From 2269e39fae6a5f2ebfe6c396b47034333357bd9b Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Fri, 11 Aug 2023 12:53:53 +0100 Subject: [PATCH 1/4] Add Nextage robot model --- example/pybullet_api.py | 9 +- .../robots/nextage/meshes/BASE_Link_mesh.dae | 132 + .../robots/nextage/meshes/BASE_Link_mesh.obj | 18804 ++++++++++++++++ .../robots/nextage/meshes/BASE_Link_mesh2.dae | 142 + .../nextage/meshes/CHEST_JOINT0_Link_mesh.dae | 107 + .../nextage/meshes/HEAD_JOINT0_Link_mesh.dae | 107 + .../nextage/meshes/HEAD_JOINT1_Link_mesh.dae | 107 + .../nextage/meshes/LARM_JOINT0_Link_mesh.dae | 107 + .../nextage/meshes/LARM_JOINT1_Link_mesh.dae | 107 + .../nextage/meshes/LARM_JOINT2_Link_mesh.dae | 107 + .../nextage/meshes/LARM_JOINT3_Link_mesh.dae | 107 + .../nextage/meshes/LARM_JOINT4_Link_mesh.dae | 107 + .../nextage/meshes/LARM_JOINT5_Link_mesh.dae | 107 + example/robots/nextage/meshes/L_CAM.dae | 74 + .../nextage/meshes/RARM_JOINT0_Link_mesh.dae | 107 + .../nextage/meshes/RARM_JOINT1_Link_mesh.dae | 107 + .../nextage/meshes/RARM_JOINT2_Link_mesh.dae | 107 + .../nextage/meshes/RARM_JOINT3_Link_mesh.dae | 107 + .../nextage/meshes/RARM_JOINT4_Link_mesh.dae | 107 + .../nextage/meshes/RARM_JOINT5_Link_mesh.dae | 107 + example/robots/nextage/meshes/R_CAM.dae | 74 + .../robots/nextage/meshes/WAIST_Link_mesh.dae | 132 + .../nextage/meshes/accessories/d435.stl | Bin 0 -> 1007884 bytes example/robots/nextage/meshes/black.png | Bin 0 -> 131 bytes example/robots/nextage/meshes/darkgrey.png | Bin 0 -> 149 bytes example/robots/nextage/meshes/lightgrey.png | Bin 0 -> 136 bytes example/robots/nextage/meshes/orange.png | Bin 0 -> 134 bytes example/robots/nextage/meshes/white.png | Bin 0 -> 132 bytes example/robots/nextage/nextage.urdf | 781 + 29 files changed, 21751 insertions(+), 2 deletions(-) create mode 100644 example/robots/nextage/meshes/BASE_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/BASE_Link_mesh.obj create mode 100644 example/robots/nextage/meshes/BASE_Link_mesh2.dae create mode 100644 example/robots/nextage/meshes/CHEST_JOINT0_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/HEAD_JOINT0_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/HEAD_JOINT1_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/LARM_JOINT0_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/LARM_JOINT1_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/LARM_JOINT2_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/LARM_JOINT3_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/LARM_JOINT4_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/LARM_JOINT5_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/L_CAM.dae create mode 100644 example/robots/nextage/meshes/RARM_JOINT0_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/RARM_JOINT1_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/RARM_JOINT2_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/RARM_JOINT3_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/RARM_JOINT4_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/RARM_JOINT5_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/R_CAM.dae create mode 100644 example/robots/nextage/meshes/WAIST_Link_mesh.dae create mode 100644 example/robots/nextage/meshes/accessories/d435.stl create mode 100644 example/robots/nextage/meshes/black.png create mode 100644 example/robots/nextage/meshes/darkgrey.png create mode 100644 example/robots/nextage/meshes/lightgrey.png create mode 100644 example/robots/nextage/meshes/orange.png create mode 100644 example/robots/nextage/meshes/white.png create mode 100644 example/robots/nextage/nextage.urdf diff --git a/example/pybullet_api.py b/example/pybullet_api.py index ce7257dd..827bd913 100644 --- a/example/pybullet_api.py +++ b/example/pybullet_api.py @@ -123,7 +123,6 @@ def reset(self, base_position, base_orientation=[0, 0, 0, 1]): base_orientation, ) - class FixedBaseRobot: def __init__(self, urdf_filename, base_position=[0.0] * 3): self._id = p.loadURDF( @@ -172,6 +171,11 @@ def __init__(self, base_position=[0.0] * 3): self.urdf_filename = f super().__init__(f, base_position=base_position) +class Nextage(FixedBaseRobot): + def __init__(self, base_position=[0.0, 0.0, 0.85]): + f = os.path.join(cwd, "robots", "nextage", "nextage.urdf") + self.urdf_file_name = f + super().__init__(f, base_position=base_position) class KukaLWR(FixedBaseRobot): def __init__(self, base_position=[0.0] * 3): @@ -213,7 +217,8 @@ def main(gui=True): pb = PyBullet(dt, gui=gui) # robot = KukaLWR() # robot = KukaLBR() - robot = R2D2([0, 0, 0.5]) + # robot = R2D2([0, 0, 0.5]) + robot = Nextage() q0 = np.zeros(robot.ndof) qF = np.random.uniform(-np.pi, np.pi, size=(robot.ndof,)) diff --git a/example/robots/nextage/meshes/BASE_Link_mesh.dae b/example/robots/nextage/meshes/BASE_Link_mesh.dae new file mode 100644 index 00000000..8e5ff949 --- 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30 43 31 46 2 0 30 43 2 0 37 5 30 43 37 5 34 42 33 41 34 42 36 44 33 41 36 44 32 28 32 28 36 44 18 30 41 48 42 49 43 50 44 51 41 48 45 52 40 53 48 54 49 55 40 56 49 55 50 57 40 56 50 57 43 58 43 59 50 57 46 60 43 59 46 60 47 61 43 50 47 61 41 48 41 48 47 61 45 52 15 19 14 18 52 62 14 18 12 17 52 62 52 62 12 17 53 63 12 17 10 13 53 63 53 63 10 13 54 64 10 13 8 12 54 64 54 64 8 12 55 65 8 12 7 10 55 65 55 65 7 10 56 66 7 10 5 8 56 66 56 66 5 8 51 67 51 67 5 8 4 4 4 4 57 68 51 67 1 1 58 69 3 2 3 2 58 69 57 68 3 2 57 68 4 4 44 51 45 52 59 70 47 61 60 71 45 52 45 52 60 71 59 70 60 71 47 61 46 60 60 71 46 60 61 72 61 72 46 60 62 73 46 60 50 57 62 73 62 73 50 57 49 55 62 73 49 55 63 74 49 55 64 75 63 74 64 75 49 55 48 54 48 54 65 76 64 75 66 77 58 69 1 1 67 78 69 78 68 78 66 77 1 1 2 0 67 78 70 78 69 78 69 79 70 79 71 79 69 79 71 79 72 79 72 77 71 77 66 77 72 77 66 77 39 47 69 79 73 79 68 79 68 80 73 80 74 80 68 80 74 80 75 80 75 80 76 80 68 80 68 80 76 80 77 80 68 80 77 80 78 80 78 80 79 80 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+ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/example/robots/nextage/meshes/R_CAM.dae b/example/robots/nextage/meshes/R_CAM.dae new file mode 100644 index 00000000..eebd4361 --- /dev/null +++ b/example/robots/nextage/meshes/R_CAM.dae @@ -0,0 +1,74 @@ + + + + + VCGLab + VCGLib | MeshLab + + Y_UP + 金 3月 1 07:28:52 2019 + 金 3月 1 07:28:52 2019 + + + + + + + + + -0.0315 0 -0.006 -0.0315 0 0 -0.03079 -0.00665 -0.006 -0.03079 -0.00665 0 -0.03079 0.00665 -0.006 -0.03079 0.00665 0 -0.028692 -0.013 -0.006 -0.028692 -0.013 0 -0.028692 0.013 -0.006 -0.028692 0.013 0 -0.025301 -0.018765 -0.006 -0.025301 -0.018765 0 -0.025301 0.018765 -0.006 -0.025301 0.018765 0 -0.020878 -0.017678 -0.006 -0.020878 -0.017678 0 -0.020878 0.017678 -0.006 -0.020878 0.017678 0 -0.020769 -0.023683 -0.006 -0.020769 -0.023683 0 -0.020769 0.023683 -0.006 -0.020769 0.023683 0 -0.020449 -0.019278 -0.006 -0.020449 -0.019278 0 -0.020449 -0.016078 -0.006 -0.020449 -0.016078 0 -0.020449 0.016078 -0.006 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + From 705570e38d7f970b1833455be8cc933a526e72b1 Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Fri, 11 Aug 2023 12:58:16 +0100 Subject: [PATCH 2/4] Move import and method definition to appropriate location in script --- tests/test_models.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/tests/test_models.py b/tests/test_models.py index 3529278a..6547cb72 100644 --- a/tests/test_models.py +++ b/tests/test_models.py @@ -3,6 +3,7 @@ import optas import pathlib import numpy as np +import pybullet as pb import scipy.linalg as linalg import urdf_parser_py.urdf as urdf from scipy.spatial.transform import Rotation as Rot @@ -26,6 +27,10 @@ def isclose(A: np.ndarray, B: np.ndarray): return np.isclose(A, B).all() +def iscloseRNEA(A: np.ndarray, B: np.ndarray): + return np.isclose(A, B, atol=8.0e-2).all() + + ########################################################################### # Tests # @@ -1008,11 +1013,6 @@ def test_get_global_link_axis_function(self): assert isinstance(axis(q), optas.SX) -import pybullet as pb - - -def iscloseRNEA(A: np.ndarray, B: np.ndarray): - return np.isclose(A, B, atol=8.0e-2).all() class TestRnea: From 4de925b1236cbf1667eef2b561d2b63da82d1515 Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Fri, 11 Aug 2023 13:03:53 +0100 Subject: [PATCH 3/4] Reuse methods rather than defining new ones --- tests/test_models.py | 12 +++--------- 1 file changed, 3 insertions(+), 9 deletions(-) diff --git a/tests/test_models.py b/tests/test_models.py index 6547cb72..4c7ff6cb 100644 --- a/tests/test_models.py +++ b/tests/test_models.py @@ -23,12 +23,8 @@ def random_vector(lo=-1, hi=1, n=3): return np.random.uniform(-lo, hi, size=(n,)) -def isclose(A: np.ndarray, B: np.ndarray): - return np.isclose(A, B).all() - - -def iscloseRNEA(A: np.ndarray, B: np.ndarray): - return np.isclose(A, B, atol=8.0e-2).all() +def isclose(A: np.ndarray, B: np.ndarray, atol=1e-08): + return np.isclose(A, B, atol=atol).all() ########################################################################### @@ -1013,8 +1009,6 @@ def test_get_global_link_axis_function(self): assert isinstance(axis(q), optas.SX) - - class TestRnea: # Setup path to tester robot URDF cwd = pathlib.Path(__file__).parent.resolve() # path to current working directory @@ -1055,4 +1049,4 @@ def test_calculate_inverse_dynamics(self): self.id, q.tolist(), qd.tolist(), qdd.tolist() ) ) - assert iscloseRNEA(tau1.toarray().flatten(), tau2) + assert isclose(tau1.toarray().flatten(), tau2, atol=8.0e-2) From d9048af2d5c3c455f2435bd89b45943d30c60cdf Mon Sep 17 00:00:00 2001 From: "Christopher E. Mower" Date: Fri, 11 Aug 2023 13:22:04 +0100 Subject: [PATCH 4/4] Add unit test for dual arm model (uses nextage) --- tests/test_models.py | 37 ++++++++++++++++++++++++++++++++++++- 1 file changed, 36 insertions(+), 1 deletion(-) diff --git a/tests/test_models.py b/tests/test_models.py index 4c7ff6cb..27ab080a 100644 --- a/tests/test_models.py +++ b/tests/test_models.py @@ -7,7 +7,7 @@ import scipy.linalg as linalg import urdf_parser_py.urdf as urdf from scipy.spatial.transform import Rotation as Rot - +from roboticstoolbox.robot.ERobot import ERobot from .tester_robot_model import RobotModelTester NUM_RANDOM = 100 @@ -1050,3 +1050,38 @@ def test_calculate_inverse_dynamics(self): ) ) assert isclose(tau1.toarray().flatten(), tau2, atol=8.0e-2) + + +class TestDualArm: + optas_path = pathlib.Path( + __file__ + ).parent.parent.resolve() # path to current working directory + examples_path = optas_path / "example" + nextage_urdf_path = examples_path / "robots" / "nextage" / "nextage.urdf" + + model = optas.RobotModel(urdf_filename=str(nextage_urdf_path.absolute())) + + class RobotModelTester(ERobot): + def __init__(self, filename): + links, name, urdf_string, urdf_filepath = self.URDF_read(filename) + + super().__init__( + links, + name=name.upper(), + urdf_string=urdf_string, + urdf_filepath=urdf_filepath, + ) + + self.qz = np.zeros(self.n) + + tester_robot_model = RobotModelTester(str(nextage_urdf_path.absolute())) + + def test_dual_arm(self): + for _ in range(NUM_RANDOM): + q = self.model.get_random_joint_positions().toarray().flatten() + expected_fkine = [ + np.array(fk) for fk in self.tester_robot_model.fkine_all(q) + ] + for link_name, expected_T in zip(self.model.link_names, expected_fkine[1:]): + T = self.model.get_global_link_transform(link_name, q).toarray() + assert isclose(T, expected_T)