file struktur
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chk
123
pipeline/precheck/check_constraints.py
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123
pipeline/precheck/check_constraints.py
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import json
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import math
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# Load robot.json
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with open(r'../../data/robot/robot.json') as f:
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robot = json.load(f)
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# Extract markers by link
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markers_by_link = {}
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for link_name, link_data in robot['links'].items():
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markers = link_data.get('markers', [])
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if markers:
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markers_by_link[link_name] = markers
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print("=" * 70)
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print("MARKER DISTRIBUTION BY LINK")
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print("=" * 70)
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for link, markers in markers_by_link.items():
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print(f"\n{link}: {len(markers)} markers")
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for m in markers:
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pos = m['position']
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print(f" ID {m['id']:3d}: pos={pos}")
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# Check rigid body constraints: distances within each link
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print("\n" + "=" * 70)
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print("RIGID BODY CONSTRAINT CHECK (Arm1, Ellbow, Arm2)")
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print("=" * 70)
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for link_name in ['Arm1', 'Ellbow', 'Arm2']:
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if link_name not in markers_by_link:
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continue
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markers = markers_by_link[link_name]
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positions = [(m['position'][0], m['position'][1], m['position'][2]) for m in markers]
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print(f"\n{link_name}:")
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if len(positions) > 1:
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for i in range(len(positions)):
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for j in range(i+1, len(positions)):
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dx = positions[i][0] - positions[j][0]
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dy = positions[i][1] - positions[j][1]
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dz = positions[i][2] - positions[j][2]
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dist = math.sqrt(dx*dx + dy*dy + dz*dz)
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print(f" Marker {markers[i]['id']:3d} <-> {markers[j]['id']:3d}: {dist:7.2f} mm")
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else:
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print(f" Only {len(positions)} marker(s)")
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# Check X-distances between links
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print("\n" + "=" * 70)
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print("X-POSITION CONSTRAINT CHECK (Link relationships)")
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print("=" * 70)
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# Get marker positions per link
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link_x_positions = {}
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for link_name in ['Board', 'Base', 'Arm1', 'Ellbow', 'Arm2']:
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if link_name in markers_by_link:
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x_vals = [m['position'][0] for m in markers_by_link[link_name]]
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link_x_positions[link_name] = {
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'min_x': min(x_vals),
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'max_x': max(x_vals),
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'count': len(x_vals)
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}
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print("\nX-position ranges by link (local coords):")
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for link, data in link_x_positions.items():
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print(f" {link:10s}: x in [{data['min_x']:7.2f}, {data['max_x']:7.2f}] mm ({data['count']} markers)")
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# Check X-distance between Arm1 and Ellbow
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print("\nKey constraint analysis:")
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arm1_x = [m['position'][0] for m in markers_by_link['Arm1']]
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ellbow_x = [m['position'][0] for m in markers_by_link['Ellbow']]
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print(f" Arm1 local X: {arm1_x}")
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print(f" Ellbow local X: {ellbow_x}")
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print(f" => BOTH rotate around X-axis, so X-spread within each link is FIXED")
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print(f" => X-distance between links is FIXED in world (different local X values)")
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# Check Arm2 structure
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print("\n" + "=" * 70)
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print("ARM2 KINEMATIC CHECK (sin(a) dependency)")
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print("=" * 70)
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arm2_markers = markers_by_link['Arm2']
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print(f"\nArm2 has {len(arm2_markers)} markers")
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print("Arm2 marker positions (local coords, before 'a' rotation around Y):")
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for m in arm2_markers:
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pos = m['position']
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print(f" ID {m['id']:3d}: x={pos[0]:8.2f}, y={pos[1]:8.2f}, z={pos[2]:8.2f}")
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print("\nWhen Arm2 rotates around Y-axis (variable 'a'):")
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print(" Rotation matrix Ry(a) acts on [x_local, y_local, z_local]:")
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print(" X_world = 90 + x_local * cos(a) - z_local * sin(a)")
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print(" Y_world = y_local (unchanged)")
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print(" Z_world = x_local * sin(a) + z_local * cos(a)")
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print("\n=> X_world DEPENDS on sin(a) and z_local values!")
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# Verify: X differences between Arm2 markers
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arm2_x_vals = [m['position'][0] for m in arm2_markers]
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arm2_z_vals = [m['position'][2] for m in arm2_markers]
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print(f"\nArm2 local X values: {sorted(set(arm2_x_vals))}")
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print(f"Arm2 local Z values: {sorted(set(arm2_z_vals))}")
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if len(set(arm2_z_vals)) > 1:
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print(f"=> Multiple Z values present: X_world will differ by sin(a) contributions")
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print("\n" + "=" * 70)
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print("SUMMARY: WHICH CONSTRAINTS MAKE SENSE?")
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print("=" * 70)
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print("""
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1. RIGID BODY DISTANCES within Arm1/Ellbow/Arm2:
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✓ VALID - Fixed distances between markers on same rigid link
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✓ HELPS with: Preventing deformation, reducing degrees of freedom
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2. X-DISTANCES between links (Arm1, Ellbow, Base):
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✓ VALID - Both rotate around X-axis, so relative X is fixed
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✓ HELPS with: Preventing sliding along links
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3. X-POSITION of Arm2 dependent on sin(a):
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⚠ PARTIALLY VALID - Different markers have different dependencies
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✓ HELPS with: Constraining the a variable from Z-spread observation
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IMPLEMENTATION RECOMMENDATION:
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- Start with constraints 1 & 2 (rigid body + inter-link X)
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- Use constraint 3 as a sanity check on 'a' estimation
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""")
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246
pipeline/precheck/json_to_urdf.py
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246
pipeline/precheck/json_to_urdf.py
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# json_to_urdf.py
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import json
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import math
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import xml.etree.ElementTree as ET
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from pathlib import Path
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from xml.dom import minidom
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# ============================================================
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# CONFIG
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# ============================================================
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ROBOT_JSON = "../../data/robot/robot.json"
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OUTPUT_URDF = "robot.urdf"
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# ============================================================
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# HELPERS
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# ============================================================
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def mm_to_m(v):
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return float(v) / 1000.0
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def vec_mm_to_m(v):
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return [mm_to_m(x) for x in v]
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def deg_to_rad(v):
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return math.radians(float(v))
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def vec_deg_to_rad(v):
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return [deg_to_rad(x) for x in v]
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def xyz_str(v):
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return f"{v[0]:.6f} {v[1]:.6f} {v[2]:.6f}"
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# ============================================================
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# LOAD JSON
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# ============================================================
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with open(ROBOT_JSON, "r", encoding="utf-8") as f:
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robot_json = json.load(f)
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links = robot_json.get("links", {})
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# ============================================================
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# ROOT
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# ============================================================
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robot_name = Path(ROBOT_JSON).stem
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robot = ET.Element("robot")
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robot.set("name", robot_name)
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# ============================================================
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# CREATE LINKS
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# ============================================================
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for link_name, link_info in links.items():
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urdf_link = ET.SubElement(robot, "link")
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urdf_link.set("name", link_name)
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# --------------------------------------------------------
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# VISUALS
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# --------------------------------------------------------
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models = link_info.get("model", [])
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for model in models:
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stl_file = model.get("stlFile")
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if not stl_file:
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continue
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visual = ET.SubElement(urdf_link, "visual")
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origin = ET.SubElement(visual, "origin")
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xyz = vec_mm_to_m(model.get("originOfModel", [0, 0, 0]))
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rpy = vec_deg_to_rad(model.get("rotationOfModelDegree", [0, 0, 0]))
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origin.set("xyz", xyz_str(xyz))
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origin.set("rpy", xyz_str(rpy))
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geometry = ET.SubElement(visual, "geometry")
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mesh = ET.SubElement(geometry, "mesh")
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mesh.set("filename", stl_file)
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mesh.set("scale", "0.001 0.001 0.001")
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# --------------------------------------------------------
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# SIMPLE COLLISION FROM SKELETON
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# --------------------------------------------------------
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skeleton = link_info.get("skeleton")
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if isinstance(skeleton, dict):
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p1 = skeleton.get("from", [0, 0, 0])
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p2 = skeleton.get("to", [0, 0, 0])
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dx = p2[0] - p1[0]
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dy = p2[1] - p1[1]
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dz = p2[2] - p1[2]
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length_mm = math.sqrt(dx * dx + dy * dy + dz * dz)
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length_m = mm_to_m(length_mm)
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radius_mm = skeleton.get("radius", 4)
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radius_m = mm_to_m(radius_mm)
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cx = (p1[0] + p2[0]) * 0.5
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cy = (p1[1] + p2[1]) * 0.5
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cz = (p1[2] + p2[2]) * 0.5
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collision = ET.SubElement(urdf_link, "collision")
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collision_origin = ET.SubElement(collision, "origin")
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collision_origin.set(
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"xyz",
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xyz_str(vec_mm_to_m([cx, cy, cz]))
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)
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# ----------------------------------------------------
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# CYLINDER ORIENTATION
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# URDF cylinder points along Z
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# ----------------------------------------------------
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roll = 0.0
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pitch = 0.0
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yaw = 0.0
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if abs(dx) >= abs(dy) and abs(dx) >= abs(dz):
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pitch = math.radians(90)
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yaw = 0.0
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elif abs(dy) >= abs(dx) and abs(dy) >= abs(dz):
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pitch = math.radians(90)
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yaw = math.radians(90)
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collision_origin.set(
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"rpy",
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xyz_str([roll, pitch, yaw])
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)
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geometry = ET.SubElement(collision, "geometry")
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cylinder = ET.SubElement(geometry, "cylinder")
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cylinder.set("radius", f"{radius_m:.6f}")
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cylinder.set("length", f"{length_m:.6f}")
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# ============================================================
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# CREATE JOINTS
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# ============================================================
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for link_name, link_info in links.items():
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parent_name = link_info.get("parent")
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if parent_name is None:
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continue
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joint_info = link_info.get("jointToParent", {})
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joint_name = joint_info.get("name", f"joint_{parent_name}_{link_name}")
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joint_type = joint_info.get("type", "fixed")
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if joint_type == "linear":
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urdf_joint_type = "prismatic"
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elif joint_type == "revolute":
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urdf_joint_type = "revolute"
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else:
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urdf_joint_type = "fixed"
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joint = ET.SubElement(robot, "joint")
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joint.set("name", joint_name)
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joint.set("type", urdf_joint_type)
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# --------------------------------------------------------
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# PARENT / CHILD
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# --------------------------------------------------------
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parent = ET.SubElement(joint, "parent")
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parent.set("link", parent_name)
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child = ET.SubElement(joint, "child")
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child.set("link", link_name)
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# --------------------------------------------------------
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# ORIGIN
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# --------------------------------------------------------
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origin_xyz = joint_info.get("origin", [0, 0, 0])
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origin_rpy = joint_info.get("rotation", [0, 0, 0])
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origin = ET.SubElement(joint, "origin")
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origin.set(
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"xyz",
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xyz_str(vec_mm_to_m(origin_xyz))
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)
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origin.set(
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"rpy",
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xyz_str(vec_deg_to_rad(origin_rpy))
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)
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# --------------------------------------------------------
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# AXIS
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# --------------------------------------------------------
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axis = joint_info.get("axis", [1, 0, 0])
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axis_tag = ET.SubElement(joint, "axis")
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axis_tag.set("xyz", xyz_str(axis))
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# --------------------------------------------------------
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# DEFAULT LIMITS
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# --------------------------------------------------------
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if urdf_joint_type in ["revolute", "prismatic"]:
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limit = ET.SubElement(joint, "limit")
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if urdf_joint_type == "revolute":
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limit.set("lower", f"{-math.pi:.6f}")
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limit.set("upper", f"{math.pi:.6f}")
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else:
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limit.set("lower", "-1.0")
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limit.set("upper", "1.0")
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limit.set("effort", "100")
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limit.set("velocity", "10")
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# ============================================================
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# PRETTY XML
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# ============================================================
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xml_string = ET.tostring(robot, encoding="utf-8")
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pretty = minidom.parseString(xml_string).toprettyxml(indent=" ")
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with open(OUTPUT_URDF, "w", encoding="utf-8") as f:
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f.write(pretty)
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print("URDF written:", OUTPUT_URDF)
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179
pipeline/precheck/robot.urdf
Normal file
179
pipeline/precheck/robot.urdf
Normal file
@@ -0,0 +1,179 @@
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<?xml version="1.0" ?>
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<robot name="robot">
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<link name="Board">
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<visual>
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Board.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<visual>
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/BoardRail.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.500000 0.000000 0.016000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.004000" length="1.000000"/>
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</geometry>
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</collision>
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</link>
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<link name="Base">
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<visual>
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<origin xyz="-0.030000 0.000000 -0.035000" rpy="0.000000 0.000000 0.000000"/>
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<geometry>
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<mesh filename="surfaces/Base.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.055000 0.108000 0.045000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.004000" length="0.110000"/>
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</geometry>
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</collision>
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</link>
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<link name="Arm1">
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<visual>
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<origin xyz="-0.029000 0.025000 0.028500" rpy="3.141593 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Holm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.250000"/>
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</geometry>
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</collision>
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</link>
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<link name="Ellbow">
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<visual>
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<origin xyz="0.090000 0.000000 0.000000" rpy="0.000000 -1.570796 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Ellebogen.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.045000 0.000000 0.000000" rpy="0.000000 1.570796 0.000000"/>
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<geometry>
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<cylinder radius="0.004000" length="0.090000"/>
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</geometry>
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</collision>
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</link>
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<link name="Arm2">
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<visual>
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<origin xyz="0.000000 -0.250000 0.000000" rpy="3.141593 0.000000 -1.570796"/>
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<geometry>
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<mesh filename="surfaces/Unterarm.stl" scale="0.001 0.001 0.001"/>
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</geometry>
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</visual>
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<collision>
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<origin xyz="0.000000 -0.125000 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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<cylinder radius="0.004000" length="0.250000"/>
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</geometry>
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</collision>
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</link>
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<link name="Hand">
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<collision>
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||||
<origin xyz="0.000000 -0.017500 0.000000" rpy="0.000000 1.570796 1.570796"/>
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<geometry>
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||||
<cylinder radius="0.004000" length="0.035000"/>
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</geometry>
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</collision>
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</link>
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<link name="Palm">
|
||||
<collision>
|
||||
<origin xyz="0.000000 -0.035000 0.000000" rpy="0.000000 1.570796 0.000000"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.007000" length="0.100000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="FingerA">
|
||||
<visual>
|
||||
<origin xyz="0.024000 0.000000 -0.009100" rpy="1.570796 -1.570796 0.000000"/>
|
||||
<geometry>
|
||||
<mesh filename="surfaces/Finger.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.000000 -0.030000 0.000000" rpy="0.000000 1.570796 1.570796"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="0.060000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<link name="FingerB">
|
||||
<visual>
|
||||
<origin xyz="-0.024000 0.000000 0.009100" rpy="1.570796 1.570796 0.000000"/>
|
||||
<geometry>
|
||||
<mesh filename="surfaces/Finger.stl" scale="0.001 0.001 0.001"/>
|
||||
</geometry>
|
||||
</visual>
|
||||
<collision>
|
||||
<origin xyz="0.000000 -0.030000 0.000000" rpy="0.000000 1.570796 1.570796"/>
|
||||
<geometry>
|
||||
<cylinder radius="0.004000" length="0.060000"/>
|
||||
</geometry>
|
||||
</collision>
|
||||
</link>
|
||||
<joint name="Slider" type="prismatic">
|
||||
<parent link="Board"/>
|
||||
<child link="Base"/>
|
||||
<origin xyz="0.000000 0.000000 0.016000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint1" type="revolute">
|
||||
<parent link="Base"/>
|
||||
<child link="Arm1"/>
|
||||
<origin xyz="0.110000 0.108000 0.045000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="-1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint2" type="revolute">
|
||||
<parent link="Arm1"/>
|
||||
<child link="Ellbow"/>
|
||||
<origin xyz="0.000000 -0.250000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="-1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint3" type="revolute">
|
||||
<parent link="Ellbow"/>
|
||||
<child link="Arm2"/>
|
||||
<origin xyz="0.090000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="0.000000 -1.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint4" type="revolute">
|
||||
<parent link="Arm2"/>
|
||||
<child link="Hand"/>
|
||||
<origin xyz="0.000000 -0.250000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Joint3" type="revolute">
|
||||
<parent link="Hand"/>
|
||||
<child link="Palm"/>
|
||||
<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="0.000000 -1.000000 0.000000"/>
|
||||
<limit lower="-3.141593" upper="3.141593" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Slider" type="prismatic">
|
||||
<parent link="Palm"/>
|
||||
<child link="FingerA"/>
|
||||
<origin xyz="0.004000 -0.035000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
<joint name="Slider" type="prismatic">
|
||||
<parent link="Palm"/>
|
||||
<child link="FingerB"/>
|
||||
<origin xyz="-0.004000 -0.035000 0.000000" rpy="0.000000 0.000000 0.000000"/>
|
||||
<axis xyz="-1.000000 0.000000 0.000000"/>
|
||||
<limit lower="-1.0" upper="1.0" effort="100" velocity="10"/>
|
||||
</joint>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user