Commit of R2018b files

mathworks-robotics · Oct 15, 2019 · 15740f7 · 15740f7
1 parent c1793c2
commit 15740f7
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Showing 9 changed files with 9 additions and 106 deletions.
diff --git a/Libraries/OpenManipulatorLib.slx b/Libraries/OpenManipulatorLib.slx
diff --git a/Models/openManipulatorBallTracking.slx b/Models/openManipulatorBallTracking.slx
diff --git a/Models/openManipulatorWaypointTracking.slx b/Models/openManipulatorWaypointTracking.slx
diff --git a/ScriptsFunctions/Kinematics/createRigidBodyTree.m b/ScriptsFunctions/Kinematics/createRigidBodyTree.m
@@ -11,10 +11,7 @@
     % Add gravity
     gravityVec = [0 0 -9.80665];
     robot.Gravity = gravityVec;
-
-    % Add inertial properties
-    setRobotInertialProperties;
-
+
     % Add another massless coordinate frame for the end effector
     eeOffset = 0.12;
     eeBody = robotics.RigidBody('end_effector');
@@ -25,7 +22,8 @@
 
 % If this fails, load the preloaded rigid body tree
 catch
-    load openManipulatorDescription robot;
+    warning('Error importing URDF file. Loading presaved object.');
+    load openManipulatorDescription robot
 end
 
 % Return its home configuration

diff --git a/ScriptsFunctions/Kinematics/openManipulatorDescription.mat b/ScriptsFunctions/Kinematics/openManipulatorDescription.mat
diff --git a/ScriptsFunctions/Kinematics/openManipulatorIK.m b/ScriptsFunctions/Kinematics/openManipulatorIK.m
@@ -10,7 +10,7 @@
 clc
 
 addpath(genpath(strcat(pwd,'\Dependencies')))
-robot = importrobot('open_manipulator.urdf');
+robot = createRigidBodyTree;
 axes = show(robot);
 axes.CameraPositionMode = 'auto';
 
@@ -29,13 +29,6 @@
 fnplt(trajectory,'r',2);
 
 %% Perform Inverse Kinematics for a point in space
-
-% Add end effector frame, offset from the grip link frame
-eeOffset = 0.12;
-eeBody = robotics.RigidBody('end_effector');
-setFixedTransform(eeBody.Joint,trvec2tform([eeOffset 0 0]));
-addBody(robot,eeBody,'link5');
-
 ik = robotics.InverseKinematics('RigidBodyTree',robot);
 weights = [0.1 0.1 0 1 1 1];
 initialguess = robot.homeConfiguration;

diff --git a/ScriptsFunctions/Kinematics/setRobotInertialProperties.m b/ScriptsFunctions/Kinematics/setRobotInertialProperties.m
diff --git a/ScriptsFunctions/Kinematics/simInvKin.m b/ScriptsFunctions/Kinematics/simInvKin.m
diff --git a/ScriptsFunctions/Utilities/checkDependencies.m b/ScriptsFunctions/Utilities/checkDependencies.m
@@ -52,15 +52,16 @@
         urdfFolder = fileparts(xacroFile);
         urdfFile = fullfile(urdfFolder,'open_manipulator.urdf');
         filetext = fileread('open_manipulator.urdf.xacro');
-        % String replace all the joint angle limit expressions with numeric values
-        [startIdx,endIdx] = regexp(filetext,'\${(-)?pi*\S*}');
+        % String replace all the expressions with numeric values
+        searchExpression = '\${[^}]*\d+[^}]*}'; % Starts with $ and has text (with at least one number) between { }
+        [startIdx,endIdx] = regexp(filetext,searchExpression);        
         while ~isempty(startIdx)
            token = filetext(startIdx(1):endIdx(1));
            numericVal = eval(token(3:end-1));
            filetext = strrep(filetext,token,num2str(numericVal));
-           [startIdx,endIdx] = regexp(filetext,'\${(-)?pi*\S*}');
+           [startIdx,endIdx] = regexp(filetext,searchExpression);
         end
-        % Write the URDf file with the new text
+        % Write the URDF file with the new text
         file = fopen(urdfFile,'w');
         fwrite(file,filetext);
         fclose(file);