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{"dtype": "compas.robots/Configuration", "value": {"joint_values": [-2.648106212198093, -2.4110312274043344, -1.448611324797786, 5.4304389774944095, -4.712388831125077, -1.077309847315456], "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": [-2.670852122094795, -2.4213562818212284, -1.4266266108718417, 5.418779314585859, -4.712388828889008, -1.100055757212158], "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": [-2.6933975465498072, -2.4324414827159155, -1.4030348052963364, 5.406272706485105, -4.712388826749255, -1.1226011816671704], "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"]}}] \ No newline at end of file diff --git a/lecture_04/assignment_03/Jingwen_Wang/assignment_03.py b/lecture_04/assignment_03/Jingwen_Wang/assignment_03.py new file mode 100644 index 0000000..d4353af --- /dev/null +++ b/lecture_04/assignment_03/Jingwen_Wang/assignment_03.py @@ -0,0 +1,122 @@ +"""Assignment 03: Using inverse kinematics +""" +import os +import compas +import math +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 + + +# Step 1: Inside this function, complete the main part of the solution for the assignment: +# - Taking a robot and a list of frames as parameter, calculate a feasible configuration for each of the frames +# - Try to find an optimal start_configuration for each so that the motion from one config to the next is minimized +def calculate_ik_for_frames(robot, frames): + + # # Method 1 - through inverse kinematics and assign initial profiles + # # It works but the a good inital configuration needs to be mannually figured out + # configs = [] + # prev_config = robot.zero_configuration() + # prev_config.joint_values = (0.22, 3.4, -0.75, -0.97, 1.82, 4.93) + # for i, frame in enumerate(frames): + # new_config = robot.inverse_kinematics(frame,prev_config) + # configs.append(new_config) + # prev_config = new_config + + + + #Method 2 - through plan cartesian motion + configs = [] + group = robot.main_group_name + zero = robot.zero_configuration() + min_num = 5 + ## does not need to manually input a start configuration + ## zero.joint_values = (0.22, 3.4, -0.75, -0.97, 1.82, 4.93) + + global_iter_count = 0 + global_search = False + + #will iterate through different inverse_kinematics results if it does not work + while global_search == False and global_iter_count<20: + configs = [] ##reclean the configs + global_search = True + print("In Iteration:" + str(global_iter_count)) + start_configuration = robot.inverse_kinematics(frames[0],zero) + for i, frame in enumerate(frames): + if i < len(frames): #interestingly the plan_cartesion returns 2 at first than more later + point_num = 1 + iter_count = 0 + while point_num < min_num and iter_count < 10: + trajectory = robot.plan_cartesian_motion(frames[i:i+1], + start_configuration, + group=group, + options=dict( + planner_id="RRTConnect", + max_step=0.01, + avoid_collisions=True, + )) + point_num = len(trajectory.points) + iter_count += 1 + print("Tractory Points between Frame" + str(i) + " &Frame" + str(i+1) +" Num: " + str( point_num)) + + #if the result is not good, it will set global_search as false, then it will restart the search + if i!= 0 and point_num < min_num and iter_count == 10: + print("Fail to find result between Frame"+str(i)+"and Frame" + str(i+1)) + global_search = False + break + else: + for tp in trajectory.points: + config = robot.zero_configuration() + config.joint_values = tp.joint_values + #print(robot.forward_kinematics(config)) + configs.append(config) + + #print("check") + #print(frames[i].point) + #print(frames[i+1].point) + #print("check_finish") + start_configuration = configs.pop(-1) + + global_iter_count+=1 + configs.append(start_configuration) + + return configs + + +# Step 2: store all found configurations in a JSON file using compas.json_dump or compas.json_dumps +def store_configurations(configurations, filename): + compas.json_dump(configurations,filename) + pass + +# Use the following to test from the command line +# Or copy solution_viewer.ghx next to the folder where you created assignment_03.py to visualize the same in Grasshopper +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))] + + # Loads the robot from ROS + with RosClient('localhost') as client: + robot = client.load_robot() + + # Step 1: calculate IK solutions for each frame + configurations = calculate_ik_for_frames(robot, frames) + print("Found {} configurations".format(len(configurations))) + + # Step 2: store all configurations in a JSON file + filename = os.path.join(os.path.abspath(os.path.dirname(__file__)), 'assignment-03.json') + store_configurations(configurations, filename) + print("Stored results in {}".format(filename))