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- Used for reviewing kinematics of TEO at roboticslab-uc3m/teo-main#38
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# Install dependecies: | ||
# - Fork of https://github.com/arcoslab/roboview | ||
# - git clone -b vtk6 https://github.com/jgvictores/roboview | ||
# - Examples hard-coded from: | ||
# - git clone https://github.com/roboticslab-uc3m/teo-developer-manual | ||
# | ||
# Run: | ||
# ./roboview roboview-from-csv.py | ||
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from PyKDL import * | ||
from math import pi | ||
import csv | ||
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lengthsFileName = '/home/yo/repos/teo-developer-manual/csv/lengths.csv' | ||
dhFileName = '/home/yo/repos/teo-developer-manual/csv/dh-rightArm.csv' | ||
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segments = [] # required for roboview | ||
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def degToRad(deg): | ||
return deg*pi/180.0 | ||
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#-- initPoss | ||
# Small hack: first replace two digits, e.g. else can replace q1 before q13 | ||
twoDigitJoints = {'q'+str(i):'0.0' for i in range(10,28)} # dof | ||
oneDigitjoints = {'q'+str(i):'0.0' for i in range(1,10)} # dof | ||
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#-- lengths | ||
lengthsFile = open(lengthsFileName, 'r') | ||
reader = csv.reader(lengthsFile, delimiter=',') | ||
next(reader, None) # skip the header | ||
lengths = {row[0]:str(float(row[1])/1000.0) for row in reader} # [mm] to [m] | ||
print('lengths: ',lengths) | ||
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#-- dh params | ||
dhFile = open(dhFileName, 'r') | ||
reader = csv.reader(dhFile, delimiter=',') | ||
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#-- populate segments | ||
next(reader, None) # skip the header | ||
for row in reader: | ||
print('row: ',row) | ||
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linkOffset = row[1] | ||
for first, second in twoDigitJoints.items(): | ||
linkOffset = str(linkOffset).replace(first, second) | ||
for first, second in oneDigitjoints.items(): | ||
linkOffset = str(linkOffset).replace(first, second) | ||
linkOffset = eval(linkOffset) | ||
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linkD = row[2] | ||
for first, second in twoDigitJoints.items(): | ||
linkD = str(linkD).replace(first, second) | ||
for first, second in oneDigitjoints.items(): | ||
linkD = str(linkD).replace(first, second) | ||
for first, second in lengths.items(): | ||
linkD = str(linkD).replace(first, second) | ||
linkD = eval(linkD) | ||
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linkA = row[3] | ||
for first, second in lengths.items(): | ||
linkA = str(linkA).replace(first, second) | ||
linkA = eval(linkA) | ||
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linkAlpha = eval(row[4]) | ||
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print('* linkOffset ', linkOffset) | ||
print('* linkD ', linkD) | ||
print('* linkA ', linkA) | ||
print('* linkAlpha ', linkAlpha) | ||
s = Segment(Joint(Joint.RotZ), | ||
Frame().DH(linkA,degToRad(linkAlpha),linkD,degToRad(linkOffset))) | ||
segments.append(s) | ||
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#-- populate limits (hard-coded for now) | ||
limits_min = [-180.0] * len(segments) | ||
limits_max = [180.0] * len(segments) | ||
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limits_min = [degToRad(v) for v in limits_min] | ||
limits_max = [degToRad(v) for v in limits_max] |