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https://github.com/askuric/pynocchio
A simple python pip package implementing a wrapper for pinocchio library's robot model object
https://github.com/askuric/pynocchio
pinocchio python robotics wrapper
Last synced: 18 days ago
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A simple python pip package implementing a wrapper for pinocchio library's robot model object
- Host: GitHub
- URL: https://github.com/askuric/pynocchio
- Owner: askuric
- License: mit
- Created: 2023-02-28T15:22:20.000Z (almost 2 years ago)
- Default Branch: master
- Last Pushed: 2023-07-19T09:45:55.000Z (over 1 year ago)
- Last Synced: 2024-11-05T23:12:45.461Z (2 months ago)
- Topics: pinocchio, python, robotics, wrapper
- Language: Python
- Homepage: https://auctus-team.gitlabpages.inria.fr/people/antunskuric/pynocchio
- Size: 6.95 MB
- Stars: 4
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# PYNOCCHIO
A simple python pip package implementing a wrapper for pinocchio library's robot model object. It implements in a simple manner several useful functions:
- direct kinematics `forward`
- inverse kinematics `ik`
- jacobian calculation `jacobian`
- jacobian time derivative calculation `jacobian_dot`
- jacobian pseudo-inverse `jacobian_pseudo_inv`
- gravity vector `gravity_torque`
- mass matrix calculaiton `mass_matrix`
- coriolis matrix calculaiton `coriolis_matrix`
see the [docs](https://auctus-team.gitlabpages.inria.fr/people/antunskuric/pynocchio)
## Installation
```bash
pip install git+https://gitlab.inria.fr/auctus-team/people/antunskuric/pynocchio.git
```
## Usage
```python
import os
import numpy as np
import pynocchio as pynoc
tip_name = "panda_link8"
pynoc_abs_path = os.path.dirname(os.path.abspath(pynoc.__file__))
urdf_path = "models/urdf/panda.urdf"
# there should be a folder meshes with 2 subfolders visual and collision containing the mesh files
mesh_path = pynoc_abs_path + "/models"
q0 = np.array([np.pi/2,-0.2,0,-2.1,0,1.9,0])
robot = pynoc.RobotWrapper(tip_name, urdf_path, mesh_path=mesh_path, q=q0)
fv = np.array([0.07, 0.20, 0.04, 0.23, 0.10, -0.01, 0.06])
robot_fric = FrictionRobotWrapper(robot, fv)
```
Parameters:
- tip (str): Name of the robot's end-effector frame.
- urdf_path (str or None): Path to the robot's URDF file (optional, either urdf or xml).
- xml_path (str or None): Path to the robot's XML file (optional, either urdf or xml).
- mesh_path (str or None): Absolute path to the robot's meshes folder for visualization (optional).
- q (np.ndarray or None): Array containing the robot's initial joint positions (optional).
## Testing the code
```shell
pytest tests/test.py
```
and coverage report
```shell
coverage run -m pytest tests/test.py
coverage report -m
```
and for html version
```shell
coverage html
```
## Examples
### Example 1: Creating a `RobotWrapper` object and calculating the forward kinematics for the end effector.
```python
import numpy as np
from pynocchio import RobotWrapper
# Define the path to the URDF file
robot_path = '/path/to/robot.urdf'
# Create the RobotWrapper object
robot = RobotWrapper(urdf_path=robot_path)
# Define the current robot configuration
q = np.zeros(robot.n)
# Calculate the forward kinematics for the end effector
oMf = robot.forward(q)
# Print the resulting transformation matrix
print(oMf)
```
### Example 2: Creating a `RobotWrapper` object and calculating the Jacobian matrix for the end effector.
```python
import numpy as np
from pynocchio import RobotWrapper
# Define the path to the URDF file
robot_path = '/path/to/robot.urdf'
# Create the RobotWrapper object
robot = RobotWrapper(urdf_path=robot_path)
# Define the current robot configuration
q = np.zeros(robot.n)
# Calculate the Jacobian matrix for the end effector
J = robot.jacobian(q)
# Print the resulting Jacobian matrix
print(J)
```
In both examples, the `RobotWrapper` class is imported from the `pynocchio` module. The first example calculates the forward kinematics for the end effector of the robot given a certain configuration. The second example calculates the Jacobian matrix for the end effector of the robot given a certain configuration. In both cases, the `RobotWrapper` object is constructed with the path to the URDF file, and then the required function is called with the current robot configuration.
see the [tutorials](https://auctus-team.gitlabpages.inria.fr/people/antunskuric/pynocchio/examples/) for more examples.