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cdsousa
Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True)
Hi,
I am trying to run the example code step by step in the Python Shell. When I put rbt = sympybotics.RobotDynCode(rbtdef, verbose=True), I got the following errors. Please give me any advice to fix this issue.
generating geometric model
generating kinematic model
generating inverse dynamics code
Traceback (most recent call last):
File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\SymPyBotics\example\kuka_dynamics.py", line 16, in
File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\symcode\subexprs.py", line 170, in collect
out_exprs = list(map(self._parse, prep_exprs))
File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\symcode\subexprs.py", line 142, in _parse
if sympy.iterables.iterable(expr):
AttributeError: module 'sympy' has no attribute 'iterables'
This seems to be due to change in new SymPy versions. Unfortunately, this project is unmaintained, although I'll accept PRs to fix issues.
rbtdef.dynparms() [L_1xx, L_1xy, L_1xz, L_1yy, L_1yz, L_1zz, l_1x, l_1y, l_1z, m_1, fv_1, fc_1, L_2xx, L_2xy, L_2xz, L_2yy, L_2yz, L_2zz, l_2x, l_2y, l_2z, m_2, fv_2, fc_2]
Thank you for your response. I got one quick question. Can you tell me what the fv_1 and fc_1 represent? Thank you in advance.
Thank you for your response. I do not need to put the location of the center of mass for each link?
No, it is not known in advance and cannot be "directly" estimated. It is indirectly estimated as l_1 / m_1
On Thu, Jan 30, 2020 at 10:29 PM ycho80 [email protected] wrote:
Thank you for your response. I do not need to put the location of the center of mass for each link?
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Thank you. Last question. I_1x, I_1y and I_1z represent the length of the first link in terms of x, y, and z ?
They are the x,y,z components of the "first moment of inertia" vector. Such "first moment of inertia" vector is equal to the center-of-mass position (x,y,z) multiplied by the value of the mass.
On Thu, Jan 30, 2020 at 11:02 PM ycho80 [email protected] wrote:
Thank you. Last question. I_1x, I_1y and I_1z represent the length of the first link in terms of x, y, and z ?
— You are receiving this because you commented. Reply to this email directly, view it on GitHub https://github.com/cdsousa/SymPyBotics/issues/26?email_source=notifications&email_token=AACRNTZTPCYDQDQYMTO6O23RANMAZA5CNFSM4KM5Z622YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEKM4JVQ#issuecomment-580502742, or unsubscribe https://github.com/notifications/unsubscribe-auth/AACRNT3TVMK2HEWPYDV7YOLRANMAZANCNFSM4KM5Z62Q .
Then, I don't need to put the length of the link as a parameter? The length of the link will be indirectly estimated based on the I_1x, I_1y, and I_1z?
Now, I totally understand it. I really appreciate your favor. You can ignore the previous question. Thanks a lot.
Hi,
I am trying to run the example code step by step in the Python Shell. When I put rbt = sympybotics.RobotDynCode(rbtdef, verbose=True), I got the following errors. Please give me any advice to fix this issue.
generating geometric model generating kinematic model generating inverse dynamics code Traceback (most recent call last): File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\SymPyBotics\example\kuka_dynamics.py", line 16, in rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\robotmodel.py", line 58, in init self.dyn.gen_invdyn(invdyn_se.collect) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\dynamics.py", line 22, in gen_invdyn self.invdyn = rne(self.rbtdef, self.geom, ifunc) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\rne.py", line 29, in rne fw_results = rne_forward(rbtdef, geom, ifunc) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\rne.py", line 15, in rne_forward return rne_forward(rbtdef, geom, ifunc) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\rne_park.py", line 50, in rne_park_forward V[i] = ifunc(Adj(geom.Tdh_inv[i], V[i - 1])) + File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\symcode\subexprs.py", line 170, in collect out_exprs = list(map(self._parse, prep_exprs)) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\symcode\subexprs.py", line 142, in _parse if sympy.iterables.iterable(expr): AttributeError: module 'sympy' has no attribute 'iterables'
Have you solved this problem？
for anyone facing this problem, I had to install an older version of sympy
pip install sympy==0.7.6.1
good enough for code generation
Hi,
I am trying to run the example code step by step in the Python Shell. When I put rbt = sympybotics.RobotDynCode(rbtdef, verbose=True), I got the following errors. Please give me any advice to fix this issue.
generating geometric model generating kinematic model generating inverse dynamics code Traceback (most recent call last): File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\SymPyBotics\example\kuka_dynamics.py", line 16, in rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\robotmodel.py", line 58, in init self.dyn.gen_invdyn(invdyn_se.collect) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\dynamics.py", line 22, in gen_invdyn self.invdyn = rne(self.rbtdef, self.geom, ifunc) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\rne.py", line 29, in rne fw_results = rne_forward(rbtdef, geom, ifunc) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\rne.py", line 15, in rne_forward return rne_forward(rbtdef, geom, ifunc) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\dynamics\rne_park.py", line 50, in rne_park_forward V[i] = ifunc(Adj(geom.Tdh_inv[i], V[i - 1])) + File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\symcode\subexprs.py", line 170, in collect out_exprs = list(map(self._parse, prep_exprs)) File "C:\Users\ymcho\AppData\Local\Programs\Python\Python37\lib\site-packages\sympybotics\symcode\subexprs.py", line 142, in _parse if sympy.iterables.iterable(expr): AttributeError: module 'sympy' has no attribute 'iterables' I found a method, when I annotation these codes, the problem is solved. in subexprs.py ...
if sympy.iterables.iterable(expr):
return expr
...
