From f61f214bbe7cde1918af9bb232f3b67cab4d4a9c Mon Sep 17 00:00:00 2001 From: Joschua Gosda <joschua.gosda@control.lth.se> Date: Thu, 21 Apr 2022 13:50:34 +0200 Subject: [PATCH] commit in order to checkout pybind11 --- README.md | 22 +++++++++++++++++----- c++/README.md | 5 ----- c++/src/README.md | 9 --------- python/README.md | 7 ------- 4 files changed, 17 insertions(+), 26 deletions(-) delete mode 100644 c++/README.md delete mode 100644 c++/src/README.md delete mode 100644 python/README.md diff --git a/README.md b/README.md index 511b8ea..a5998bd 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,21 @@ -## Installation instructions -### C++ +# Kinematics implementation +Using the Robotics Library kinematic configuration of the robot can be specified using a xml or urdf file. At first the DH-parameters of an past project were used and implemented according to the tutorial of RL. RL uses the standard convention for specifing the dh parameter, namely: + + +- d: specifies the translation along the previous z axis +- theta: is the rotation around the previous z axis to align with the new x axis +- a: defines the translation along the new x axis +- alpha: gives the rotation around the new x axis to align with the new z axis + +Unfortunately the parameters are for an older version of YuMi called Frida and do not match the TCP position and orientation when comparing against RobotStudio in a given joint configuration. +Fortunately there is another option to specifies the kinematics for a robot over a urdf file and there is already a model existing in the repo of OrebroUniversity. Their urdf-description file was then edited (which is not recommended but works) in order to specify the kinematic configuration for the left and right arm of YuMi. When comparing the resulting positions and orientations of the forward kinematics there is still an offset between the manual forward kinematics and RobotStudio. This is because the TCP-reference frame is not the same, as it can be seen in picture xy. + +# Installation instructions +## C++ The project needs a few dependencies to be installed. These are broccoli, the robotics library as well as pybind11 in order to create bindings between Python and C++ code. To prevent any troubles while installing them in the next step make sure you have the following packages installed. Check or otherwise install them running `sudo apt install cmake python3-dev python3-distutils` in the command line. -Download the robotics library and put it into `/opt/`. Brocolli and pybind11 are directly installed to the system. Therefore clone the respective repo using git. -#### pybind11 +Download the robotics library and eigen and put them into `/opt/`. Brocolli and pybind11 are directly installed to the system. Therefore clone the respective repo using git. +### pybind11 Run the following commands to install pybind11 globally to your system ``` # Classic CMake @@ -21,7 +33,7 @@ cmake --install build ``` Installation instruction for pybind11 can be also found [here](https://pybind11.readthedocs.io/en/stable/compiling.html#building-with-cmake) -##### broccoli +### broccoli cd in cloned brocolli repo. Then run the commands to install brocolli to your system ``` mkdir build diff --git a/c++/README.md b/c++/README.md deleted file mode 100644 index 0c7d785..0000000 --- a/c++/README.md +++ /dev/null @@ -1,5 +0,0 @@ -### Installation instruction -Installation of C++ dependencies can be a bit tricky. CMake is used for to compile the code. In order to do so create a './build' directory and run 'cmake ..'. This will use the CMakeLists.txt file to build a bunch of files. Then run 'make' within the build directory to build the program. Some notes: -1. make sure broccoli is installed locally to your pc. It is referred to in the cmake file as eat::broccoli within the 'target_link_libraries' -2. potentially modify the path for the 'include_directories' to where your Robotics Library installation lies -3. Have Eigen installed and find it with the path specified in 'FindEigen3.cmake' diff --git a/c++/src/README.md b/c++/src/README.md deleted file mode 100644 index 0d017a3..0000000 --- a/c++/src/README.md +++ /dev/null @@ -1,9 +0,0 @@ -The kinematics can be specified via a xml or urdf file in Robotics Library. At first the DH-parameters of an past project were used and implemented according to the tutorial of RL. RL uses the standard convention for specifing the dh parameter, namely: - -1. **d** - specifies the translation along the previous z axis -2. **theta** - is the rotation around the previous z axis to align with the new x axis -3. **a** - defines the translation along the new x axis -4. **alpha** - gives the rotation around the new x axis to align with the new z axis - -Unfortunately the parameters are for an older version of YuMi called Frida and do not match the TCP position and orientation when comparing against RobotStudio in a given joint configuration. -Fortunately there is another option to specifies the kinematics for a robot over a urdf file and there is already a model existing in the repo of OrebroUniversity. Their urdf-description file was then edited (which is not recommended but works) in order to specify the kinematic configuration for the left and right arm of YuMi. When comparing the resulting positions and orientations of the forward kinematics there is still an offset between the manual forward kinematics and RobotStudio. This is because the TCP-reference frame is not the same, as it can be seen in picture xy. diff --git a/python/README.md b/python/README.md deleted file mode 100644 index 6b21712..0000000 --- a/python/README.md +++ /dev/null @@ -1,7 +0,0 @@ -## Installation -To run the python code code a few dependencies need to be installed. To keep things clean it is best to install them within a virtual environment. Follow the steps to create a virtual environment and install the needed dependencies: -1. Create a directory where your virtual environment should be put -2. Create a virtual environment in the just created directory with 'python3 -m venv /path/to/venv/directory' -3. Activate the virtual environment with 'source /path/to/venv/directory/bin/activate' -4. Install the dependencies for the abb-egm-client following the instructions in the respective README file -4. Install all other dependencies with 'pip install -r requirements.txt' -- GitLab