Merge pull request #33 from maxspahn/ft-slimmer-fk

.github/workflows/pylint.yml

@@ -0,0 +1,27 @@
+name: Pylint
+
+on:
+  pull_request:
+    branches:
+      - develop
+      - master
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.8"]
+    steps:
+    - uses: actions/checkout@v2
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v2
+      with:
+        python-version: ${{ matrix.python-version }}
+    - name: Install dependencies
+      run: |
+        python -m pip install --upgrade pip
+        pip install pylint
+    - name: Analysing the code with pylint
+      run: |
+        pylint --fail-under=8 forwardkinematics/*

.pylintrc

@@ -157,12 +157,6 @@ disable=abstract-method,
 # mypackage.mymodule.MyReporterClass.
 output-format=text
 
-# Put messages in a separate file for each module / package specified on the
-# command line instead of printing them on stdout. Reports (if any) will be
-# written in a file name "pylint_global.[txt|html]". This option is deprecated
-# and it will be removed in Pylint 2.0.
-files-output=no
-
 # Tells whether to display a full report or only the messages
 reports=no
 
@@ -281,12 +275,6 @@ ignore-long-lines=(?x)(
 # else.
 single-line-if-stmt=yes
 
-# List of optional constructs for which whitespace checking is disabled. `dict-
-# separator` is used to allow tabulation in dicts, etc.: {1  : 1,\n222: 2}.
-# `trailing-comma` allows a space between comma and closing bracket: (a, ).
-# `empty-line` allows space-only lines.
-no-space-check=
-
 # Maximum number of lines in a module
 max-module-lines=99999
 

examples/generic_using_mount.py

@@ -1,27 +1,32 @@
+import os
 import casadi as ca
 import numpy as np
-from forwardkinematics.urdfFks.generic_urdf_fk import GenericURDFFk
+from forwardkinematics import GenericURDFFk
+
+absolute_path = os.path.dirname(os.path.abspath(__file__))
+URDF_FILE=absolute_path + "/assets/albert.urdf"
 
 
 def main():
-    with open("albert.urdf", "r") as file:
+    with open(URDF_FILE, "r") as file:
         urdf = file.read()
-    fk = GenericURDFFk(urdf, rootLink='panda_link3', end_link='panda_leftfinger')
+    fk = GenericURDFFk(urdf, root_link='panda_link3', end_links='panda_leftfinger')
     T_0 = np.identity(4)
     T_0[0:3, 3] = np.array([0.0, 0.0, 0.0])
     fk.set_mount_transformation(T_0)
     n = fk.n()
     q_ca = ca.SX.sym('q', n)
     q_np = np.zeros(n)
-    fk_panda_link = fk.fk(
-        q_ca, "panda_link3", "panda_leftfinger", positionOnly=True
+    fk_panda_link = fk.casadi(
+        q_ca, "panda_link3", "panda_leftfinger", position_only=True
     )
-    fk_panda_link_np = fk.fk(
-        q_np, "panda_link3", "panda_leftfinger", positionOnly=True
+    fk_panda_link_np = fk.numpy(
+        q_np, "panda_link3", "panda_leftfinger", position_only=True
     )
-    print(f"casadi fk: {fk_panda_link}")
-    print(f"numpy fk: {fk_panda_link_np}")
+    return fk_panda_link, fk_panda_link_np
 
 
 if __name__ == "__main__":
-    main()
+    fk_casadi, fk_numpy = main()
+    print(fk_numpy)
+    print(fk_casadi)

examples/holonomic_base.py

@@ -0,0 +1,28 @@
+import os
+import casadi as ca
+import numpy as np
+from forwardkinematics import GenericURDFFk
+
+absolute_path = os.path.dirname(os.path.abspath(__file__))
+URDF_FILE=absolute_path + "/assets/pointRobot.urdf"
+
+
+def main():
+    with open(URDF_FILE, "r") as file:
+        urdf = file.read()
+    fk_point_robot = GenericURDFFk(
+        urdf,
+        root_link = 'origin',
+        end_links="base_link",
+    )
+    dof = fk_point_robot.n()
+    q_np = np.random.random(dof)
+    q_ca = ca.SX.sym("q", dof)
+    fk_casadi = fk_point_robot.casadi(q_ca, 'base_link', position_only=True)
+    fk_numpy = fk_point_robot.numpy(q_np, 'base_link', position_only=True)
+    return fk_casadi, fk_numpy
+
+if __name__ == "__main__":
+    fk_casadi, fk_numpy = main()
+    print(fk_numpy)
+    print(fk_casadi)

examples/mobile_manipulator.py

@@ -0,0 +1,30 @@
+import os
+import casadi as ca
+import numpy as np
+from forwardkinematics import GenericURDFFk
+
+absolute_path = os.path.dirname(os.path.abspath(__file__))
+URDF_FILE=absolute_path + "/assets/albert.urdf"
+
+
+def main():
+    with open(URDF_FILE, "r") as file:
+        urdf = file.read()
+    fk_generic = GenericURDFFk(
+        urdf,
+        root_link = 'base_link',
+        end_links="panda_ee",
+        base_type='diffdrive',
+    )
+    dof = fk_generic.n()
+    q_ca = ca.SX.sym("q", dof)
+    q_np = np.zeros(dof)
+    fk_casadi = fk_generic.casadi(q_ca, 'panda_rightfinger', position_only=True)
+    fk_numpy = fk_generic.numpy(q_np, 'panda_rightfinger', position_only=True)
+    return fk_casadi, fk_numpy
+
+
+if __name__ == "__main__":
+    fk_casadi, fk_numpy = main()
+    print(fk_casadi)
+    print(fk_numpy)

examples/nonholonomic_base.py

@@ -0,0 +1,29 @@
+import os
+import casadi as ca
+import numpy as np
+from forwardkinematics import GenericURDFFk
+
+absolute_path = os.path.dirname(os.path.abspath(__file__))
+URDF_FILE=absolute_path + "/assets/boxer.urdf"
+
+
+def main():
+    with open(URDF_FILE, "r") as file:
+        urdf = file.read()
+    fk_generic = GenericURDFFk(
+        urdf,
+        root_link = 'base_link',
+        end_links="ee_link",
+        base_type='diffdrive',
+    )
+    dof = fk_generic.n()
+    q_ca = ca.SX.sym("q", dof)
+    q_np = np.random.random(dof)
+    fk_casadi = fk_generic.casadi(q_ca, parent_link='base_link', child_link='ee_link', position_only=True)
+    fk_numpy = fk_generic.numpy(q_np, parent_link='base_link', child_link='ee_link', position_only=True)
+    return fk_casadi, fk_numpy
+
+if __name__ == "__main__":
+    fk_casadi, fk_numpy = main()
+    print(fk_numpy)
+    print(fk_casadi)

examples/planar_arm.py

@@ -0,0 +1,18 @@
+import numpy as np
+import casadi as ca
+from forwardkinematics.planarFks.planarArmFk import PlanarArmFk
+
+
+def main():
+    fk = PlanarArmFk(10)
+    q_ca = ca.SX.sym("q", fk.n())
+    q_np = np.random.random(fk.n())
+    fk_casadi = fk.casadi(q_ca, 5, parent_link=0, position_only=True)
+    fk_numpy = fk.numpy(q_np, 5, parent_link=4, position_only=True)
+    return fk_casadi, fk_numpy
+
+if __name__ == "__main__":
+    fk_casadi, fk_numpy = main()
+    print(fk_casadi)
+    print(fk_numpy)
+

examples/robotic_arm.py

@@ -0,0 +1,28 @@
+import os
+import casadi as ca
+import numpy as np
+from forwardkinematics import GenericURDFFk
+
+absolute_path = os.path.dirname(os.path.abspath(__file__))
+URDF_FILE=absolute_path + "/assets/panda.urdf"
+
+def main():
+    with open(URDF_FILE, "r") as file:
+        urdf = file.read()
+    fk_panda = GenericURDFFk(
+        urdf,
+        root_link = 'panda_link0',
+        end_links="panda_leftfinger",
+    )
+    dof = fk_panda.n()
+    q_np = np.random.random(dof)
+    q_ca = ca.SX.sym("q", dof)
+    fk_casadi = fk_panda.casadi(q_ca, 'panda_rightfinger', position_only=False)
+    fk_numpy = fk_panda.numpy(q_np, 'panda_leftfinger', position_only=False)
+    return fk_casadi, fk_numpy
+
+
+if __name__ == "__main__":
+    fk_casadi, fk_numpy = main()
+    print(fk_numpy)
+    print(fk_casadi)