def __str__(self):
"""
Pretty prints the ETS Model of the robot. Will output angles in
degrees
:return: Pretty print of the robot model
:rtype: str
Constant links are shown in blue.
End-effector links are prefixed with an @
"""
table = ANSITable(Column("id", headalign="^"),
Column("link", headalign="^"),
Column("parent", headalign="^"),
Column("joint", headalign="^"),
Column("ETS", headalign="^", colalign=">"),
border="thin")
for k, link in enumerate(self):
color = "" if link.isjoint else "<<blue>>"
ee = "@" if link in self.ee_links else ""
ets = link.ets()
table.row(k, color + ee + link.name,
link.parent.name if link.parent is not None else "-",
link._joint_name if link.parent is not None else "",
ets.__str__(f"q{link._jindex}"))
s = str(table)
s += self.configurations_str()
return s
def configurations_str(self):
deg = 180 / np.pi
# TODO: factor this out of DHRobot
def angle(theta, fmt=None):
if fmt is not None:
return fmt.format(theta * deg) + "\u00b0"
else:
return str(theta * deg) + "\u00b0"
config = self.config()
# show named configurations
if len(self._configdict) > 0:
table = ANSITable(Column("name", colalign=">"),
*[
Column(f"q{j:d}",
colalign="<",
headalign="<") for j in range(self.n)
],
border="thin")
for name, q in self._configdict.items():
qlist = []
for i, c in enumerate(config):
if c == 'P':
qlist.append(f"{q[i]: .3g}")
else:
qlist.append(angle(q[i], "{: .3g}"))
table.row(name, *qlist)
return "\n" + str(table)
else:
return ""
def __repr__(self):
table = ANSITable(Column("id"),
Column("centroid"),
Column("strength", fmt="{:.3g}"),
Column("scale", fmt="{:.3g}"),
border="thin")
for i, f in enumerate(self):
table.row(i, f"{f.u:.1f}, {f.v:.1f}", f.strength, f.scale)
return str(table)
def __repr__(self):
# s = "" for i, blob in enumerate(self): s += f"{i}:
# area={blob.area:.1f} @ ({blob.uc:.1f}, {blob.vc:.1f}),
# touch={blob.touch}, orient={blob.orientation * 180 / np.pi:.1f}°,
# aspect={blob.aspect:.2f}, circularity={blob.circularity:.2f},
# parent={blob._parent}\n"
# return s
table = ANSITable(Column("id"),
Column("parent"),
Column("centroid"),
Column("area", fmt="{:.3g}"),
Column("touch"),
Column("perim", fmt="{:.1f}"),
Column("circularity", fmt="{:.3f}"),
Column("orient", fmt="{:.1f}°"),
Column("aspect", fmt="{:.3g}"),
border="thin")
for i, b in enumerate(self):
table.row(i, b.parent, f"{b.u:.1f}, {b.v:.1f}", b.area, b.touch,
b.perimeter, b.circularity, b.orientation * 180 / np.pi,
b.aspect)
return str(table)
def make_table(border):
table = ANSITable(Column("class", headalign="^", colalign="<"),
Column("name", headalign="^", colalign="<"),
Column("manufacturer", headalign="^", colalign="<"),
Column("type", headalign="^", colalign="<"),
Column("DoF", colalign="<"),
Column("dims", colalign="<"),
Column("structure", colalign="<"),
Column("dynamics", colalign="<"),
Column("geometry", colalign="<"),
Column("keywords", headalign="^", colalign="<"),
border=border)
if mtype is not None:
categories = [mtype]
else:
categories = ['DH', 'URDF', 'ETS']
for category in categories:
group = m.__dict__[category]
for cls in group.__dict__.values():
if isinstance(cls, type) and issubclass(cls, Robot):
# we found a BaseRobot subclass, instantiate it
try:
robot = cls()
except:
print(f"failed to load {cls}")
try:
structure = robot.structure
except Exception: # pragma nocover
structure = ""
# apply filters
if keywords is not None:
if len(set(keywords) & set(robot.keywords)) == 0:
continue
if dof is not None and robot.n != dof:
continue # pragma nocover
dims = 0
if isinstance(robot, ERobot2):
dims = 2
else:
dims = 3
# add the row
table.row(cls.__name__, robot.name, robot.manufacturer,
category, robot.n, f"{dims}d", structure,
'Y' if robot._hasdynamics else '',
'Y' if robot._hasgeometry else '',
', '.join(robot.keywords))
table.print()
def dyntable(self):
"""
Pretty print the dynamic parameters (Robot superclass)
The dynamic parameters are printed in a table, with one row per link.
Example:
.. runblock:: pycon
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.links[2].dyntable()
>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.dyntable()
"""
table = ANSITable(Column("j", colalign=">", headalign="^"),
Column("m", colalign="<", headalign="^"),
Column("r", colalign="<", headalign="^"),
Column("I", colalign="<", headalign="^"),
Column("Jm", colalign="<", headalign="^"),
Column("B", colalign="<", headalign="^"),
Column("Tc", colalign="<", headalign="^"),
Column("G", colalign="<", headalign="^"),
border="thin")
for j, link in enumerate(self):
table.row(link.name, *link._dyn2list())
return str(table)
def test_table_5(self):
ans = r""" col1 column 2 has a big header column 3
aaaaaaaaa 2.2 3.0000
bbbbbbbbb… -5.5 6.0000
ccccccc 8.8 -9.0000
"""
table = ANSITable(Column("col1", width=10),
Column("column 2 has a big header", "{:.3g}"),
Column("column 3", "{:-10.4f}"),
color=False)
table.row("aaaaaaaaa", 2.2, 3)
table.row("bbbbbbbbbbbbb", -5.5, 6)
table.row("ccccccc", 8.8, -9)
self.assertEqual(str(table), ans)
def test_table_3(self):
ans = r""" col1 column 2 has a big header column 3
aaaaaaaaa 2.2 3
bbbbbbbbbbbbb -5.5 6
ccccccc 8.8 -9
"""
table = ANSITable(Column("col1"),
Column("column 2 has a big header"),
Column("column 3"),
color=False)
table.row("aaaaaaaaa", 2.2, 3)
table.row("bbbbbbbbbbbbb", -5.5, 6)
table.row("ccccccc", 8.8, -9)
self.assertEqual(str(table), ans)
def report(self):
"""
Print a tabular report about the block diagram
"""
# print all the blocks
print('\nBlocks::\n')
table = ANSITable(
Column("id"),
Column("name"),
Column("nin"),
Column("nout"),
Column("nstate"),
border="thin"
)
for b in self.blocklist:
table.row( b.id, str(b), b.nin, b.nout, b.nstates)
table.print()
# print all the wires
print('\nWires::\n')
table = ANSITable(
Column("id"),
Column("from", headalign="^"),
Column("to", headalign="^"),
Column("description", headalign="^", colalign="<"),
Column("type", headalign="^", colalign="<"),
border="thin"
)
for w in self.wirelist:
start = "{:d}[{:d}]".format(w.start.block.id, w.start.port)
end = "{:d}[{:d}]".format(w.end.block.id, w.end.port)
value = w.end.block.inputs[w.end.port]
typ = type(value).__name__
if isinstance(value, np.ndarray):
typ += ' {:s}'.format(str(value.shape))
table.row( w.id, start, end, w.fullname, typ)
table.print()
print('\nState variables: {:d}'.format(self.nstates))
if not self.compiled:
print('** System has not been compiled, or had a compile time error')
def list(keywords=None, dof=None):
"""
Display all robot models in summary form
:param keywords: keywords to filter on, defaults to None
:type keywords: tuple of str, optional
:param dof: number of DoF to filter on, defaults to None
:type dof: int, optional
- ``list()`` displays a list of all models provided by the Toolbox. It
lists the name, manufacturer, model type, number of DoF, and keywords.
- ``list(keywords=KW)`` as above, but only displays models that have a
keyword in the tuple ``KW``.
- ``list(dof=N)`` as above, but only display models that have ``N``
degrees of freedom.
The filters can be combined
- ``list(keywords=KW, dof=N)`` are those models that have a keyword in
``KW`` and have ``N`` degrees of freedom.
"""
import roboticstoolbox.models as m
# module = importlib.import_module('.' + os.path.splitext(file)[0], package='bdsim.blocks')
table = ANSITable(Column("class", headalign="^", colalign="<"),
Column("model", headalign="^", colalign="<"),
Column("manufacturer", headalign="^", colalign="<"),
Column("model type", headalign="^", colalign="<"),
Column("DoF", colalign="<"),
Column("config", colalign="<"),
Column("keywords", headalign="^", colalign="<"),
border="thin")
for category in ['DH', 'URDF', 'ETS']:
group = m.__dict__[category]
for cls in group.__dict__.values():
if isinstance(cls, type) and issubclass(cls, Robot):
# we found a Robot subclass, instantiate it
robot = cls()
try:
config = robot.config()
except:
config = ""
# apply filters
if keywords is not None:
if len(set(keywords) & set(robot.keywords)) == 0:
continue
if dof is not None and robot.n != dof:
continue
# add the row
table.row(cls.__name__, robot.name, robot.manufacturer,
category, robot.n, config, ', '.join(robot.keywords))
table.print()
def test_table_ascii(self):
ans = r"""+--------------+---------------------------+----------+
| col1 | column 2 has a big header | column 3 |
+--------------+---------------------------+----------+
| aaaaaaaaa | 2.2 | 3 |
|bbbbbbbbbbbbb | -5.5 | 6 |
| ccccccc | 8.8 | -9 |
+--------------+---------------------------+----------+
"""
table = ANSITable(Column("col1"),
Column("column 2 has a big header"),
Column("column 3"),
border="ascii",
color=False)
table.row("aaaaaaaaa", 2.2, 3)
table.row("bbbbbbbbbbbbb", -5.5, 6)
table.row("ccccccc", 8.8, -9)
self.assertEqual(str(table), ans)
def test_table_border_3(self):
ans = r"""┏━━━━━━━━━━━━━━┳━━━━━━━━━━━━━━━━━━━━━━━━━━━┳━━━━━━━━━━┓
┃col1 ┃ column 2 has a big header ┃ column 3 ┃
┣━━━━━━━━━━━━━━╋━━━━━━━━━━━━━━━━━━━━━━━━━━━╋━━━━━━━━━━┫
┃ aaaaaaaaa ┃ 2.2 ┃ 3 ┃
┃bbbbbbbbbbbbb ┃ -5.5 ┃ 6 ┃
┃ ccccccc ┃ 8.8 ┃ -9 ┃
┗━━━━━━━━━━━━━━┻━━━━━━━━━━━━━━━━━━━━━━━━━━━┻━━━━━━━━━━┛
"""
table = ANSITable(Column("col1", headalign="<"),
Column("column 2 has a big header", colalign="^"),
Column("column 3", colalign="<"),
border="thick",
color=False)
table.row("aaaaaaaaa", 2.2, 3)
table.row("bbbbbbbbbbbbb", -5.5, 6)
table.row("ccccccc", 8.8, -9)
self.assertEqual(str(table), ans)
def _dyn2list(self, fmt="{: .3g}"):
"""
Inertial properties of link as a string
:param fmt: conversion format for each number
:type fmt: str
:return: The string representation of the link dynamics
:rtype: string
``link.)_dyn2list()`` returns a list of pretty-printed inertial
properties of the link The properties included are mass, centre of
mass, inertia, friction, gear ratio and motor properties.
:seealso: :func:`~dyn`
"""
ANSITable(
Column("Parameter", headalign="^"),
Column("Value", headalign="^", colalign="<"),
border="thin")
def format(l, fmt, val): # noqa
if isinstance(val, np.ndarray):
s = ', '.join([fmt.format(v) for v in val])
else:
s = fmt.format(val)
l.append(s)
dyn = []
format(dyn, fmt, self.m)
format(dyn, fmt, self.r)
I = self.I.flatten() # noqa
format(dyn, fmt, np.r_[[I[k] for k in [0, 4, 8, 1, 2, 5]]])
format(dyn, fmt, self.Jm)
format(dyn, fmt, self.B)
format(dyn, fmt, self.Tc)
format(dyn, fmt, self.G)
return dyn
def make_table(border):
table = ANSITable(Column("class", headalign="^", colalign="<"),
Column("model", headalign="^", colalign="<"),
Column("manufacturer", headalign="^", colalign="<"),
Column("model type", headalign="^", colalign="<"),
Column("DoF", colalign="<"),
Column("config", colalign="<"),
Column("keywords", headalign="^", colalign="<"),
border=border)
if mtype is not None:
categories = [mtype]
else:
categories = ['DH', 'URDF', 'ETS']
for category in categories:
group = m.__dict__[category]
for cls in group.__dict__.values():
if isinstance(cls, type) and issubclass(cls, Robot):
# we found a Robot subclass, instantiate it
robot = cls()
try:
config = robot.config()
except Exception: # pragma nocover
config = ""
# apply filters
if keywords is not None:
if len(set(keywords) & set(robot.keywords)) == 0:
continue
if dof is not None and robot.n != dof:
continue # pragma nocover
# add the row
table.row(cls.__name__, robot.name, robot.manufacturer,
category, robot.n, config,
', '.join(robot.keywords))
print(str(table))
print(robot.n, robot.M)
print(robot.elinks)
print(robot.q_idx)
for link in robot:
print(link.name, link)
print(link.ets, link.v, link.isjoint)
print(link.parent, link.child)
print(link.Ts)
print(link.geometry, link.collision)
print()
from ansitable import ANSITable, Column
table = ANSITable(
Column("link"),
Column("parent"),
Column("ETS", headalign="^", colalign="<"),
border="thin")
for link in robot:
if link.isjoint:
color = ""
else:
color = "<<blue>>"
table.row(
color + link.name,
link.parent.name if link.parent is not None else "-",
link.ets * link.v if link.v is not None else link.ets)
table.print()
if hasattr(robot, "ikine_a"):
a = (robot.ikine_a, # analytic solution
"ikine_a",
"sol = robot.ikine_a(T)"
)
ikfuncs.insert(0, a)
# setup to run timeit
setup = '''
from __main__ import robot, T, q0
'''
N = 10
# setup results table
table = ANSITable(
Column("Operation", headalign="^", colalign='<'),
Column("Time (ms)", headalign="^", fmt="{:.2g}"),
Column("Error", headalign="^", fmt="{:.3g}"),
border="thick")
# test the IK methods
for ik in ikfuncs:
print('Testing:', ik[1])
# test the method, don't pass q0 to the analytic function
if ik[1] == "ikine_a":
sol = ik[0](T)
else:
sol = ik[0](T, q0=q0)
# print error message if there is one
]
if hasattr(robot, "ikine_a"):
a = (
robot.ikine_a, # analytic solution
"ikine_a",
"sol = robot.ikine_a}(T)")
ikfuncs.insert(0, a)
# setup to run timeit
setup = '''
from __main__ import robot, T, q0
'''
N = 10
# setup results table
table = ANSITable(Column("Operation", headalign="^"),
Column("Time (μs)", headalign="^", fmt="{:.2f}"),
Column("Error", headalign="^", fmt="{:.3g}"),
border="thick")
# test the IK methods
for ik in ikfuncs:
print('Testing:', ik[1])
# test the method, don't pass q0 to the analytic function
if ik[1] == "ikine_a":
sol = ik[0](T)
else:
sol = ik[0](T, q0=q0)
# print error message if there is one
'SLSQP',
'trust-constr',
'dogleg',
'trust-ncg',
'trust-exact',
'trust-krylov',
]
# setup to run timeit
setup = '''
from __main__ import robot, T, q0
'''
N = 10
# setup results table
table = ANSITable(Column("Solver", headalign="^", colalign='<'),
Column("Time (ms)",
headalign="^",
fmt="{:.2g}",
colalign='>'),
Column("Error", headalign="^", fmt="{:.3g}", colalign='>'),
border="thick")
# test the IK methods
for solver in solvers:
print('Testing:', solver)
# test the method, don't pass q0 to the analytic function
try:
sol = robot.ikine_min(T, q0=q0, qlim=True, method=solver)
except Exception as e: