This yet another robotics toolbox written in MATLAB focuses on basic kinematic simulation of the kinematic structures of a rigid body. It support parsing the kinematic chain from a universal robot description format (URDF) file.
Following is an exampled of a chain structure parsed from Sawyer:
name: 'sawyer'
n_joint: 20
n_rev_joint: 8
joint_names: {1×20 cell}
rev_joint_names: {'right_j0' 'head_pan' 'right_j1' 'right_j2' 'right_j3' 'right_j4' 'right_j5' 'right_j6'}
parent_link_names: {1×20 cell}
child_link_names: {1×20 cell}
joint: [1×20 struct]
n_link: 21
link_names: {1×21 cell}
link: [1×21 struct]
xyz_min: [3×1 double]
xyz_max: [3×1 double]
xyz_len: [3×1 double]
rev_joint_idxs: [8×1 double]
dt: 0.0500
Two important sub-structures, joint and link, look like
>> chain.joint
ans =
1×20 struct array with fields:
name
parent
childs
p
R
q
q_prev
q_diff
type
a
limit
p_offset
R_offset
parent_link
child_link
v
w
and
>> chain.link
ans =
1×21 struct array with fields:
name
joint_idx
p_offset
R_offset
scale
mesh_path
fv
bcube
box
box_scale
It also suppeorts an augmentaed Jacobian methodfor handling multiple IK targets with a straightforward syntax:
% Initial IK
ik = init_ik(chain);
% Add IK Targets
ik = add_ik(ik,'joint_name','RWrj2',...
'p',p_trgt1,'R',R_trgt1,'IK_P',1,'IK_R',1);
ik = add_ik(ik,'joint_name','LWrj2',...
'p',p_trgt2,'R',R_trgt2,'IK_P',1,'IK_R',1);
while true
...
% Run IK in Loop
[ik,chain,q] = onestep_ik(ik,chain,q);
...
end
It supports joint position limit handling by excluding the next possible violating joints. We tried soft-barrier-based methods but this simple heuristics work bettern in practice, at least in our cases. Handling self-collision will soon be implemented.
git clone https://github.com/una-dinosauria/cmu-mocap.git
the CMU mocap DB in a bvh format outside the yart folder.
├── ...
├── project # Project folder
│ ├── yart # folder containing the current YART project
│ ├── cmu-mocap # folder containing CMU mocaps
│ └── ... # etc.
└── ...
- Mobile robotics and path planning methods such as rapidly exploring random trees (RRT) and vector field histogram (VFH).
- Model predictive control (MPC)
- Trajectory optimization
Contact: Sungjoon Choi ([email protected])
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