Support for book: Robotics, Vision & Control 3 in Python
Project description
Robotics, Vision & Control: 3rd edition in Python
THIS IS A PLACEHOLDER. THE BOOK WILL BE PUBLISHED LATE IN 2022. THIS REPO IS A WIP UNTIL THEN
This book depends on the following open-source Python packages:
which in turn have dependencies on other packages created by the author and third parties.
This package provides a simple one-step installation of the required Toolboxes
$ pip install rvc3python
or
$ conda install rvc3python
The package also provides other resources for readers including:
-
Command line executable tools include:
rvctool
, a command line script that is an IPython wrapper. It imports the above mentioned packages usingimport *
and then provides an interactive computing environment. By defaultrvctool
has prompts like the regular Python REPL not IPython, and it automatically displays the results of expressions like MATLAB does - put a semicolon on the end of the line to suppress that.rvctool
allows cutting and pasting in lines from the book, and prompt characters are ignored.eigdemo
, animation showing linear transformation of rotating unit vectortripleangledemo
, experiment with various triple-angle sequencestwistdemo
, experiment with 3D twists
-
The complete code to produce every Python-generated figure in the book, see folder
figures
-
All example scripts, see folder
examples
-
All block diagram models, see folder
models
Block diagram models are simulated using the Python package bdsim which can run models:
- written in Python using bdsim blocks and wiring.
- created graphically using bdedit and saved as a
.bd
(JSON format) file.
____ _ _ _ __ ___ _ ___ ____ _ _ _____
| _ \ ___ | |__ ___ | |_(_) ___ ___ \ \ / (_)___(_) ___ _ __ ( _ ) / ___|___ _ __ | |_ _ __ ___ | | |___ /
| |_) / _ \| '_ \ / _ \| __| |/ __/ __| \ \ / /| / __| |/ _ \| '_ \ / _ \/\ | | / _ \| '_ \| __| '__/ _ \| | |_ \
| _ < (_) | |_) | (_) | |_| | (__\__ \_ \ V / | \__ \ | (_) | | | | | (_> < | |__| (_) | | | | |_| | | (_) | | ___) |
|_| \_\___/|_.__/ \___/ \__|_|\___|___( ) \_/ |_|___/_|\___/|_| |_| \___/\/ \____\___/|_| |_|\__|_| \___/|_| |____/
|/
for Python (RTB==0.11.0, MVTB==0.5.5, SMTB==0.11.0)
import numpy as np
import scipy as sp
import matplotlib.pyplot as plt
from math import pi
from spatialmath import *
from spatialmath.base import *
from roboticstoolbox import *
from machinevisiontoolbox import *
import machinevisiontoolbox.base as mvbase
func/object? - show brief help
help(func/object) - show detailed help
func/object?? - show source code
Results of assignments will be displayed, use trailing ; to suppress
Python 3.8.5 (default, Sep 4 2020, 02:22:02)
Type 'copyright', 'credits' or 'license' for more information
IPython 8.0.1 -- An enhanced Interactive Python. Type '?' for help.
>>> panda = models.ETS.Panda()
ERobot: Panda (by Franka Emika), 7 joints (RRRRRRR)
┌─────┬───────┬───────┬────────┬─────────────────────────────────────────────┐
│link │ link │ joint │ parent │ ETS: parent to link │
├─────┼───────┼───────┼────────┼─────────────────────────────────────────────┤
│ 0 │ link0 │ 0 │ BASE │ tz(0.333) ⊕ Rz(q0) │
│ 1 │ link1 │ 1 │ link0 │ Rx(-90°) ⊕ Rz(q1) │
│ 2 │ link2 │ 2 │ link1 │ Rx(90°) ⊕ tz(0.316) ⊕ Rz(q2) │
│ 3 │ link3 │ 3 │ link2 │ tx(0.0825) ⊕ Rx(90°) ⊕ Rz(q3) │
│ 4 │ link4 │ 4 │ link3 │ tx(-0.0825) ⊕ Rx(-90°) ⊕ tz(0.384) ⊕ Rz(q4) │
│ 5 │ link5 │ 5 │ link4 │ Rx(90°) ⊕ Rz(q5) │
│ 6 │ link6 │ 6 │ link5 │ tx(0.088) ⊕ Rx(90°) ⊕ tz(0.107) ⊕ Rz(q6) │
│ 7 │ @ee │ │ link6 │ tz(0.103) ⊕ Rz(-45°) │
└─────┴───────┴───────┴────────┴─────────────────────────────────────────────┘
┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
│name │ q0 │ q1 │ q2 │ q3 │ q4 │ q5 │ q6 │
├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
│ qr │ 0° │ -17.2° │ 0° │ -126° │ 0° │ 115° │ 45° │
│ qz │ 0° │ 0° │ 0° │ 0° │ 0° │ 0° │ 0° │
└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘
>>>
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