamicsTrajectory Function. However, I would like to ask you a question because the calculated torque does not seem to be the correct value.
Here is UR10e Dynamcis parameter
UR10e URDF
<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner ([email protected])
Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578_kink
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="ur10e">
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/base.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/base.stl"/>
</geometry>
</collision>
<inertial>
<mass value="4.0"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125"/>
</inertial>
</link>
<joint name="shoulder_pan_joint" type="revolute">
<parent link="base_link"/>
<child link="shoulder_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.181"/>
<axis xyz="0 0 1"/>
<!-- <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/> -->
<limit effort="10000.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="shoulder_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/shoulder.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/shoulder.stl"/>
</geometry>
</collision>
<inertial>
<mass value="7.778"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
<inertia ixx="0.03147431257693659" ixy="0.0" ixz="0.0" iyy="0.03147431257693659" iyz="0.0" izz="0.021875624999999996"/>
</inertial>
</link>
<joint name="shoulder_lift_joint" type="revolute">
<parent link="shoulder_link"/>
<child link="upper_arm_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.176 0.0"/>
<axis xyz="0 1 0"/>
<!-- <limit effort="330.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/> -->
<limit effort="10000.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="upper_arm_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/upperarm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/upperarm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="12.93"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.3065"/>
<inertia ixx="0.4230737407704359" ixy="0.0" ixz="0.0" iyy="0.4230737407704359" iyz="0.0" izz="0.03636562499999999"/>
</inertial>
</link>
<joint name="elbow_joint" type="revolute">
<parent link="upper_arm_link"/>
<child link="forearm_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 -0.137 0.613"/>
<axis xyz="0 1 0"/>
<!-- <limit effort="150.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.14"/> -->
<limit effort="10000.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="3.14"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="forearm_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/forearm.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/forearm.stl"/>
</geometry>
</collision>
<inertial>
<mass value="3.87"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.2855"/>
<inertia ixx="0.11059036576383598" ixy="0.0" ixz="0.0" iyy="0.11059036576383598" iyz="0.0" izz="0.010884375"/>
</inertial>
</link>
<joint name="wrist_1_joint" type="revolute">
<parent link="forearm_link"/>
<child link="wrist_1_link"/>
<origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.571"/>
<axis xyz="0 1 0"/>
<!-- <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/> -->
<limit effort="10000.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_1_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/wrist1.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/wrist1.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.135 0.0"/>
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
</inertial>
</link>
<joint name="wrist_2_joint" type="revolute">
<parent link="wrist_1_link"/>
<child link="wrist_2_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.135 0.0"/>
<axis xyz="0 0 -1"/>
<!-- <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/> -->
<limit effort="10000.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_2_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/wrist2.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/wrist2.stl"/>
</geometry>
</collision>
<inertial>
<mass value="1.96"/>
<origin rpy="0 0 0" xyz="0.0 0.0 0.12"/>
<inertia ixx="0.005108247956699999" ixy="0.0" ixz="0.0" iyy="0.005108247956699999" iyz="0.0" izz="0.005512499999999999"/>
</inertial>
</link>
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link"/>
<child link="wrist_3_link"/>
<origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.12"/>
<axis xyz="0 1 0"/>
<!-- <limit effort="54.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/> -->
<limit effort="10000.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="6.28"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
<link name="wrist_3_link">
<visual>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/visual/wrist3.dae"/>
</geometry>
<material name="LightGrey">
<color rgba="0.7 0.7 0.7 1.0"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://ur10e_description/meshes/ur10e/collision/wrist3.stl"/>
</geometry>
</collision>
<inertial>
<mass value="0.202"/>
<origin rpy="1.5707963267948966 0 0" xyz="0.0 0.092 0.0"/>
<inertia ixx="0.00014434577559500002" ixy="0.0" ixz="0.0" iyy="0.00014434577559500002" iyz="0.0" izz="0.00020452500000000002"/>
</inertial>
</link>
<joint name="ee_fixed_joint" type="fixed">
<parent link="wrist_3_link"/>
<child link="ee_link"/>
<origin rpy="0.0 0.0 1.5707963267948966" xyz="0.0 0.117 0.0"/>
</joint>
<link name="ee_link">
<collision>
<geometry>
<box size="0.01 0.01 0.01"/>
</geometry>
<origin rpy="0 0 0" xyz="-0.01 0 0"/>
</collision>
</link>
</robot>
Slist :
Mlist :
Glist :
And, this is my code
%init pose to end pose torque compute
thetastart = [0; 0; 0; 0; 0; 0];
thetaend = [pi/2;0; 0;0;0;0];
% Total time of the motion in seconds from rest to rest
Tf = 5;
%The number of points N > 1 (Start and stop) in the discrete representation of the trajectory
dt = 0.01;
%Create a trajectory to follow
N = Tf / dt;
%he time-scaling method, where 3 indicates cubic third-order polynomial) time scaling and 5 indicates quintic (fifth-order polynomial) time scaling.
method = 5;
traj = JointTrajectory(thetastart, thetaend, Tf, N, method);
thetamat = traj;
dthetamat = zeros(1000, 6);
ddthetamat = zeros(1000, 6);
dt = Tf / (N - 1);
for i = 1: N - 1
dthetamat(i + 1, :) = (thetamat(i + 1, :) - thetamat(i, :)) / dt;
ddthetamat(i + 1, :) = (dthetamat(i + 1, :) - dthetamat(i, :)) / dt;
end
g = [0; 0; -9.8];
Ftipmat = zeros(N, 6);
taumat = InverseDynamicsTrajectory(thetamat, dthetamat, ddthetamat, ...
g, Ftipmat, Mlist, Glist, Slist)
%Output using matplotlib to plot the joint forces/torques
time=0: dt: Tf;
plot(time, taumat(:, 1), 'b')
hold on
plot(time, taumat(:, 2), 'g')
plot(time, taumat(:, 3), 'r')
plot(time, taumat(:, 4), 'y')
plot(time, taumat(:, 5), 'k')
plot(time, taumat(:, 6), 'm')
title('Plot for Torque Trajectories')
xlabel('Time')
ylabel('Torque')
legend('Tau1', 'Tau2', 'Tau3','Tau4','Tau5','Tau6')
Taumat calculated by the above code
0 -71.0770 -23.0659 0 -0.0000 0
0.0099 -71.0780 -23.0660 -0.0000 0.0000 0
0.0592 -71.0828 -23.0665 -0.0003 0.0001 0
0.1177 -71.0886 -23.0670 -0.0005 0.0002 0
0.1755 -71.0943 -23.0676 -0.0008 0.0003 0
0.2327 -71.0999 -23.0682 -0.0010 0.0004 0
0.2891 -71.1054 -23.0687 -0.0013 0.0005 0
0.3448 -71.1109 -23.0693 -0.0015 0.0005 0
0.3998 -71.1163 -23.0698 -0.0017 0.0006 0
0.4541 -71.1216 -23.0704 -0.0020 0.0007 0
0.5077 -71.1269 -23.0709 -0.0022 0.0008 0
0.5607 -71.1321 -23.0714 -0.0025 0.0009 0
0.6129 -71.1373 -23.0719 -0.0027 0.0010 0
0.6644 -71.1423 -23.0724 -0.0029 0.0010 0
0.7153 -71.1473 -23.0730 -0.0031 0.0011 0
0.7655 -71.1523 -23.0735 -0.0034 0.0012 0
0.8150 -71.1572 -23.0740 -0.0036 0.0013 0
0.8639 -71.1620 -23.0745 -0.0038 0.0013 0
0.9120 -71.1667 -23.0750 -0.0040 0.0014 0
0.9596 -71.1714 -23.0755 -0.0042 0.0015 0
1.0064 -71.1761 -23.0759 -0.0044 0.0016 0
1.0526 -71.1806 -23.0764 -0.0047 0.0016 0
1.0981 -71.1851 -23.0769 -0.0049 0.0017 0
1.1429 -71.1896 -23.0774 -0.0051 0.0018 0
1.1872 -71.1940 -23.0779 -0.0053 0.0019 0
1.2307 -71.1983 -23.0784 -0.0055 0.0019 0
1.2736 -71.2026 -23.0789 -0.0057 0.0020 0
1.3159 -71.2068 -23.0794 -0.0059 0.0021 0
1.3575 -71.2110 -23.0798 -0.0061 0.0021 0
1.3985 -71.2151 -23.0803 -0.0063 0.0022 0
1.4388 -71.2192 -23.0808 -0.0065 0.0023 0
1.4786 -71.2232 -23.0813 -0.0067 0.0023 0
1.5176 -71.2271 -23.0818 -0.0069 0.0024 0
1.5561 -71.2310 -23.0823 -0.0071 0.0025 0
1.5939 -71.2349 -23.0828 -0.0073 0.0025 0
1.6311 -71.2387 -23.0833 -0.0075 0.0026 0
1.6677 -71.2424 -23.0839 -0.0077 0.0026 0
1.7037 -71.2461 -23.0844 -0.0079 0.0027 0
1.7391 -71.2498 -23.0849 -0.0081 0.0028 0
1.7738 -71.2534 -23.0854 -0.0083 0.0028 0
1.8080 -71.2570 -23.0860 -0.0085 0.0029 0
1.8415 -71.2605 -23.0865 -0.0087 0.0029 0
1.8744 -71.2639 -23.0871 -0.0089 0.0030 0
1.9068 -71.2674 -23.0877 -0.0091 0.0030 0
1.9385 -71.2708 -23.0882 -0.0094 0.0031 0
1.9697 -71.2741 -23.0888 -0.0096 0.0032 0
2.0002 -71.2774 -23.0894 -0.0098 0.0032 0
2.0302 -71.2807 -23.0900 -0.0100 0.0033 0
2.0596 -71.2839 -23.0907 -0.0102 0.0033 0
2.0884 -71.2871 -23.0913 -0.0104 0.0034 0
2.1166 -71.2902 -23.0919 -0.0107 0.0034 0
2.1442 -71.2933 -23.0926 -0.0109 0.0035 0
2.1713 -71.2964 -23.0933 -0.0111 0.0035 0
2.1978 -71.2994 -23.0940 -0.0113 0.0036 0
2.2238 -71.3024 -23.0947 -0.0116 0.0036 0
2.2491 -71.3054 -23.0954 -0.0118 0.0037 0
2.2739 -71.3083 -23.0961 -0.0121 0.0037 0
2.2982 -71.3112 -23.0969 -0.0123 0.0038 0
2.3219 -71.3140 -23.0976 -0.0125 0.0038 0
2.3450 -71.3168 -23.0984 -0.0128 0.0039 0
2.3676 -71.3196 -23.0992 -0.0130 0.0039 0
2.3897 -71.3224 -23.1000 -0.0133 0.0040 0
2.4112 -71.3251 -23.1008 -0.0136 0.0040 0
2.4322 -71.3278 -23.1017 -0.0138 0.0041 0
2.4526 -71.3305 -23.1025 -0.0141 0.0041 0
2.4725 -71.3331 -23.1034 -0.0144 0.0042 0
2.4918 -71.3357 -23.1043 -0.0146 0.0042 0
2.5106 -71.3383 -23.1052 -0.0149 0.0043 0
2.5289 -71.3409 -23.1062 -0.0152 0.0043 0
2.5467 -71.3434 -23.1071 -0.0155 0.0044 0
2.5640 -71.3459 -23.1081 -0.0158 0.0044 0
2.5807 -71.3484 -23.1091 -0.0161 0.0044 0
2.5969 -71.3508 -23.1101 -0.0164 0.0045 0
2.6126 -71.3533 -23.1112 -0.0167 0.0045 0
2.6278 -71.3557 -23.1122 -0.0170 0.0046 0
2.6425 -71.3580 -23.1133 -0.0173 0.0046 0
2.6567 -71.3604 -23.1144 -0.0176 0.0047 0
2.6704 -71.3627 -23.1155 -0.0180 0.0047 0
2.6836 -71.3650 -23.1167 -0.0183 0.0048 0
2.6962 -71.3673 -23.1178 -0.0186 0.0048 0
2.7084 -71.3696 -23.1190 -0.0190 0.0049 0
2.7201 -71.3718 -23.1202 -0.0193 0.0049 0
2.7314 -71.3741 -23.1215 -0.0197 0.0049 0
2.7421 -71.3763 -23.1227 -0.0200 0.0050 0
2.7524 -71.3784 -23.1240 -0.0204 0.0050 0
2.7621 -71.3806 -23.1253 -0.0208 0.0051 0
2.7714 -71.3828 -23.1266 -0.0211 0.0051 0
2.7803 -71.3849 -23.1279 -0.0215 0.0052 0
2.7886 -71.3870 -23.1293 -0.0219 0.0052 0
2.7965 -71.3891 -23.1307 -0.0223 0.0052 0
2.8039 -71.3911 -23.1321 -0.0227 0.0053 0
2.8109 -71.3932 -23.1335 -0.0231 0.0053 0
2.8174 -71.3952 -23.1350 -0.0235 0.0054 0
2.8235 -71.3972 -23.1365 -0.0239 0.0054 0
2.8291 -71.3992 -23.1380 -0.0243 0.0055 0
2.8342 -71.4012 -23.1395 -0.0247 0.0055 0
2.8389 -71.4031 -23.1410 -0.0251 0.0056 0
2.8432 -71.4051 -23.1426 -0.0256 0.0056 0
2.8470 -71.4070 -23.1442 -0.0260 0.0056 0
2.8504 -71.4089 -23.1458 -0.0264 0.0057 0
2.8533 -71.4108 -23.1474 -0.0269 0.0057 0
2.8558 -71.4127 -23.1491 -0.0273 0.0058 0
2.8579 -71.4145 -23.1507 -0.0278 0.0058 0
2.8596 -71.4164 -23.1524 -0.0282 0.0058 0
2.8608 -71.4182 -23.1542 -0.0287 0.0059 0
2.8616 -71.4200 -23.1559 -0.0292 0.0059 0
2.8620 -71.4218 -23.1577 -0.0296 0.0060 0
2.8620 -71.4236 -23.1594 -0.0301 0.0060 0
2.8616 -71.4253 -23.1612 -0.0306 0.0061 0
2.8607 -71.4271 -23.1630 -0.0311 0.0061 0
2.8595 -71.4288 -23.1649 -0.0316 0.0061 0
2.8578 -71.4305 -23.1667 -0.0321 0.0062 0
2.8558 -71.4322 -23.1686 -0.0326 0.0062 0
2.8533 -71.4339 -23.1705 -0.0331 0.0063 0
2.8505 -71.4356 -23.1724 -0.0336 0.0063 0
2.8472 -71.4372 -23.1744 -0.0341 0.0064 0
2.8436 -71.4388 -23.1763 -0.0346 0.0064 0
2.8396 -71.4404 -23.1783 -0.0352 0.0064 0
2.8352 -71.4420 -23.1803 -0.0357 0.0065 0
2.8304 -71.4436 -23.1823 -0.0362 0.0065 0
2.8253 -71.4452 -23.1843 -0.0368 0.0066 0
2.8197 -71.4467 -23.1863 -0.0373 0.0066 0
2.8138 -71.4483 -23.1884 -0.0378 0.0066 0
2.8076 -71.4498 -23.1904 -0.0384 0.0067 0
2.8009 -71.4513 -23.1925 -0.0389 0.0067 0
2.7939 -71.4527 -23.1946 -0.0395 0.0068 0
2.7866 -71.4542 -23.1967 -0.0400 0.0068 0
2.7789 -71.4556 -23.1988 -0.0406 0.0068 0
2.7708 -71.4570 -23.2010 -0.0412 0.0069 0
2.7624 -71.4584 -23.2031 -0.0417 0.0069 0
2.7536 -71.4598 -23.2053 -0.0423 0.0070 0
2.7445 -71.4612 -23.2074 -0.0429 0.0070 0
2.7350 -71.4625 -23.2096 -0.0434 0.0070 0
2.7252 -71.4639 -23.2118 -0.0440 0.0071 0
2.7151 -71.4652 -23.2140 -0.0446 0.0071 0
2.7046 -71.4665 -23.2162 -0.0452 0.0072 0
2.6938 -71.4677 -23.2184 -0.0457 0.0072 0
2.6826 -71.4690 -23.2207 -0.0463 0.0072 0
2.6712 -71.4702 -23.2229 -0.0469 0.0073 0
2.6594 -71.4714 -23.2252 -0.0475 0.0073 0
2.6473 -71.4726 -23.2274 -0.0481 0.0073 0
2.6349 -71.4738 -23.2297 -0.0487 0.0074 0
2.6221 -71.4749 -23.2319 -0.0493 0.0074 0
2.6091 -71.4760 -23.2342 -0.0498 0.0075 0
2.5957 -71.4771 -23.2365 -0.0504 0.0075 0
2.5820 -71.4782 -23.2388 -0.0510 0.0075 0
2.5681 -71.4792 -23.2411 -0.0516 0.0076 0
2.5538 -71.4803 -23.2433 -0.0522 0.0076 0
2.5392 -71.4813 -23.2456 -0.0528 0.0076 0
2.5244 -71.4822 -23.2479 -0.0534 0.0077 0
2.5092 -71.4832 -23.2502 -0.0540 0.0077 0
2.4938 -71.4841 -23.2525 -0.0546 0.0077 0
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-1.6677 -70.9146 -23.0509 0.0069 -0.0026 0
-1.6311 -70.9181 -23.0511 0.0068 -0.0025 0
-1.5939 -70.9216 -23.0513 0.0067 -0.0025 0
-1.5561 -70.9252 -23.0516 0.0065 -0.0024 0
-1.5176 -70.9288 -23.0519 0.0064 -0.0023 0
-1.4786 -70.9326 -23.0521 0.0062 -0.0023 0
-1.4388 -70.9364 -23.0524 0.0061 -0.0022 0
-1.3985 -70.9403 -23.0527 0.0059 -0.0022 0
-1.3575 -70.9442 -23.0531 0.0058 -0.0021 0
-1.3159 -70.9482 -23.0534 0.0056 -0.0020 0
-1.2736 -70.9523 -23.0538 0.0055 -0.0020 0
-1.2307 -70.9565 -23.0541 0.0053 -0.0019 0
-1.1872 -70.9607 -23.0545 0.0051 -0.0018 0
-1.1429 -70.9650 -23.0549 0.0049 -0.0018 0
-1.0981 -70.9694 -23.0553 0.0047 -0.0017 0
-1.0526 -70.9738 -23.0557 0.0046 -0.0016 0
-1.0064 -70.9783 -23.0561 0.0044 -0.0016 0
-0.9596 -70.9829 -23.0566 0.0042 -0.0015 0
-0.9120 -70.9875 -23.0570 0.0040 -0.0014 0
-0.8639 -70.9922 -23.0575 0.0038 -0.0013 0
-0.8150 -70.9970 -23.0579 0.0035 -0.0013 0
-0.7655 -71.0019 -23.0584 0.0033 -0.0012 0
-0.7153 -71.0068 -23.0589 0.0031 -0.0011 0
-0.6644 -71.0118 -23.0594 0.0029 -0.0010 0
-0.6129 -71.0168 -23.0599 0.0027 -0.0010 0
-0.5607 -71.0220 -23.0604 0.0024 -0.0009 0
-0.5077 -71.0272 -23.0609 0.0022 -0.0008 0
-0.4541 -71.0324 -23.0614 0.0020 -0.0007 0
-0.3998 -71.0378 -23.0620 0.0017 -0.0006 0
-0.3448 -71.0432 -23.0625 0.0015 -0.0005 0
-0.2891 -71.0486 -23.0630 0.0013 -0.0005 0
-0.2327 -71.0542 -23.0636 0.0010 -0.0004 0
-0.1755 -71.0598 -23.0642 0.0008 -0.0003 0
-0.1177 -71.0655 -23.0647 0.0005 -0.0002 0
-0.0592 -71.0712 -23.0653 0.0003 -0.0001 0
Since only the first joint rotates by pi/2, I think the torque absolute value of the first joint should increase and then decrease.
However, the value of the calculated torque is really confusing because it has a value that goes between positive and negative values. can you please help me?
In Chapter 3, pg. 88 of Modern Robotics, the formula (equation 3.61) given to calculate the skew-symmetric matrix [w] is (1/2sin(theta)) * (R - R^T).
However, the equation coded for this function (line 177 in the Python version) is
theta / 2.0 / np.sin(theta) * (R - np.array(R).T).
Shouldn't this be (1.0/2.0*np.sin(theta)) * (R - np.array(R).T)?
I've noticed this issue also with the C++ and Julia version. However, the Matlab and Mathematica versions have this correct.
Dear supervisors
I have problem in installing modern-robotics library in python I am using pycharm
import modern_robotics as mr
ModuleNotFoundError: No module named 'modern_robotics'
basically I tried to install it via pip command but it didn't work
((pip install modern_robotics
Requirement already satisfied: modern_robotics in c:\users\zaian\appdata\local\programs\python\python38-32\lib\site-packages (1.1.0)
Requirement already satisfied: numpy in c:\users\zaian\appdata\local\programs\python\python38-32\lib\site-packages (from modern_robotics) (1.18.1))
Please help !
I found a way to install it using pycharm Thanks P)
hi, thank you for your great open source work, and there seems a problem in charpter 3 by python version, in the last line of the function def MatrixLog3(R): , which is
return theta / 2.0 / np.sin(theta) * (R - np.array(R).T)
I think the first theta should be the 1, not theta according to the formula in the book, could you check it, please.
In Chapter 3, exercise 3.10 and in Appendix E (Linear Algebra Review, section E.3.2), the problem of a 3x3 matrix "escaping" the SO(3) manifold due to numerical roundoff errors, is presented. For the case when a given matrix is close to the SO(3), the solution for projecting the matrix to the closest matrix in SO(3) using singular-value decomposition, is defined. However, for the case when the matrix is not sufficiently close to SO(3), i.e. the determinant of resulting (SVD processed) matrix is < 0, the solution is not described theoretically, but it has been coded in the ProjectToSO3(mat) (Python) function. More specifically:
if np.linalg.det(R) < 0:
# In this case the result may be far from mat.
R[:, s[2, 2]] = -R[:, s[2, 2]]
return R
Nevertheless, the given solution code is falling and the error is the following:
---> 26 R[:, s[2, 2]] = -R[:, s[2, 2]]
27 return R
IndexError: too many indices for array
Is it possible to share the reference/s (article, book), where a theoretical solution is provided for this special case, so readers of "CHAPTER 3: RIGID-BODY MOTIONS" and users of this function have better theoretical background for the aforementioned coded solution, and maybe implement the fix for the above error in the code?
Version 1.1.0 of this library in python does not work with numpy version greater than 1.20 due to a float conversion bug which was fixed here but has not been released yet. The README should specify this constraint in order to avoid others having to root cause this bug.
Beginning packaging process...
Packaging Failed
Error: Invalid expression. Check for missing multiplication operator, missing or unbalanced delimiters, or other syntax error. To construct matrices, use brackets instead of parentheses.
Hi,
A group of people including me has ported your library into C++ (https://github.com/Le0nX/ModernRoboticsCpp). I am using it now almost every day on my research projects. I am wonder can you verify this C++ version and merge it into your official repo? If not, please tell us what need to be further refined so that you can endorse it. So in the future if you have modifications to the official repo we can quickly update C++ version too.
The installed book software has no executable files
Hello,
In the book, page 106, they provide the analytical expression for G^-1, that is being use to calculate the log_SE3 . In particular, the experssion begins by 1/theta * Identity + ....
However, in both matlab and python versions of the code, the function MatrixLog6 begins by eye(3) + ... , so there is not the 1/theta in the code.
Is there an error, or do I miss something ?
Thanks !
i tried to run the setup file but unfortunately i got error msg says it '-f is not recognized '
i have downloaded the modern-robotics folder which contains the following 3 files:
(init)
(version)
(core)
on the same root directory where Anaconda files are installed but it didn't work..
i can import the functions available in the core python file, so is this enough or its required to to install the package? please advise?
Regards
In Chapter 5: Velocity Kinematics and Statics different kinds of Jacobian representations are introduced. Furthermore, the mapping of joint torque bounds to tip force bounds (like in Figure 5.4 of the book) is given as:
Both mr.JacobianSpace(Slist, thetalist) and mr.JacobianBody(Blist, thetalist) produce a Jacobian comprised of twists, and therefore cannot be used for the above mapping, correct? In order to get the plots from Figure 5.4, did the authors convert the Space Jacobian to the analytic Jacobian with Equation 5.25 in Example 5.5?
I've been noticing many complaints, by students using this library, insisting that the FKinBody and FKinSpace functions do not output the correct values. Although the functions do output an appropriate matrix of the expected dimensions, when we compare the values with calculations done by hand we see that they do not agree. After looking into both functions, it suprised me to find that the fix was quite trivial.
Below is the original code for FKinBody.m (this reports no issues however the values are incorrect)
T = M;
for i = 1: size(thetalist)
T = T * MatrixExp6(VecTose3(Blist(:, i) * thetalist(i)));
end
end
Below is my correction which does output the correct values
T = M;
for i = 1: length(thetalist)
T = T * MatrixExp6(VecTose3(Blist(:, i) * thetalist(i)));
end
end
Pay close attention to the logic in the for loop. The function size() has been incorrectly used when instead we should be using length(). I believe that this issue arose from someone translating the library from one programming language to another, and they were not aware of the difference between these Matlab functions. Please update the Matlab library functions to prevent headaches for future students.
In 11.7.1 section, Impedance equation
When I run any of the Matlab codes (with the given examples on the code) I get this message:
"Maximum recursion limit of 500 reached. Use set(0,'RecursionLimit',N) to change the limit. Be aware that
exceeding your available stack space can crash MATLAB and/or your computer."
Thank you so much for writing a great book.
* equal case *
R1 = MatrixExp3(VecToso3([0.1,0.1,0.1]))
R2 = MatrixExp3(VecToso3([1,1,1]))
isequal(MatrixLog3(inv(R1)* R2) ,MatrixLog3(R2)-MatrixLog3(R1))
* not equal case *
R1 = MatrixExp3(VecToso3([0.1,0.1,0.1]))
R2 = MatrixExp3(VecToso3([1,2,1]))
isequal(MatrixLog3(inv(R1)* R2) ,MatrixLog3(R2)-MatrixLog3(R1))
The formula presented above represents a general property of logarithms.
However, I was wondering if it is possible that the log symbol used in this book might not always satisfy the aforementioned equation?
If so, I would appreciate it if you could explain the reason for this potential discrepancy.
Thank you for publishing this library.
Sadly, the repository does not contain any license statement, which is common practice on GitHub.
The PyPI page of the package mentions the MIT license. It would be great if you could add a LICENSE.txt containing the license, with an added copyright statement, to this repo. See also Licensing a repository by GitHub.
Hello, I'd like to implement Gravity compensation with UR5. Mlist, Slist, and Glist are using what is provided by the Modern Robotics wiki.
Can Manipulator's gravity compensation be made with GravityForces (thetalist, gravity, Mlist, Glist, Slist)? Can the Manipulator withstand gravity if the results of GravityForces (thetalist, gravity, Mlist, Glist, Slist) are applied continuously?
(Python) In certain transforms, IK will fail due to NANs cropping up. This is because of floating point inaccuracies being fed into np.arccos. (For example in MatrixLog6)
E.g. (-1.0000000002) which will return NaN
To fix this, for each np.arccos(x) in the MR code, replace with np.arccos(np.clip(x,-1,1))
variable omghat from line 23 in MatrixExp3.m isn't used in the function
Functions FKinSpace and FKinBody give the following message when executed in Octave:
warning: colon arguments should be scalars.
This is due to the fact that function size returns a vector containing the number of rows and number of columns. Not sure under MATLAB. I believe the following should be used:
for i = 1: size(thetalist)(1)
if thetalist is a column vector, instead of:
for i = 1: size(thetalist)
About book software of Chapter 4, in the function FKinSpace.m and FKinBody.m, the for loop uses (size(thetalist)) to count how many times it need to pre-multiply or post-multiply. However, (size(thetalist)) returns dimension of thetalist, which is a vector. Besides, for loop takes the first element of the vector there. As a result, times of loop depends on whether you input the thetalist as row vector or column vector, which is not robust enough and can be easy to made a mistake.
For example, The code in the FKinSpace.m is listed below.
for i = size(thetalist):-1:1
T = MatrixExp6(VecTose3(Slist(:,i) * thetalist(i))) * T;
end
Here we have a thetalist = (th1, th2, th3, th4). If we input it as thetalist = [th1; th2; th3; th4]; , it will be a 41 column vector, and (size(thetalist)) returns [4, 1], so the output result will be right. Otherwise, if we input it as thetalist = [th1, th2, th3, th4];, it's 14 row vector, and (size(thetalist)) returns [1, 4], so the for loop only run one time, which cause a wrong output.
One solution to make it more robust is to replace the size() function to length() function, which only returns a scalar noting length of whatever a row vector or column vector.
for i = length(thetalist):-1:1
T = MatrixExp6(VecTose3(Slist(:,i) * thetalist(i))) * T;
end
Miaoding Dai _[email protected]
Similar to #10, I have translated the library to Julia. Documentation needs a bit of improvement, but all the functionality should be there (only methods missing are ScrewTrajectory and CartesianTrajectory, which I'll add soon enough anyway).
A Jupyter Notebook with the authors' original examples: Modern Robotics Examples
Ongoing Julia package PR: JuliaLang/METADATA.jl/pull/21669
Repository: ferrolho/ModernRobotics.jl
Release: v0.1.0
Good morning! I'm one of your students of Modern Robotics MOOC on Coursra and writing you with a question from Russia!
As I can see there are only Mathematica, Matlab and Python packages for this course. I can write a C++ one and make a pull request to your github repo. How do you look at it?
I think there is a bug in the IKinBody, and IKinSpace, in the calculation of Vb as TransInv(T) * T,
shouldn't Vb matrix = TransInv(T) * derivative(T)
T = [ R P; 0 1], while derivative(T) = [ d(R) v; 0 0], the they can't equal each others, the space implementation exist in the three languages!
In ComputedTorque function, Why term h(θ, ˙θ)_hat is calculated by InverseDynamics(thetalist, dthetalist, ddthetalistd, g, zeros(6, 1), Mlist, Glist, Slist) instead of using VelQuadraticForce and GravityForces?
If trying to install the package using 'pip install modern_robotics', I get the following error message...
Collecting modern_robotics
Using cached https://files.pythonhosted.org/packages/a0/78/18a10bb636b0f1ae101efdb8dfe65f5dce231e00de95ae1a14af32c49249/modern_robotics-1.1.0.tar.gz
Collecting numpy (from modern_robotics)
Using cached https://files.pythonhosted.org/packages/da/32/1b8f2bb5fb50e4db68543eb85ce37b9fa6660cd05b58bddfafafa7ed62da/numpy-1.17.0.zip
Complete output from command python setup.py egg_info:
Traceback (most recent call last):
File "", line 1, in
File "/tmp/pip-build-pOIoLs/numpy/setup.py", line 31, in
raise RuntimeError("Python version >= 3.5 required.")
RuntimeError: Python version >= 3.5 required.
It seems that numpy is no longer supported on python 2.7 according to https://docs.scipy.org/doc/numpy/release.html. To fix this, I did pip3 install modern_robotics which worked. Unless I'm missing something, the readme should be changed to reflect that pip3 should be used instead of pip.
Hello.
The MATLAB repo seems to contain all utility functions. It would be nice to have an example or two.
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