Modify some READMEs
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HuanWeng
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@ -1,13 +1,14 @@
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# Mathematica Front-End Installation Instructions #
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If you'd like to be able to use this package inside of any notebook, regardless
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of the notebook's location on your filesystem, then you can use Mathematica's
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front end to install this package. Use the following steps:
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If you'd like to be able to use this package inside of any notebook,
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regardless of the notebook's location on your filesystem, then you can use
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Mathematica's front end to install this package. Use the following steps:
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1. Click `File -> Install...`
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2. Select `Package` for the _Type of Item to Install_
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3. Chose `From File...` for the _Source_
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4. Navigate to the `ModernRobotics.m` and select it as the source for the package
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4. Navigate to the `ModernRobotics.m` and select it as the source for the
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package
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5. The _Install Name_ should default to `ModernRobotics`; if it doesn't then
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fill in the install name to be `ModernRobotics`.
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6. Choose whether you want the package installed for a single user or for all
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@ -39,8 +40,8 @@ common operating systems:
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## Manual Installation Instructions ##
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If you have any troubles with the front-end installation described above, you
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can try manually installing the package by copying the `ModernRobotics.m` file
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into the same directory mentioned for uninstalling.
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can try manually installing the package by copying the `ModernRobotics.m`
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file into the same directory mentioned for uninstalling.
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# Using the Package Locally #
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@ -53,7 +54,8 @@ SetDirectory["<PATH-TO-DIRECTORY-CONTAINING-ModernRobotics.m>"]
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<<ModernRobotics`
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```
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If the notebook and the package are located in the same directory you could use
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If the notebook and the package are located in the same directory you could
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use
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```
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SetDirectory[NotebookDirectory[]]
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@ -0,0 +1,34 @@
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# "mr" Matlab Package Instructions #
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This package is the code library for _Modern Robotics: Mechanics, Planning,
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and Control_. For more details please see the library introduction pdf file
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or the [website](http://modernrobotics.org/).
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To import the package, use `addpath` as
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```
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addpath('$FOLDER_PATH/mr')
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```
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where `$FOLDER_PATH` is the path to "mr" directory.
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To check the function list and which chapter in the book do those functions
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belong to, use `help` as
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```
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help mr
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```
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To check more introduction and example of a function, use `help` as
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```
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help $FUNCTION_NAME
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```
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## ##
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Author: Huan Weng, Bill Hunt, Mikhail Todes, Jarvis Schultz
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Contact: huanweng@u.northwestern.edu
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Package Version: 1.0.0
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Matlab Version: R2017b
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Tested in Matlab R2017b
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@ -1,4 +1,5 @@
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function [thetalist, success] ...
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= IKinSpace(Slist, M, T, thetalist0, eomg, ev)
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% *** CHAPTER 6: INVERSE KINEMATICS ***
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% Takes Slist: The joint screw axes in the space frame when the manipulator
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% is at the home position, in the format of a matrix with the
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@ -0,0 +1,5 @@
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# "modern_robotics" Python Package Instructions #
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This package is the code library for _Modern Robotics: Mechanics, Planning,
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and Control_. For more details please see the library introduction pdf file
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or the [website](http://modernrobotics.org/).
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@ -1,4 +1,4 @@
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from __version__ import __version__
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from .__version__ import __version__
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from core import *
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from .core import *
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@ -1,3 +1,4 @@
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from __future__ import print_function
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'''
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***************************************************************************
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Modern Robotics: Mechanics, Planning, and Control.
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@ -19,7 +20,6 @@ Optional library: matplotlib
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'''
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import numpy as np
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import matplotlib.pyplot as plt
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'''
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*** BASIC HELPER FUNCTIONS ***
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@ -658,7 +658,7 @@ def JacobianBody(Blist, thetalist):
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[-1.44321167, 2.94561275, 1.43306521, 0.3]
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[-2.06639565, 1.82881722, -1.58868628, 0.4]])
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"""
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Jb = np.array(Blist).copy()
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Jb = np.array(Blist).copy().astype(np.float)
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T = np.eye(4)
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for i in range(len(thetalist) - 2, -1, -1):
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T = np.dot(T,MatrixExp6(VecTose3(np.array(Blist)[:, i + 1] \
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@ -690,7 +690,7 @@ def JacobianSpace(Slist, thetalist):
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[0.2, 0.43654132, -2.43712573, 2.77535713]
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[0.2, 2.96026613, 3.23573065, 2.22512443]])
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"""
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Js = np.array(Slist).copy()
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Js = np.array(Slist).copy().astype(np.float)
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T = np.eye(4)
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for i in range(1, len(thetalist)):
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T = np.dot(T, MatrixExp6(VecTose3(np.array(Slist)[:, i - 1] \
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@ -1305,7 +1305,7 @@ def InverseDynamicsTrajectory(thetamat, dthetamat, ddthetamat, g, \
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try:
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import matplotlib.pyplot as plt
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except:
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print 'The result will not be plotted due to a lack of package matplotlib'
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print('The result will not be plotted due to a lack of package matplotlib')
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else:
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plt.plot(timestamp, Tau1, label = "Tau1")
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plt.plot(timestamp, Tau2, label = "Tau2")
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@ -1409,11 +1409,11 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
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dtheta3 = dthetamat[:, 2]
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N = np.array(taumat).shape[0]
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Tf = np.array(taumat).shape[0] * dt
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timestamp = np.linspace(0, Tf, N)
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try:
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import matplotlib.pyplot as plt
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timestamp = np.linspace(0, Tf, N)
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try:
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import matplotlib.pyplot as plt
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except:
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print 'The result will not be plotted due to a lack of package matplotlib'
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print(The result will not be plotted due to a lack of package matplotlib)
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else:
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plt.plot(timestamp, theta1, label = "Theta1")
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plt.plot(timestamp, theta2, label = "Theta2")
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@ -1430,9 +1430,9 @@ def ForwardDynamicsTrajectory(thetalist, dthetalist, taumat, g, Ftipmat, \
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"""
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taumat = np.array(taumat).T
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Ftipmat = np.array(Ftipmat).T
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thetamat = taumat.copy()
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thetamat = taumat.copy().astype(np.float)
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thetamat[:, 0] = thetalist
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dthetamat = taumat.copy()
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dthetamat = taumat.copy().astype(np.float)
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dthetamat[:, 0] = dthetalist
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for i in range(np.array(taumat).shape[1] - 1):
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for j in range(intRes):
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@ -1798,7 +1798,7 @@ def SimulateControl(thetalist, dthetalist, g, Ftipmat, Mlist, Glist, \
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#Create a trajectory to follow
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thetaend = np.array([np.pi / 2, np.pi, 1.5 * np.pi])
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Tf = 1
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N = 1.0 * Tf / dt
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N = int(1.0 * Tf / dt)
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method = 5
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traj = mr.JointTrajectory(thetalist, thetaend, Tf, N, method)
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thetamatd = np.array(traj).copy()
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@ -1871,26 +1871,26 @@ def SimulateControl(thetalist, dthetalist, g, Ftipmat, Mlist, Glist, \
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eint = np.add(eint, dt * np.subtract(thetamatd[:, i], thetacurrent))
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#Output using matplotlib to plot
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try:
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import matplotlib.pyplot as plt
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import matplotlib.pyplot as plt
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except:
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print 'The result will not be plotted due to a lack of package matplotlib'
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print('The result will not be plotted due to a lack of package matplotlib')
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else:
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links = np.array(thetamat).shape[0]
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N = np.array(thetamat).shape[1]
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Tf = N * dt
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timestamp = np.linspace(0, Tf, N)
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for i in range(links):
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col = [np.random.uniform(0, 1), np.random.uniform(0, 1),
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np.random.uniform(0, 1)]
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plt.plot(timestamp, thetamat[i, :], "-", color=col, \
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label = ("ActualTheta" + str(i + 1)))
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plt.plot(timestamp, thetamatd[i, :], ".", color=col, \
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label = ("DesiredTheta" + str(i + 1)))
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plt.legend(loc = 'upper left')
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plt.xlabel("Time")
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plt.ylabel("Joint Angles")
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plt.title("Plot of Actual and Desired Joint Angles")
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plt.show()
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links = np.array(thetamat).shape[0]
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N = np.array(thetamat).shape[1]
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Tf = N * dt
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timestamp = np.linspace(0, Tf, N)
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for i in range(links):
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col = [np.random.uniform(0, 1), np.random.uniform(0, 1),
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np.random.uniform(0, 1)]
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plt.plot(timestamp, thetamat[i, :], "-", color=col, \
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label = ("ActualTheta" + str(i + 1)))
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plt.plot(timestamp, thetamatd[i, :], ".", color=col, \
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label = ("DesiredTheta" + str(i + 1)))
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plt.legend(loc = 'upper left')
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plt.xlabel("Time")
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plt.ylabel("Joint Angles")
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plt.title("Plot of Actual and Desired Joint Angles")
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plt.show()
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taumat = np.array(taumat).T
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thetamat = np.array(thetamat).T
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return (taumat, thetamat)
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@ -12,11 +12,17 @@ setup(
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packages=['modern_robotics'],
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classifiers=[
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"Development Status :: 3 - Alpha",
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"Topic :: Utilities",
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"License :: OSI Approved :: BSD License",
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"Intended Audience :: Education",
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"Intended Audience :: Science/Research",
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"License :: OSI Approved :: MIT License",
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"Natural Language :: English",
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"Programming Language :: Python :: 2",
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"Programming Language :: Python :: 3",
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"Topic :: Education",
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"Topic :: Scientific/Engineering",
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],
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install_requires=[
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'numpy'
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'numpy',
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],
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platforms='Linux, Mac, Windows',
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)
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