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Commit for assignment_03 #41

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1 change: 1 addition & 0 deletions lecture_04/assignment_03/vasilis_aloutsanidis/assignment_03.json
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[{"dtype": "compas.robots/Configuration", "value": {"joint_values": [-3.721922517683995, 5.238422945283248, 2.128160659754347, -2.6541945190463445, 4.712388874788165, 0.9904665381681386], "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": [-4.070621013662659, 5.134054403089187, 2.3657482693255925, -2.787413624479846, 4.712388839049207, 0.6417680421894749], "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": [-4.457389447902018, 5.086221705032193, 2.4807538309105412, -2.8545865429470365, 4.712388813251853, 0.25499960795011256], "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": [-4.814146426190544, 5.096314254875527, 2.455959021864579, -2.839884343270949, 4.71238880632876, -0.10175737033841833], "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": [-5.098215686711479, 5.155726437447206, 2.315276797246009, -2.7586143515718313, 4.712388816483434, -0.3858266308593569], "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": [-5.332765887597887, 5.245757074683609, 2.1118586431108755, -2.6452268744529666, 4.712388837079373, -0.6203768317457681], "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": [-5.552738399709433, 5.33502097067559, 1.9159388718468353, -2.538571031969219, 4.712388865903624, -0.8403493438573151], "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": [-5.778493852627297, 5.397597335506662, 1.7804912412085983, -2.4656997930463884, 4.712388903527218, -1.0661047967751778], "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": [-6.005258758584332, 5.4434476741467686, 1.6818996268658277, -2.4129585356530767, 4.712388947762309, -1.2928697027322091], "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": [-6.223955468553532, 5.4959431333105915, 1.5695142470933048, -2.353068623063989, 4.712388994614744, -1.5115664127014048], "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": [-2.693397513993558, -3.7233124899362613, 1.4030347181555993, -2.3921112141355767, 1.5707963383283323, 5.16058411780527], "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"]}}]
63 changes: 63 additions & 0 deletions lecture_04/assignment_03/vasilis_aloutsanidis/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


# 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):
configs = []
start_configuration = robot.zero_configuration()
start_configuration.joint_values = (-3.722, 5.241, 2.127, -2.656, 4.712, 0.990)


for frame in frames:
configuration = robot.inverse_kinematics(frame, start_configuration)
configs.append(configuration)

start_configuration = 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)

# 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))
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