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Assignment 03 #30

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1 change: 1 addition & 0 deletions lecture_04/assignment_03/maxence_grangeot/assignment-03.json
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[{"dtype": "compas.robots/Configuration", "value": {"joint_values": [2.561262838721709, 0.8451018845125493, -2.128157829177538, 5.995444924740527, 4.712388980581042, -5.292718795466213], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [2.2125640907869433, 0.8942197482784214, -2.3657481437474894, 6.183917375542697, 4.712388980617422, -5.641417543400978], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-0.2970980335982931, -3.7990612214450974, 1.5888955622429972, -5.643815971684596, 4.712388980430257, -1.8678943604431635], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-0.6726973850771518, -3.785948528761859, 1.5560738824964655, -5.624106984724417, 4.712388979195383, -2.243493711922022], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-1.051392668584917, -3.705690100785498, 1.3609023953100354, -5.509193926044956, 4.712388977988545, -2.622188995429787], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-1.392908672652407, -3.5673600645888737, 1.0398093941698567, -5.326430961973991, 4.712388977064929, -2.963704999497277], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [-1.6913937521262539, -3.3847429218167844, 0.6322947612551082, -5.101533472876494, 4.712388976517914, -3.2621900789711242], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [4.32226695375123, -3.872707438192579, 1.7804900707013485, 3.6630136945243064, -4.712388982240333, -0.3901220264358558], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [4.067990148419234, -3.835480364014888, 1.681899123084908, 3.724377568382729, -4.712388982230876, -0.6443988317678508], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [3.821731137105227, -3.791333465793145, 1.5695137145099463, 3.792616079139966, -4.712388982118972, -0.890657843081858], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}, {"dtype": "compas.robots/Configuration", "value": {"joint_values": [3.5897877098359334, -3.7233127276305984, 1.4030353478766215, 3.891073707966185, -4.712388981921602, -1.1226012703511514], "joint_types": [0, 0, 0, 0, 0, 0], "joint_names": ["shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint", "wrist_1_joint", "wrist_2_joint", "wrist_3_joint"]}}]
61 changes: 61 additions & 0 deletions lecture_04/assignment_03/maxence_grangeot/assignment_03.py
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"""Assignment 03: Using inverse kinematics
"""
import os
import compas
from compas_fab.backends import RosClient
from compas_fab.robots import Configuration

from compas.geometry import Frame
from compas.geometry import Point
from compas.geometry import Vector

compas.DATA = "/Users/Maxence/opt/anaconda3/envs/fs2022/lib/python3.8/site-packages/compas/data/samples/"


def calculate_ik_for_frames(robot, frames):

configs = []
configs.append(robot.zero_configuration())

for f in frames:
start_configuration = configs[-1]
configs.append(robot.inverse_kinematics(f, start_configuration))
configs.pop(0)
return configs


def store_configurations(configurations, filename):
compas.json_dump(configurations, filename)
# Is it supposed to be more sophiticated? I don't understand the reason to define such function.
# Also, I don't find the difference between compas.json_dump and compas.json_dumps
pass


# the solution_viewer.ghx can't find the assignment_03.py (which is in the same folder).
# I fixed this by loading the json into GHPython but I would like to understand why it doesn't work by default.
if __name__ == '__main__':

frames = [
Frame(Point(-0.329, 0.059, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(-0.260, 0.129, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(-0.186, 0.194, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(-0.106, 0.252, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(-0.020, 0.299, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(0.074, 0.329, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(0.172, 0.330, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(0.263, 0.295, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(0.339, 0.233, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(0.400, 0.155, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000)),
Frame(Point(0.448, 0.070, 0.082), Vector(1.000, 0.000, 0.000), Vector(0.000, -1.000, 0.000))]

with RosClient('localhost') as client:
robot = client.load_robot()

configurations = calculate_ik_for_frames(robot, frames)
print("Found {} configurations".format(len(configurations)))
for i in range(0, len(configurations)):
print(configurations[i])

filename = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'assignment-03.json')
store_configurations(configurations, filename)
print("Stored results in {}".format(filename))
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