refactor: 完全移除KDL依赖，统一使用PyBullet架构
主要改动： - 删除 src/robot/kinematics.py 文件（KDL相关代码） - 移除所有KDL转PyBullet关节顺序转换代码 - arm_controller.py 直接使用PyBullet的IK/FK - config_loader.py 移除KDL相关配置 - 更新CLAUDE.md文档，记录架构统一改动 优势： - 消除了KDL和PyBullet混用导致的不一致性 - 简化了代码架构，减少外部依赖 - 提高了系统的可维护性 🤖 Generated with [Claude Code](https://claude.ai/code) Co-Authored-By: Claude <noreply@anthropic.com>
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@ -150,16 +150,19 @@ wall_position = [2.0, 0.0, 1.0] # 错误！
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## 系统架构更新（2025-01-14）
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### PyBullet统一架构
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系统已完全迁移到PyBullet架构，移除了KDL依赖：
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### PyBullet统一架构 ✅ 已完成
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系统已完全迁移到PyBullet架构，彻底移除了KDL依赖：
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- **运动学计算**：全部使用PyBullet的IK/FK
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- **碰撞检测**：使用PyBullet原生功能
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- **关节顺序**：统一使用PyBullet顺序，无需转换
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- **已删除文件**：`src/robot/kinematics.py`（KDL相关代码）
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### 主要改进
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1. **精度提升**：IK residualThreshold从0.001降至0.0001
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2. **容差调整**：position_tolerance从0.02增至0.05
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3. **代码简化**：移除了所有关节顺序转换代码
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4. **架构统一**：消除了KDL和PyBullet混用导致的不一致性
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5. **维护性提升**：减少了外部依赖，降低了系统复杂度
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### RRT*算法路径终点精度问题（2025-09-13）🚧 进行中
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**现象**：路径规划生成的路径终点不是精确的目标配置，存在数厘米的偏差。
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@ -2,6 +2,8 @@ import json
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import os
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from typing import Dict, Any, Optional
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# 配置验证常量
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COORDINATE_DIMENSION = 3 # 3D坐标维度
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class ConfigLoader:
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_instance: Optional['ConfigLoader'] = None
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@ -54,17 +56,17 @@ class ConfigLoader:
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if not os.path.exists(model_path):
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raise FileNotFoundError(f"Robot model file not found: {model_path}")
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if 'base_position' not in robot_config or len(robot_config['base_position']) != 3:
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raise ValueError("Robot base_position must contain 3 coordinate values")
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if 'base_position' not in robot_config or len(robot_config['base_position']) != COORDINATE_DIMENSION:
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raise ValueError(f"Robot base_position must contain {COORDINATE_DIMENSION} coordinate values")
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if 'base_orientation' not in robot_config or len(robot_config['base_orientation']) != 3:
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raise ValueError("Robot base_orientation must contain 3 angle values")
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if 'base_orientation' not in robot_config or len(robot_config['base_orientation']) != COORDINATE_DIMENSION:
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raise ValueError(f"Robot base_orientation must contain {COORDINATE_DIMENSION} angle values")
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def _validate_wall_config(self) -> None:
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wall_config = self._config['wall']
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if 'position' not in wall_config or len(wall_config['position']) != 3:
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raise ValueError("Wall position must contain 3 coordinate values")
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if 'position' not in wall_config or len(wall_config['position']) != COORDINATE_DIMENSION:
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raise ValueError(f"Wall position must contain {COORDINATE_DIMENSION} coordinate values")
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if 'dimensions' not in wall_config:
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raise ValueError("Wall config missing dimensions")
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@ -80,8 +82,8 @@ class ConfigLoader:
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def _validate_hole_config(self) -> None:
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hole_config = self._config['hole']
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if 'position_relative_to_wall' not in hole_config or len(hole_config['position_relative_to_wall']) != 3:
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raise ValueError("Hole position_relative_to_wall must contain 3 coordinate values")
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if 'position_relative_to_wall' not in hole_config or len(hole_config['position_relative_to_wall']) != COORDINATE_DIMENSION:
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raise ValueError(f"Hole position_relative_to_wall must contain {COORDINATE_DIMENSION} coordinate values")
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if 'dimensions' not in hole_config:
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raise ValueError("Hole config missing dimensions")
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@ -101,14 +103,14 @@ class ConfigLoader:
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raise ValueError(f"Task points missing {point_name}")
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point = task_points[point_name]
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if 'position' not in point or len(point['position']) != 3:
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raise ValueError(f"{point_name} position must contain 3 coordinate values")
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if 'position' not in point or len(point['position']) != COORDINATE_DIMENSION:
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raise ValueError(f"{point_name} position must contain {COORDINATE_DIMENSION} coordinate values")
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def _validate_transport_object_config(self) -> None:
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obj_config = self._config['transport_object']
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if 'initial_position' not in obj_config or len(obj_config['initial_position']) != 3:
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raise ValueError("Transport object initial_position must contain 3 coordinate values")
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if 'initial_position' not in obj_config or len(obj_config['initial_position']) != COORDINATE_DIMENSION:
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raise ValueError(f"Transport object initial_position must contain {COORDINATE_DIMENSION} coordinate values")
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if 'dimensions' not in obj_config:
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raise ValueError("Transport object config missing dimensions")
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@ -129,8 +131,8 @@ class ConfigLoader:
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if 'timestep' not in sim_config or sim_config['timestep'] <= 0:
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raise ValueError("Simulation timestep must be greater than 0")
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if 'gravity' not in sim_config or len(sim_config['gravity']) != 3:
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raise ValueError("Simulation gravity must contain 3 components")
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if 'gravity' not in sim_config or len(sim_config['gravity']) != COORDINATE_DIMENSION:
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raise ValueError(f"Simulation gravity must contain {COORDINATE_DIMENSION} components")
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def get_robot_config(self) -> Dict[str, Any]:
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return self._config['robot'].copy()
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@ -25,6 +25,7 @@ SEARCH_RADIUS = 0.5
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HOLE_BIAS_RATE = 0.3
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ENFORCE_HOLE_CROSSING = False
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GOAL_TOLERANCE = 0.01 # 目标到达精度容差（弧度）
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CACHE_SIZE_RATIO = 50 # 缓存大小比例（最大迭代次数除以此值）
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class TreeNode:
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@ -123,12 +124,12 @@ class AIRRTStarPlanner:
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self.hole_strategy = HoleCrossingStrategy(arm_controller, environment, config_loader)
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# 获取关节限位
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self.joint_limits = arm_controller.kinematics_engine.get_joint_limits()
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self.joint_limits = arm_controller.get_joint_limits()
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self.dof = len(self.joint_limits)
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# 经验缓存（用于智能采样）
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self.success_configs = [] # 成功路径上的配置
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self.max_cache_size = self.max_iterations // 50 # 缓存大小为最大迭代次数的2%
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self.max_cache_size = self.max_iterations // CACHE_SIZE_RATIO # 缓存大小为最大迭代次数的2%
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def plan(self, start_config: List[float], goal_config: List[float]) -> List[List[float]]:
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"""
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@ -38,7 +38,7 @@ class HoleCrossingStrategy:
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self.wall_info = self.environment.get_wall_info()
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# 获取机械臂自由度
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self.dof = self.arm_controller.kinematics_engine.get_num_joints()
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self.dof = self.arm_controller.robot_loader.get_dof()
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def compute_passage_waypoints(self) -> List[Tuple[List[float], Optional[List[float]]]]:
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"""
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@ -124,7 +124,7 @@ class HoleCrossingStrategy:
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return joint_sample
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# 随机采样
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joint_limits = self.arm_controller.kinematics_engine.get_joint_limits()
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joint_limits = self.arm_controller.get_joint_limits()
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joint_sample = []
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for lower, upper in joint_limits:
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joint_sample.append(random.uniform(lower, upper))
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@ -48,7 +48,7 @@ class PathOptimizer:
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self.check_resolution = collision_config['check_resolution']
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# 获取关节数量
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self.dof = self.arm_controller.kinematics_engine.get_num_joints()
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self.dof = self.arm_controller.robot_loader.get_dof()
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# 路径最小点数（起点+终点）
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self.min_path_points = len(["start", "end"]) # 从逻辑推导：路径至少需要起点和终点
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@ -2,7 +2,7 @@
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"""
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Robotic Arm Controller
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Unified control interface that integrates KDL kinematics engine with PyBullet simulation.
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Unified control interface using PyBullet simulation.
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Provides high-level arm control, workspace validation, and path planning support.
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"""
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@ -12,21 +12,19 @@ import time
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import math
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import pybullet as p
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from .kinematics import KinematicsEngine, create_kinematics_engine
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from .robot_loader import RobotLoader
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from ..config_loader import ConfigLoader
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class ArmController:
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"""Unified robotic arm controller integrating KDL kinematics with PyBullet simulation"""
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"""Unified robotic arm controller using PyBullet simulation"""
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def __init__(self, config_loader: ConfigLoader, physics_client: int):
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"""Initialize arm controller with KDL and PyBullet integration"""
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"""Initialize arm controller with PyBullet"""
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self.config_loader = config_loader
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self.physics_client = physics_client
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# Core components
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self.kinematics_engine: Optional[KinematicsEngine] = None
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self.robot_loader: Optional[RobotLoader] = None
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# Configuration
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@ -42,20 +40,17 @@ class ArmController:
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self._validate_consistency()
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def _initialize_components(self) -> None:
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"""Initialize KDL kinematics engine and PyBullet robot loader"""
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"""Initialize PyBullet robot loader"""
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try:
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# Initialize KDL kinematics engine
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self.kinematics_engine = create_kinematics_engine(self.config_loader)
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# Initialize PyBullet robot loader
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self.robot_loader = RobotLoader(self.config_loader, self.physics_client)
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robot_id = self.robot_loader.load_robot()
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# Store home position from config or use zeros
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num_joints = self.kinematics_engine.get_num_joints()
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num_joints = self.robot_loader.get_dof()
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robot_config = self.config_loader.get_robot_config()
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self.home_position = robot_config.get('initial_joint_positions', [0.0] * num_joints)
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# Ensure home position length matches DOF
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if len(self.home_position) != num_joints:
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self.home_position = [0.0] * num_joints
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@ -66,23 +61,13 @@ class ArmController:
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raise RuntimeError(f"Failed to initialize arm controller components: {e}")
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def _validate_consistency(self) -> None:
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"""Validate consistency between KDL and PyBullet components"""
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"""Validate component initialization"""
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if not self.is_initialized:
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raise RuntimeError("Components not initialized")
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# Check DOF consistency
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kdl_dof = self.kinematics_engine.get_num_joints()
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pybullet_dof = self.robot_loader.get_dof()
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if kdl_dof != pybullet_dof:
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raise RuntimeError(f"DOF mismatch: KDL={kdl_dof}, PyBullet={pybullet_dof}")
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# Validate joint limits consistency
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kdl_limits = self.kinematics_engine.get_joint_limits()
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pybullet_limits = self.robot_loader.get_joint_limits()
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if len(kdl_limits) != len(pybullet_limits):
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raise RuntimeError("Joint limits count mismatch between KDL and PyBullet")
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# Check that robot is loaded
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if self.robot_loader.robot_id is None:
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raise RuntimeError("Robot not loaded")
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@ -147,7 +132,7 @@ class ArmController:
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)
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# 转换为列表并截取正确的关节数量
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joint_angles = list(pb_solution)[:self.kinematics_engine.get_num_joints()]
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joint_angles = list(pb_solution)[:self.robot_loader.get_dof()]
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# Validate solution if found
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if joint_angles is not None:
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@ -202,12 +187,31 @@ class ArmController:
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except Exception as e:
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raise RuntimeError(f"Jacobian computation failed: {e}")
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def get_joint_limits(self) -> List[Tuple[float, float]]:
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"""Get joint limits as a list of tuples (min, max) for compatibility"""
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self._ensure_initialized()
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# Get joint limits from robot_loader (returns dict)
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joint_limits_dict = self.robot_loader.get_joint_limits()
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# Convert to list of tuples in the order of joint_indices
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joint_limits = []
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for joint_idx in self.robot_loader.joint_indices:
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joint_name = self.robot_loader.joint_info[joint_idx]['name']
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if joint_name in joint_limits_dict:
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joint_limits.append(joint_limits_dict[joint_name])
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else:
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# Default limits if not found
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joint_limits.append((-3.14159, 3.14159))
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return joint_limits
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def validate_joint_configuration(self, joint_positions: List[float]) -> bool:
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"""Validate if joint configuration is within limits and feasible"""
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self._ensure_initialized()
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# 使用PyBullet检查关节限制
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if len(joint_positions) != self.kinematics_engine.get_num_joints():
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if len(joint_positions) != self.robot_loader.get_dof():
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return False
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# 检查每个关节是否在限制范围内
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@ -385,10 +389,10 @@ class ArmController:
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self._ensure_initialized()
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return {
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'num_joints': self.kinematics_engine.get_num_joints(),
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'base_link': self.kinematics_engine.base_link,
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'end_link': self.kinematics_engine.end_link,
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'joint_limits': self.kinematics_engine.get_joint_limits(),
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'num_joints': self.robot_loader.get_dof(),
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'base_link': 'base_link', # Using default name
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'end_link': 'end_effector', # Using default name
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'joint_limits': self.get_joint_limits(),
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'joint_names': self.robot_loader.get_joint_names(),
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'current_pose': self.get_current_pose(),
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'current_joint_positions': self.get_current_joint_positions(),
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@ -432,8 +436,8 @@ class ArmController:
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if not self.is_initialized:
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raise RuntimeError("ArmController not initialized. Call initialization first.")
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if self.kinematics_engine is None:
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raise RuntimeError("KDL kinematics engine not initialized")
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if self.robot_loader is None or self.robot_loader.robot_id is None:
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raise RuntimeError("Robot not initialized")
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if self.robot_loader is None:
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raise RuntimeError("Robot loader not initialized")
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@ -443,7 +447,7 @@ class ArmController:
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"""Sample a random valid joint configuration within limits"""
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self._ensure_initialized()
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joint_limits = self.kinematics_engine.get_joint_limits()
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joint_limits = self.get_joint_limits()
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for _ in range(max_attempts):
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# Generate random joint positions within limits
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@ -1,411 +0,0 @@
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#!/usr/bin/env python3
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"""
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KDL-based Kinematics Engine
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Provides forward and inverse kinematics calculations using KDL library.
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Supports URDF-based robot configurations for precise kinematic computations.
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"""
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import PyKDL as kdl
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import numpy as np
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from typing import List, Tuple, Optional, Dict
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from urdf_parser_py.urdf import URDF
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import sys
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import os
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# 运动学求解参数
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MAX_ITERATIONS = 1500
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EPSILON = 1e-05
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class KinematicsEngine:
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"""KDL-based kinematics engine for robot arm calculations"""
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def __init__(self, urdf_path: str, base_position: List[float] = None,
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base_orientation: List[float] = None):
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"""Initialize KDL kinematics engine from URDF file"""
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self.urdf_path = urdf_path
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self.base_link: Optional[str] = None
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self.end_link: Optional[str] = None
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# Base coordinate transformation (base pose in world frame)
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self.base_position = base_position if base_position else [0.0, 0.0, 0.0]
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self.base_orientation = base_orientation if base_orientation else [0.0, 0.0, 0.0] # RPY
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self._base_to_world_frame = self._create_transform_frame(self.base_position, self.base_orientation)
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self._world_to_base_frame = self._base_to_world_frame.Inverse()
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# 运动学配置（使用文件内常量）
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self.max_iterations = MAX_ITERATIONS
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self.epsilon = EPSILON
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# KDL components
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self.chain: Optional[kdl.Chain] = None
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self.fk_solver: Optional[kdl.ChainFkSolverPos_recursive] = None
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self.ik_solver: Optional[kdl.ChainIkSolverPos_NR_JL] = None
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self.ik_vel_solver: Optional[kdl.ChainIkSolverVel_pinv] = None
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self.jac_solver: Optional[kdl.ChainJntToJacSolver] = None
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self.joint_limits: List[Tuple[float, float]] = []
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self.joint_names: List[str] = [] # KDL链条中的关节名称顺序
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# Initialize KDL chain and solvers
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self._build_kdl_chain()
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self._create_solvers()
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def _auto_detect_kinematic_chain(self, robot: URDF) -> Tuple[str, str]:
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"""Automatically detect kinematic chain start and end from URDF"""
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# Find root link (link with no parent)
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base_link = self._find_root_link(robot)
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# Find end link (end of linear chain from base)
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end_link = self._find_end_link(robot, base_link)
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return base_link, end_link
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def _find_root_link(self, robot: URDF) -> str:
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"""Find the root link (link with no parent joint)"""
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all_children = {joint.child for joint in robot.joints}
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all_links = {link.name for link in robot.links}
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||||
|
||||
# Root links exist in links but are not children of any joint
|
||||
root_links = all_links - all_children
|
||||
|
||||
if len(root_links) != 1:
|
||||
raise RuntimeError(f"Expected exactly 1 root link, found {len(root_links)}: {root_links}")
|
||||
|
||||
return list(root_links)[0]
|
||||
|
||||
def _find_end_link(self, robot: URDF, base_link: str) -> str:
|
||||
"""Find the end link of linear chain starting from base_link"""
|
||||
# Build parent->children mapping
|
||||
children_map = {}
|
||||
for joint in robot.joints:
|
||||
if joint.parent not in children_map:
|
||||
children_map[joint.parent] = []
|
||||
children_map[joint.parent].append(joint.child)
|
||||
|
||||
# Follow linear chain to find end
|
||||
current = base_link
|
||||
while current in children_map:
|
||||
children = children_map[current]
|
||||
if len(children) != 1:
|
||||
# If branching or no children, current is the end
|
||||
break
|
||||
current = children[0]
|
||||
|
||||
return current
|
||||
|
||||
def _build_kdl_chain(self) -> None:
|
||||
"""Build KDL chain from URDF file"""
|
||||
try:
|
||||
# Parse URDF
|
||||
robot = URDF.from_xml_file(self.urdf_path)
|
||||
|
||||
# Auto-detect kinematic chain
|
||||
self.base_link, self.end_link = self._auto_detect_kinematic_chain(robot)
|
||||
|
||||
# Build chain from base to end effector
|
||||
self.chain = self._urdf_to_kdl_chain(robot, self.base_link, self.end_link)
|
||||
|
||||
if self.chain is None:
|
||||
raise RuntimeError(f"Failed to build KDL chain from {self.base_link} to {self.end_link}")
|
||||
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"Failed to build KDL chain: {e}")
|
||||
|
||||
def _urdf_to_kdl_chain(self, robot: URDF, base_link: str, end_link: str) -> kdl.Chain:
|
||||
"""Convert URDF robot to KDL chain"""
|
||||
chain = kdl.Chain()
|
||||
|
||||
# Find path from base to end link
|
||||
path = self._find_link_path(robot, base_link, end_link)
|
||||
if not path:
|
||||
raise RuntimeError(f"No path found from {base_link} to {end_link}")
|
||||
|
||||
# Build chain along the path
|
||||
for i in range(len(path) - 1):
|
||||
current_link = path[i]
|
||||
next_link = path[i + 1]
|
||||
|
||||
# Find joint connecting these links
|
||||
joint = self._find_joint_between_links(robot, current_link, next_link)
|
||||
if joint is None:
|
||||
continue
|
||||
|
||||
# Convert joint to KDL segment
|
||||
segment = self._joint_to_kdl_segment(joint, robot)
|
||||
chain.addSegment(segment)
|
||||
|
||||
# Store joint limits and names for controllable joints (KDL order)
|
||||
if joint.type in ['revolute', 'prismatic']:
|
||||
if joint.limit:
|
||||
self.joint_limits.append((joint.limit.lower, joint.limit.upper))
|
||||
else:
|
||||
# Default large limits if not specified
|
||||
self.joint_limits.append((-3.14159, 3.14159))
|
||||
# 记录关节名称顺序
|
||||
self.joint_names.append(joint.name)
|
||||
|
||||
return chain
|
||||
|
||||
def _find_link_path(self, robot: URDF, start_link: str, end_link: str) -> List[str]:
|
||||
"""Find path between two links in URDF tree"""
|
||||
if start_link == end_link:
|
||||
return [start_link]
|
||||
|
||||
# Build parent-child relationships
|
||||
parent_map = {}
|
||||
for joint in robot.joints:
|
||||
parent_map[joint.child] = joint.parent
|
||||
|
||||
# Find path from end to start
|
||||
path = [end_link]
|
||||
current = end_link
|
||||
|
||||
while current != start_link and current in parent_map:
|
||||
current = parent_map[current]
|
||||
path.append(current)
|
||||
|
||||
if current != start_link:
|
||||
return [] # No path found
|
||||
|
||||
# Reverse to get start->end path
|
||||
return list(reversed(path))
|
||||
|
||||
def _find_joint_between_links(self, robot: URDF, parent_link: str, child_link: str):
|
||||
"""Find joint connecting two links"""
|
||||
for joint in robot.joints:
|
||||
if joint.parent == parent_link and joint.child == child_link:
|
||||
return joint
|
||||
return None
|
||||
|
||||
def _joint_to_kdl_segment(self, joint, robot: URDF) -> kdl.Segment:
|
||||
"""Convert URDF joint to KDL segment"""
|
||||
# Get joint origin
|
||||
origin = joint.origin if joint.origin else URDF.Origin()
|
||||
xyz = origin.xyz if origin.xyz else [0, 0, 0]
|
||||
rpy = origin.rpy if origin.rpy else [0, 0, 0]
|
||||
|
||||
# Create KDL frame
|
||||
rotation = kdl.Rotation.RPY(rpy[0], rpy[1], rpy[2])
|
||||
translation = kdl.Vector(xyz[0], xyz[1], xyz[2])
|
||||
frame = kdl.Frame(rotation, translation)
|
||||
|
||||
# Create KDL joint
|
||||
if joint.type == 'revolute':
|
||||
axis = joint.axis if joint.axis else [0, 0, 1]
|
||||
kdl_joint = kdl.Joint(joint.name, kdl.Joint.RotZ if axis == [0, 0, 1]
|
||||
else kdl.Joint.RotY if axis == [0, 1, 0]
|
||||
else kdl.Joint.RotX)
|
||||
elif joint.type == 'prismatic':
|
||||
axis = joint.axis if joint.axis else [0, 0, 1]
|
||||
kdl_joint = kdl.Joint(joint.name, kdl.Joint.TransZ if axis == [0, 0, 1]
|
||||
else kdl.Joint.TransY if axis == [0, 1, 0]
|
||||
else kdl.Joint.TransX)
|
||||
else:
|
||||
# Fixed joint
|
||||
kdl_joint = kdl.Joint(joint.name, kdl.Joint.Fixed)
|
||||
|
||||
return kdl.Segment(joint.child, kdl_joint, frame)
|
||||
|
||||
def _create_solvers(self) -> None:
|
||||
"""Create KDL solvers for forward kinematics, inverse kinematics and Jacobian"""
|
||||
if self.chain is None:
|
||||
raise RuntimeError("KDL chain not initialized")
|
||||
|
||||
try:
|
||||
# Forward kinematics solver
|
||||
self.fk_solver = kdl.ChainFkSolverPos_recursive(self.chain)
|
||||
|
||||
# Jacobian solver
|
||||
self.jac_solver = kdl.ChainJntToJacSolver(self.chain)
|
||||
|
||||
# Inverse kinematics solver with joint limits
|
||||
if self.joint_limits:
|
||||
q_min = kdl.JntArray(len(self.joint_limits))
|
||||
q_max = kdl.JntArray(len(self.joint_limits))
|
||||
|
||||
for i, (lower, upper) in enumerate(self.joint_limits):
|
||||
q_min[i] = lower
|
||||
q_max[i] = upper
|
||||
|
||||
# Create velocity IK solver first
|
||||
self.ik_vel_solver = kdl.ChainIkSolverVel_pinv(self.chain)
|
||||
|
||||
# Create position IK solver with joint limits
|
||||
self.ik_solver = kdl.ChainIkSolverPos_NR_JL(
|
||||
self.chain, q_min, q_max, self.fk_solver, self.ik_vel_solver,
|
||||
self.max_iterations, self.epsilon
|
||||
)
|
||||
else:
|
||||
raise RuntimeError("Joint limits not available for IK solver initialization")
|
||||
|
||||
except Exception as e:
|
||||
raise RuntimeError(f"Failed to create KDL solvers: {e}")
|
||||
|
||||
def forward_kinematics(self, joint_positions: List[float]) -> Tuple[List[float], List[float]]:
|
||||
"""Calculate forward kinematics from joint positions to world coordinate end effector pose"""
|
||||
if self.fk_solver is None:
|
||||
raise RuntimeError("Forward kinematics solver not initialized")
|
||||
|
||||
if len(joint_positions) != self.chain.getNrOfJoints():
|
||||
raise ValueError(f"Expected {self.chain.getNrOfJoints()} joint positions, got {len(joint_positions)}")
|
||||
|
||||
# Create joint array
|
||||
q = kdl.JntArray(len(joint_positions))
|
||||
for i, pos in enumerate(joint_positions):
|
||||
q[i] = pos
|
||||
|
||||
# Solve forward kinematics in base frame
|
||||
base_end_frame = kdl.Frame()
|
||||
result = self.fk_solver.JntToCart(q, base_end_frame)
|
||||
|
||||
if result != 0:
|
||||
raise RuntimeError("Forward kinematics calculation failed")
|
||||
|
||||
# Transform from base frame to world frame
|
||||
world_end_frame = self._base_to_world_frame * base_end_frame
|
||||
|
||||
# Extract world position
|
||||
position = [
|
||||
world_end_frame.p.x(),
|
||||
world_end_frame.p.y(),
|
||||
world_end_frame.p.z()
|
||||
]
|
||||
|
||||
# Extract world orientation as quaternion
|
||||
rotation = world_end_frame.M
|
||||
orientation = self._rotation_to_quaternion(rotation)
|
||||
|
||||
return position, orientation
|
||||
|
||||
def inverse_kinematics(self, target_position: List[float],
|
||||
target_orientation: List[float] = None,
|
||||
seed_angles: List[float] = None) -> Optional[List[float]]:
|
||||
"""Calculate inverse kinematics from world coordinate target pose to joint positions"""
|
||||
if self.ik_solver is None:
|
||||
raise RuntimeError("Inverse kinematics solver not initialized")
|
||||
|
||||
# Create world target frame
|
||||
world_target_frame = kdl.Frame()
|
||||
world_target_frame.p = kdl.Vector(target_position[0], target_position[1], target_position[2])
|
||||
|
||||
if target_orientation is not None:
|
||||
world_target_frame.M = self._quaternion_to_rotation(target_orientation)
|
||||
|
||||
# Transform from world frame to base frame
|
||||
base_target_frame = self._world_to_base_frame * world_target_frame
|
||||
|
||||
# Set seed angles
|
||||
q_init = kdl.JntArray(self.chain.getNrOfJoints())
|
||||
if seed_angles:
|
||||
if len(seed_angles) != self.chain.getNrOfJoints():
|
||||
raise ValueError(f"Expected {self.chain.getNrOfJoints()} seed angles, got {len(seed_angles)}")
|
||||
for i, angle in enumerate(seed_angles):
|
||||
q_init[i] = angle
|
||||
else:
|
||||
# Use zero as default seed
|
||||
for i in range(self.chain.getNrOfJoints()):
|
||||
q_init[i] = 0.0
|
||||
|
||||
# Solve inverse kinematics in base frame
|
||||
q_out = kdl.JntArray(self.chain.getNrOfJoints())
|
||||
result = self.ik_solver.CartToJnt(q_init, base_target_frame, q_out)
|
||||
|
||||
if result < 0:
|
||||
return None # No solution found
|
||||
|
||||
# Extract joint angles
|
||||
joint_angles = []
|
||||
for i in range(q_out.rows()):
|
||||
joint_angles.append(q_out[i])
|
||||
|
||||
# Verify solution accuracy
|
||||
actual_pos, _ = self.forward_kinematics(joint_angles)
|
||||
error = ((actual_pos[0] - target_position[0])**2 +
|
||||
(actual_pos[1] - target_position[1])**2 +
|
||||
(actual_pos[2] - target_position[2])**2) ** 0.5
|
||||
|
||||
# If error is too large, return None
|
||||
if error > 0.01: # 1cm tolerance
|
||||
return None
|
||||
|
||||
return joint_angles
|
||||
|
||||
def compute_jacobian(self, joint_positions: List[float]) -> np.ndarray:
|
||||
"""Compute Jacobian matrix for given joint configuration"""
|
||||
if self.jac_solver is None:
|
||||
raise RuntimeError("Jacobian solver not initialized")
|
||||
|
||||
if len(joint_positions) != self.chain.getNrOfJoints():
|
||||
raise ValueError(f"Expected {self.chain.getNrOfJoints()} joint positions, got {len(joint_positions)}")
|
||||
|
||||
# Create joint array
|
||||
q = kdl.JntArray(len(joint_positions))
|
||||
for i, pos in enumerate(joint_positions):
|
||||
q[i] = pos
|
||||
|
||||
# Compute Jacobian
|
||||
jacobian = kdl.Jacobian(self.chain.getNrOfJoints())
|
||||
result = self.jac_solver.JntToJac(q, jacobian)
|
||||
|
||||
if result != 0:
|
||||
raise RuntimeError("Jacobian calculation failed")
|
||||
|
||||
# Convert to numpy array
|
||||
jac_array = np.zeros((6, self.chain.getNrOfJoints()))
|
||||
for i in range(6):
|
||||
for j in range(self.chain.getNrOfJoints()):
|
||||
jac_array[i, j] = jacobian[i, j]
|
||||
|
||||
return jac_array
|
||||
|
||||
def get_joint_limits(self) -> List[Tuple[float, float]]:
|
||||
"""Get joint limits for all joints in the chain"""
|
||||
return self.joint_limits.copy()
|
||||
|
||||
def validate_joint_configuration(self, joint_positions: List[float]) -> bool:
|
||||
"""Validate if joint configuration is within limits"""
|
||||
if len(joint_positions) != len(self.joint_limits):
|
||||
return False
|
||||
|
||||
for i, (pos, (lower, upper)) in enumerate(zip(joint_positions, self.joint_limits)):
|
||||
if pos < lower or pos > upper:
|
||||
return False
|
||||
|
||||
return True
|
||||
|
||||
def get_num_joints(self) -> int:
|
||||
"""Get number of joints in the kinematic chain"""
|
||||
return self.chain.getNrOfJoints() if self.chain else 0
|
||||
|
||||
def get_joint_names(self) -> List[str]:
|
||||
"""Get KDL chain joint names in order"""
|
||||
return self.joint_names.copy()
|
||||
|
||||
def _rotation_to_quaternion(self, rotation: kdl.Rotation) -> List[float]:
|
||||
"""Convert KDL rotation to quaternion [x, y, z, w]"""
|
||||
# Get quaternion from KDL rotation
|
||||
quat = rotation.GetQuaternion()
|
||||
return [quat[0], quat[1], quat[2], quat[3]] # [x, y, z, w]
|
||||
|
||||
def _quaternion_to_rotation(self, quaternion: List[float]) -> kdl.Rotation:
|
||||
"""Convert quaternion [x, y, z, w] to KDL rotation"""
|
||||
return kdl.Rotation.Quaternion(quaternion[0], quaternion[1], quaternion[2], quaternion[3])
|
||||
|
||||
def _create_transform_frame(self, position: List[float], orientation_rpy: List[float]) -> kdl.Frame:
|
||||
"""Create KDL frame from position and RPY orientation"""
|
||||
rotation = kdl.Rotation.RPY(orientation_rpy[0], orientation_rpy[1], orientation_rpy[2])
|
||||
translation = kdl.Vector(position[0], position[1], position[2])
|
||||
return kdl.Frame(rotation, translation)
|
||||
|
||||
|
||||
def create_kinematics_engine(config_loader) -> KinematicsEngine:
|
||||
"""Create KinematicsEngine from configuration loader"""
|
||||
robot_config = config_loader.get_robot_config()
|
||||
urdf_path = robot_config['model_path']
|
||||
|
||||
# Get robot base pose from config
|
||||
base_position = robot_config.get('base_position', [0.0, 0.0, 0.0])
|
||||
base_orientation = robot_config.get('base_orientation', [0.0, 0.0, 0.0])
|
||||
|
||||
return KinematicsEngine(urdf_path, base_position, base_orientation)
|
||||
Loading…
Reference in New Issue
Block a user