Merge pull request #363 from compas-dev/fix-e-series-ik

Fix UR3e and UR10e DH params

Author: gonzalocasas

CHANGELOG.rst

@@ -16,6 +16,8 @@ Unreleased
 
 **Fixed**
 
+* Fixed DH params for analytical IK solver of UR3e and UR10e.
+
 **Deprecated**
 
 **Removed**

src/compas_fab/backends/kinematics/solvers/offset_wrist_kinematics.py

@@ -4,53 +4,64 @@
 # The following parameters for UR robots are taken from the following website:
 # https://www.universal-robots.com/articles/ur/application-installation/dh-parameters-for-calculations-of-kinematics-and-dynamics/
 
-UR10_PARAMS = {'d1': 0.1273,
-               'a2': -0.612,
-               'a3': -0.5723,
-               'd4':  0.163941,
-               'd5':  0.1157,
-               'd6':  0.0922}
-
-UR10e_PARAMS = {'d1': 0.1807,
-                'a2': -0.6127,
-                'a3': -0.57155,
-                'd4':  0.17415,
-                'd5':  0.11985,
-                'd6':  0.11655}
-
-UR5_PARAMS = {'d1':  0.089159,
-              'a2': -0.42500,
-              'a3': -0.39225,
-              'd4':  0.10915,
-              'd5':  0.09465,
-              'd6':  0.0823}
-
-UR5e_PARAMS = {'d1':  0.1625,
-               'a2': -0.425,
-               'a3': -0.3922,
-               'd4':  0.1333,
-               'd5':  0.0997,
-               'd6':  0.0996}
-
-
-UR3_PARAMS = {'d1':  0.1519,
-              'a2': -0.24365,
-              'a3': -0.21325,
-              'd4':  0.11235,
-              'd5':  0.08535,
-              'd6':  0.0819}
-
-UR3e_PARAMS = {'d1': 0.15185,
-               'a2': -0.24355,
-               'a3': -0.2132,
-               'd4':  0.13105,
-               'd5':  0.08535,
-               'd6':  0.0921}
+UR10_PARAMS = {
+    "d1": 0.1273,
+    "a2": -0.612,
+    "a3": -0.5723,
+    "d4": 0.163941,
+    "d5": 0.1157,
+    "d6": 0.0922,
+}
+
+UR10e_PARAMS = {
+    "d1": 0.1807,
+    "a2": -0.6127,
+    "a3": -0.57155,
+    "d4": 0.17415,
+    "d5": 0.11985,
+    "d6": 0.11655,
+}
+
+UR5_PARAMS = {
+    "d1": 0.089159,
+    "a2": -0.42500,
+    "a3": -0.39225,
+    "d4": 0.10915,
+    "d5": 0.09465,
+    "d6": 0.0823,
+}
+
+UR5e_PARAMS = {
+    "d1": 0.1625,
+    "a2": -0.425,
+    "a3": -0.3922,
+    "d4": 0.1333,
+    "d5": 0.0997,
+    "d6": 0.0996,
+}
+
+
+UR3_PARAMS = {
+    "d1": 0.1519,
+    "a2": -0.24365,
+    "a3": -0.21325,
+    "d4": 0.11235,
+    "d5": 0.08535,
+    "d6": 0.0819,
+}
+
+UR3e_PARAMS = {
+    "d1": 0.15185,
+    "a2": -0.24355,
+    "a3": -0.2132,
+    "d4": 0.13105,
+    "d5": 0.08535,
+    "d6": 0.0921,
+}
 
 
 class OffsetWristKinematics(object):
-    """
-    """
+    """ """
 
     def __init__(self, params):
         self.params = params
@@ -64,41 +75,47 @@ def inverse(self, frame_rcf):
 
 class UR3Kinematics(OffsetWristKinematics):
     """Analytical IK solver for UR3 robots."""
+
     def __init__(self):
-        params = [UR3_PARAMS[k] for k in ['d1', 'a2', 'a3', 'd4', 'd5', 'd6']]
+        params = [UR3_PARAMS[k] for k in ["d1", "a2", "a3", "d4", "d5", "d6"]]
         super(UR3Kinematics, self).__init__(params)
 
 
 class UR3eKinematics(OffsetWristKinematics):
     """Analytical IK solver for UR3 e-Series robots."""
+
     def __init__(self):
-        params = [UR3_PARAMS[k] for k in ['d1', 'a2', 'a3', 'd4', 'd5', 'd6']]
+        params = [UR3e_PARAMS[k] for k in ["d1", "a2", "a3", "d4", "d5", "d6"]]
         super(UR3eKinematics, self).__init__(params)
 
 
 class UR5Kinematics(OffsetWristKinematics):
     """Analytical IK solver for UR5 robots."""
+
     def __init__(self):
-        params = [UR5_PARAMS[k] for k in ['d1', 'a2', 'a3', 'd4', 'd5', 'd6']]
+        params = [UR5_PARAMS[k] for k in ["d1", "a2", "a3", "d4", "d5", "d6"]]
         super(UR5Kinematics, self).__init__(params)
 
 
 class UR5eKinematics(OffsetWristKinematics):
     """Analytical IK solver for UR5 e-Series robots."""
+
     def __init__(self):
-        params = [UR5e_PARAMS[k] for k in ['d1', 'a2', 'a3', 'd4', 'd5', 'd6']]
+        params = [UR5e_PARAMS[k] for k in ["d1", "a2", "a3", "d4", "d5", "d6"]]
         super(UR5eKinematics, self).__init__(params)
 
 
 class UR10Kinematics(OffsetWristKinematics):
     """Analytical IK solver for UR10 e-Series robots."""
+
     def __init__(self):
-        params = [UR10_PARAMS[k] for k in ['d1', 'a2', 'a3', 'd4', 'd5', 'd6']]
+        params = [UR10_PARAMS[k] for k in ["d1", "a2", "a3", "d4", "d5", "d6"]]
         super(UR10Kinematics, self).__init__(params)
 
 
 class UR10eKinematics(OffsetWristKinematics):
     """Analytical IK solver for UR10 e-Series robots."""
+
     def __init__(self):
-        params = [UR10_PARAMS[k] for k in ['d1', 'a2', 'a3', 'd4', 'd5', 'd6']]
+        params = [UR10e_PARAMS[k] for k in ["d1", "a2", "a3", "d4", "d5", "d6"]]
         super(UR10eKinematics, self).__init__(params)