petercorke / rvc3-matlab

New toolbox, data and examples for Robotics, Vision & Control: 3rd edition in MATLAB

I'm Peter, I'm a robotics educator and researcher.

• I'm currently working on a bunch of packages for robotics, machine vision and block diagram simulation.

rvc3-matlab's Issues

symbolic operation

hello， the RVC3-matlab dose not support symbolic operation. For example:

rotmx(theta)

ans =

[1, 0, 0]
[0, cos(theta), -sin(theta)]
[0, sin(theta), cos(theta)]

this one is ok, but for so3, se3, Twist and so on, it can't work.

Do you have any plans to carry out this update, which is very important for the kinematics and dynamics research of robots

Matrix Multiply have a error

Java JVM not available in GitHub MATLAB Test Run

Some of the features used in the book chapters still use Java, but the Java JVM doesn't seem to be available when automatically running tests as a GitHub action.

See the raw log here.

A representative failure is:

or

2023-07-05T09:59:59.3904343Z ================================================================================
2023-07-05T09:59:59.3905166Z Error occurred in tChapter11/runMLXFile and it did not run to completion.
2023-07-05T09:59:59.3906597Z ---------
2023-07-05T09:59:59.3907156Z Error ID:
2023-07-05T09:59:59.3907526Z ---------
2023-07-05T09:59:59.3907817Z 'images:imtool:needJavaFigure'
2023-07-05T09:59:59.3908068Z --------------
2023-07-05T09:59:59.3909160Z Error Details:
2023-07-05T09:59:59.3911236Z --------------
2023-07-05T09:59:59.3912175Z Error using imtool
2023-07-05T09:59:59.3912861Z IMTOOL requires Java to run.
2023-07-05T09:59:59.3913279Z
2023-07-05T09:59:59.3913644Z Error in chapter11 (line 18)
2023-07-05T09:59:59.3914100Z imtool(street)
2023-07-05T09:59:59.3914515Z
2023-07-05T09:59:59.3914845Z Error in run (line 91)
2023-07-05T09:59:59.3915459Z evalin('caller', strcat(script, ';'));
2023-07-05T09:59:59.3919653Z

ETS3/teach has an error when the robot has a prismatic joint

Describe the bug
ETS3/teach has an error when the robot has a prismatic joint

To Reproduce

W1 = 0.109;
W2 = 0.082;
L1 = 0.425;
L2 = 0.392;
H1 = 0.089;
H2 = 0.095;

e = ETS3.Rz("q1")*ETS3.Tz(H1)*ETS3.Ty(W1)*ETS3.Ry("q2")ETS3.Tx(L1)...
ETS3.Ry("q3")*ETS3.Tx(L2)*ETS3.Ry("q4")*ETS3.Ry(pi)*ETS3.Tz("q5")*ETS3.Ty(W2)*ETS3.Tz(H2)*ETS3.Rx(-pi/2)

e.fkine([0 -pi/2 0 0 pi/2])
e.teach

Screenshots

when you use ETS3.Rz("q5") instead of ETS3.Tz("q5"), everything is ok.

chapter2.mlx throws warnings

What environment are you using

GitHub action running tChapter2 unit test.
See log here: https://github.com/petercorke/RVC3-MATLAB/actions/runs/5456401781/jobs/9929160443

@petercorke, it also looks like the output from running chapter2.mlx is slightly different from what's in the book (e.g. when running line = S.line()), so that might be a bug in the Twist class.

MATLAB Release
R2023a (that's what the GitHub action is using)

Describe the bug

When running chapter2.mlx in a unit test in a GitHub action, I see the following warning twice:

[�Warning: line does not intersect the plot volume]�
[�> In Plucker/plot (line 568)

This happens on line 131 and line 163 in the MLX file.

To Reproduce
Run chapter2.mlx

Expected behavior
No warnings