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RSDK-456 change DH config files to use degrees instead of radians #1470

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merged 24 commits into from
Oct 10, 2022
Merged

RSDK-456 change DH config files to use degrees instead of radians #1470

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c11cebf
update sample code
raybjork Aug 10, 2022
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lint
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raybjork Oct 10, 2022
bc9bbfc
change DH convention to use degreees for joint angles
raybjork Oct 10, 2022
dfe31da
whoops
raybjork Oct 10, 2022
e3499b7
change dofbot dh json
raybjork Oct 10, 2022
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6 changes: 3 additions & 3 deletions components/arm/universalrobots/ur5e_DH.json
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
"parent": "world",
"a": 0,
"d": 162.5,
"alpha": 1.57079632679,
"alpha": 90,
"max": 360,
"min": -360
},
Expand All @@ -34,7 +34,7 @@
"parent": "elbow",
"a": 0,
"d": 133.3,
"alpha": 1.57079632679,
"alpha": 90,
"max": 360,
"min": -360
},
Expand All @@ -43,7 +43,7 @@
"parent": "wrist_1",
"a": 0,
"d": 99.7,
"alpha": -1.57079632679,
"alpha": -90,
"max": 360,
"min": -360
},
Expand Down
4 changes: 2 additions & 2 deletions components/arm/yahboom/dofbot.json
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
"parent": "world",
"a": 0,
"d": 115,
"alpha": -1.57079632679,
"alpha": -90,
"max": 180,
"min": -180,
"geometry": {
Expand Down Expand Up @@ -83,7 +83,7 @@
"parent": "j4",
"a": 0,
"d": 0,
"alpha": 1.57079632679,
"alpha": 90,
"max": 180,
"min": -180
}
Expand Down
2 changes: 1 addition & 1 deletion motionplan/constraint_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ import (
func TestIKTolerances(t *testing.T) {
logger := golog.NewTestLogger(t)

m, err := frame.ParseModelJSONFile(utils.ResolveFile("motionplan/testjson/varm.json"), "")
m, err := frame.ParseModelJSONFile(utils.ResolveFile("referenceframe/testjson/varm.json"), "")
test.That(t, err, test.ShouldBeNil)
mp, err := NewCBiRRTMotionPlanner(m, nCPU, logger)
test.That(t, err, test.ShouldBeNil)
Expand Down
9 changes: 5 additions & 4 deletions referenceframe/model_json.go
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,13 @@ package referenceframe

import (
"encoding/json"
"math"
"os"

"github.com/golang/geo/r3"
"github.com/pkg/errors"

spatial "go.viam.com/rdk/spatialmath"
"go.viam.com/rdk/utils"
)

// ModelConfig represents all supported fields in a kinematics JSON file.
Expand Down Expand Up @@ -93,7 +93,7 @@ func (config *ModelConfig) ParseConfig(modelName string) (Model, error) {
switch joint.Type {
case "revolute":
transforms[joint.ID], err = NewRotationalFrame(joint.ID, joint.Axis.ParseConfig(),
Limit{Min: joint.Min * math.Pi / 180, Max: joint.Max * math.Pi / 180})
Limit{Min: utils.DegToRad(joint.Min), Max: utils.DegToRad(joint.Max)})
case "prismatic":
transforms[joint.ID], err = NewTranslationalFrame(joint.ID, r3.Vector(joint.Axis),
Limit{Min: joint.Min, Max: joint.Max})
Expand All @@ -104,20 +104,21 @@ func (config *ModelConfig) ParseConfig(modelName string) (Model, error) {
return nil, err
}
}

case "DH":
for _, dh := range config.DHParams {
// Joint part of DH param
jointID := dh.ID + "_j"
parentMap[jointID] = dh.Parent
transforms[jointID], err = NewRotationalFrame(jointID, spatial.R4AA{RX: 0, RY: 0, RZ: 1},
Limit{Min: dh.Min * math.Pi / 180, Max: dh.Max * math.Pi / 180})
Limit{Min: utils.DegToRad(dh.Min), Max: utils.DegToRad(dh.Max)})
if err != nil {
return nil, err
}

// Link part of DH param
linkID := dh.ID
pose := spatial.NewPoseFromDH(dh.A, dh.D, dh.Alpha)
pose := spatial.NewPoseFromDH(dh.A, dh.D, utils.DegToRad(dh.Alpha))
parentMap[linkID] = jointID
geometryCreator, err := dh.Geometry.ParseConfig()
if err == nil {
Expand Down
10 changes: 5 additions & 5 deletions referenceframe/model_json_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -17,14 +17,14 @@ func TestParseJSONFile(t *testing.T) {
"components/arm/trossen/trossen_wx250s_kinematics.json",
"components/arm/trossen/trossen_wx250s_test.json",
"components/arm/universalrobots/ur5e_DH.json",
"motionplan/testjson/varm.json",
"referenceframe/testjson/varm.json",
}

badFiles := []string{
"kinematics/testjson/kinematicsloop.json",
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Well these have been broken for forever. Good catch.

"kinematics/testjson/worldjoint.json",
"kinematics/testjson/worldlink.json",
"kinematics/testjson/worldDH.json",
"referenceframe/testjson/kinematicsloop.json",
"referenceframe/testjson/worldjoint.json",
"referenceframe/testjson/worldlink.json",
"referenceframe/testjson/worldDH.json",
}

for _, f := range goodFiles {
Expand Down
0 motionplan/testjson/kinematicsloop.json → referenceframe/testjson/kinematicsloop.json
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File renamed without changes.
0 motionplan/testjson/varm.json → referenceframe/testjson/varm.json
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File renamed without changes.
6 changes: 3 additions & 3 deletions motionplan/testjson/worldDH.json → referenceframe/testjson/worldDH.json
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
"parent": "world",
"a": 0,
"d": 162.5,
"alpha": 1.57079632679,
"alpha": 90,
"max": 360,
"min": -360
},
Expand All @@ -34,7 +34,7 @@
"parent": "elbow",
"a": 0,
"d": 133.3,
"alpha": 1.57079632679,
"alpha": 90,
"max": 360,
"min": -360
},
Expand All @@ -43,7 +43,7 @@
"parent": "wrist_1",
"a": 0,
"d": 99.7,
"alpha": -1.57079632679,
"alpha": -90,
"max": 360,
"min": -360
},
Expand Down
0 motionplan/testjson/worldjoint.json → referenceframe/testjson/worldjoint.json
View file
Open in desktop
File renamed without changes.
0 motionplan/testjson/worldlink.json → referenceframe/testjson/worldlink.json
View file
Open in desktop
File renamed without changes.