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small/wx250s_custom/mr_descriptions.py
Pierre Lecomte 028279998c robot customization in one script!
2023-06-30 17:33:22 +02:00

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# Copyright 2022 Trossen Robotics
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of the copyright holder nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
"""
Modern Robotics Descriptions for all Interbotix X-Series Arms.
This module contains properties required by the Modern Robotics library to perform
kinematic calculations such as the Joint Screw Axes and Home Configuration for each
X-Series robot.
Note that the end-effector is positioned at '<robot_name>/ee_gripper_link' and that the
Space frame is positioned at '<robot_name>/base_link'.
To calculate your own MR Description, check out the kinematics_from_description package:
https://github.com/Interbotix/kinematics_from_description
"""
from abc import ABC
import numpy as np
class ModernRoboticsDescription(ABC):
"""
Abstract base class for other MR Description classes.
Derived classes should override the Slist and M member variables.
"""
Slist: np.ndarray = None
"""
Joint screw axes in the space frame when the manipulator is at the home position, in the format
of a matrix with axes as the columns
"""
M: np.ndarray = None
"""The home configuration (position and orientation) of the end-effector"""
class px100(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.0931, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.1931, 0.0, 0.035],
[0.0, 1.0, 0.0, -0.1931, 0.0, 0.135]]).T
M = np.array([[1.0, 0.0, 0.0, 0.248575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.1931],
[0.0, 0.0, 0.0, 1.0]])
class px150(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.10457, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.25457, 0.0, 0.05],
[0.0, 1.0, 0.0, -0.25457, 0.0, 0.2],
[1.0, 0.0, 0.0, 0.0, 0.25457, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.358575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.25457],
[0.0, 0.0, 0.0, 1.0]])
class rx150(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.10457, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.25457, 0.0, 0.05],
[0.0, 1.0, 0.0, -0.25457, 0.0, 0.2],
[1.0, 0.0, 0.0, 0.0, 0.25457, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.358575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.25457],
[0.0, 0.0, 0.0, 1.0]])
class rx200(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.10457, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.30457, 0.0, 0.05],
[0.0, 1.0, 0.0, -0.30457, 0.0, 0.25],
[1.0, 0.0, 0.0, 0.0, 0.30457, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.408575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.30457],
[0.0, 0.0, 0.0, 1.0]])
class vx250(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.12705, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.37705, 0.0, 0.06],
[0.0, 1.0, 0.0, -0.37705, 0.0, 0.31],
[1.0, 0.0, 0.0, 0.0, 0.37705, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.468575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.37705],
[0.0, 0.0, 0.0, 1.0]])
class vx300(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.12705, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.42705, 0.0, 0.05955],
[0.0, 1.0, 0.0, -0.42705, 0.0, 0.35955],
[1.0, 0.0, 0.0, 0.0, 0.42705, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.536494],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.42705],
[0.0, 0.0, 0.0, 1.0]])
class vx300s(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.12705, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.42705, 0.0, 0.05955],
[1.0, 0.0, 0.0, 0.0, 0.42705, 0.0],
[0.0, 1.0, 0.0, -0.42705, 0.0, 0.35955],
[1.0, 0.0, 0.0, 0.0, 0.42705, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.536494],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.42705],
[0.0, 0.0, 0.0, 1.0]])
class wx200(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.11065, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.31065, 0.0, 0.05],
[0.0, 1.0, 0.0, -0.31065, 0.0, 0.25],
[1.0, 0.0, 0.0, 0.0, 0.31065, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.408575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.31065],
[0.0, 0.0, 0.0, 1.0]])
class wx250(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.11065, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.36065, 0.0, 0.04975],
[0.0, 1.0, 0.0, -0.36065, 0.0, 0.29975],
[1.0, 0.0, 0.0, 0.0, 0.36065, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.458325],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.36065],
[0.0, 0.0, 0.0, 1.0]])
class wx250s(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.11065, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.36065, 0.0, 0.04975],
[1.0, 0.0, 0.0, 0.0, 0.36065, 0.0],
[0.0, 1.0, 0.0, -0.36065, 0.0, 0.29975],
[1.0, 0.0, 0.0, 0.0, 0.36065, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.458325],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.36065],
[0.0, 0.0, 0.0, 1.0]])
class mobile_px100(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.08518, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.18518, 0.0, 0.035],
[0.0, 1.0, 0.0, -0.18518, 0.0, 0.135]]).T
M = np.array([[1.0, 0.0, 0.0, 0.248575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.18518],
[0.0, 0.0, 0.0, 1.0]])
class mobile_wx200(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.104825, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.304825, 0.0, 0.05],
[0.0, 1.0, 0.0, -0.304825, 0.0, 0.25],
[1.0, 0.0, 0.0, 0.0, 0.304825, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.408575],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.304825],
[0.0, 0.0, 0.0, 1.0]])
class mobile_wx250s(ModernRoboticsDescription):
Slist = np.array([[0.0, 0.0, 1.0, 0.0, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.104825, 0.0, 0.0],
[0.0, 1.0, 0.0, -0.354825, 0.0, 0.04975],
[1.0, 0.0, 0.0, 0.0, 0.354825, 0.0],
[0.0, 1.0, 0.0, -0.354825, 0.0, 0.29975],
[1.0, 0.0, 0.0, 0.0, 0.354825, 0.0]]).T
M = np.array([[1.0, 0.0, 0.0, 0.458325],
[0.0, 1.0, 0.0, 0.0],
[0.0, 0.0, 1.0, 0.354825],
[0.0, 0.0, 0.0, 1.0]])
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