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* Rename mr_desc_param.py script to mr_desc_param * Add command line args to mr_desc_param * Tool now takes a dict instead of kwargs * Changed Tool arg robot_namespace to namespace * Changed License holder * Improved README with more detailed usage info * Add requirements.txt file * Added ROS_PYTHON_VERSION conditionals to package dependencies * Change required version of scipy
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| Original file line number | Diff line number | Diff line change |
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| @@ -1,4 +1,12 @@ | ||
| # The namespace under which the `/robot_description` rosparam will be found, as well as | ||
| # the names of each link (i.e. `/namespace/robot_description`, and `namespace/base_link`). | ||
| namespace: '' | ||
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| # The name given to the link that will serve as the location of the robot's base, or {0} link. | ||
| space_frame: '' | ||
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| # The name given to the link that will serve as the location of the end effector. | ||
| body_frame: '' | ||
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| # The precision with which to print the kinematic properties. | ||
| precision: 6 |
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| @@ -1,27 +1,31 @@ | ||
| <?xml version="1.0"?> | ||
| <package format="3"> | ||
| <name>kinematics_from_description</name> | ||
| <version>0.0.2</version> | ||
| <version>1.0.0</version> | ||
| <description>This package contains a simple Python program that calculates properties required to run parts of the <a href="https://github.com/NxRLab/ModernRobotics">Modern Robotics Library</a> from a robot's robot_description parameter.</description> | ||
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| <license>BSD</license> | ||
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| <author email="luke@trossenrobotics.com">Luke Schmitt</author> | ||
| <author email="trsupport@trossenrobotics.com">Luke Schmitt</author> | ||
| <maintainer email="trsupport@trossenrobotics.com">Luke Schmitt</maintainer> | ||
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| <url type="website">https://github.com/LSinterbotix/kinematics_from_description</url> | ||
| <url type="bugtracker">https://github.com/LSinterbotix/kinematics_from_description/issues</url> | ||
| <url type="repository">https://github.com/LSinterbotix/kinematics_from_description</url> | ||
| <url type="website">https://github.com/Interbotix/kinematics_from_description</url> | ||
| <url type="bugtracker">https://github.com/Interbotix/kinematics_from_description/issues</url> | ||
| <url type="repository">https://github.com/Interbotix/kinematics_from_description</url> | ||
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| <buildtool_depend>catkin</buildtool_depend> | ||
| <buildtool_depend>python3-setuptools</buildtool_depend> | ||
| <buildtool_depend condition="$ROS_PYTHON_VERSION==2">python-setuptools</buildtool_depend> | ||
| <buildtool_depend condition="$ROS_PYTHON_VERSION==3">python3-setuptools</buildtool_depend> | ||
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| <exec_depend>rospy</exec_depend> | ||
| <exec_depend>urdfdom_py</exec_depend> | ||
| <exec_depend>python3-yaml</exec_depend> | ||
| <exec_depend>python3-numpy</exec_depend> | ||
| <exec_depend version_gte="1.4.0">python3-scipy</exec_depend> | ||
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| <exec_depend condition="$ROS_PYTHON_VERSION==2">python-yaml</exec_depend> | ||
| <exec_depend condition="$ROS_PYTHON_VERSION==2">python-numpy</exec_depend> | ||
| <exec_depend condition="$ROS_PYTHON_VERSION==2" version_gte="1.2.0">python-scipy</exec_depend> | ||
| <exec_depend condition="$ROS_PYTHON_VERSION==3">python3-yaml</exec_depend> | ||
| <exec_depend condition="$ROS_PYTHON_VERSION==3">python3-numpy</exec_depend> | ||
| <exec_depend condition="$ROS_PYTHON_VERSION==3" version_gte="1.2.0">python3-scipy</exec_depend> | ||
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| <build_depend>rostest</build_depend> | ||
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| </package> |
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| # $ python -m pip install -r requirements.txt | ||
| # $ python3 -m pip3 install -r requirements.txt | ||
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| urdf_parser_py | ||
| numpy | ||
| scipy>=1.2.0 | ||
| pyyaml |
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| #!/usr/bin/env python | ||
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| import argparse | ||
| import yaml | ||
| import os | ||
| import numpy as np | ||
| import rospkg | ||
| from kinematics_from_description.kfd import KinematicsFromDescriptionTool as KFD | ||
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| PKG = 'kinematics_from_description' | ||
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| def main(args): | ||
| if args.file is not None: | ||
| filepath = os.path.join( | ||
| rospkg.RosPack().get_path(PKG), | ||
| 'config', | ||
| 'config.yaml' | ||
| ) | ||
| print("Loading configs from '%s'" % filepath) | ||
| try: | ||
| with open(filepath) as config_file: | ||
| config = yaml.safe_load(config_file) | ||
| except yaml.YAMLError as e: | ||
| print(e) | ||
| exit(1) | ||
| elif args.space_frame is not None and args.body_frame is not None: | ||
| config={} | ||
| config['space_frame']=args.space_frame | ||
| config['body_frame']=args.body_frame | ||
| config['namespace']=args.namespace | ||
| config['precision']=args.precision | ||
| else: | ||
| raise ValueError( | ||
| 'Either a file must be specified or the space and body frames must be specified.' | ||
| 'Use the --help flag for details.' | ||
| ) | ||
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| np.set_printoptions(precision=int(config["precision"]), suppress=True) | ||
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| print('Using configs:') | ||
| print('\tspace_frame: %s' % config['space_frame']) | ||
| print('\tbody_frame: %s' % config['body_frame']) | ||
| print('\tnamespace: %s' % config['namespace']) | ||
| print('\tprecision: %i' % config['precision']) | ||
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| tool = KFD(config) | ||
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| tool.load_desc_from_param() | ||
| tool.run() | ||
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| print('\nThe MR Descriptions are as follows:') | ||
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| print("\nM:") | ||
| print(repr(tool.get_M())) | ||
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| print("\nSlist:") | ||
| print(str(repr(tool.get_Slist(transposed=False))) + ".T\n") | ||
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| print( | ||
| ( | ||
| 'Paste these arrays into your mr_descriptions.py file to use in the Interbotix ' | ||
| 'Python-ROS API.' | ||
| ) | ||
| ) | ||
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| if __name__ == "__main__": | ||
| parser = argparse.ArgumentParser( | ||
| description=( | ||
| "A program that will parse a robot's kinematic properties from its " | ||
| '`/robot_description` rosparam.' | ||
| ) | ||
| ) | ||
| parser.add_argument( | ||
| '--file', | ||
| '-f', | ||
| type=str, | ||
| help='The path to the config file to use.', | ||
| ) | ||
| parser.add_argument( | ||
| '--space_frame', | ||
| '-s', | ||
| type=str, | ||
| help=( | ||
| "The name given to the link that will serve as the location of the robot's base, or " | ||
| "{0} link. This is typically `base_link`." | ||
| ), | ||
| ) | ||
| parser.add_argument( | ||
| '--body_frame', | ||
| '-b', | ||
| type=str, | ||
| help=( | ||
| 'The name given to the link that will serve as the location of the end effector. This' | ||
| ' is typically `ee_gripper_link`.' | ||
| ), | ||
| ) | ||
| parser.add_argument( | ||
| '--namespace', | ||
| '-n', | ||
| type=str, | ||
| default='', | ||
| help=( | ||
| 'The namespace under which the `/robot_description` rosparam will be found, as well as' | ||
| ' the names of each link (i.e. `/namespace/robot_description`, and ' | ||
| '`namespace/base_link`. (default: %(default)s)' | ||
| ), | ||
| ) | ||
| parser.add_argument( | ||
| '--precision', | ||
| '-p', | ||
| type=int, | ||
| help='The precision with which to print the kinematic properties. (default: %(default)s)', | ||
| default=6, | ||
| ) | ||
| main(args=parser.parse_args()) |
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