Add Robotis Darwin OP 3 Resources and Tutorial (#148)

* Add Robotis Darwin OP 3 resources.

* Add tutorial for Robotis OP 3.

* Correct issue with target values being hard-coded, rectify by passing target variable. Adjust target location to demonstrate elbow bend.

resources/robotis_op3/generate_chains.py

@@ -0,0 +1,113 @@
+from ikpy import chain
+
+
+###### Left Arm ######
+
+robotis_op3_left_arm_links = ["body_link",
+                              "l_sho_pitch_link",
+                              "l_sho_roll_link",
+                              "l_el_link"]
+
+robotis_op3_left_arm_joints = ["l_sho_pitch",
+                               "l_sho_roll",
+                               "l_el"]
+
+robotis_op3_left_arm_elements = [x for pair in zip(robotis_op3_left_arm_links, robotis_op3_left_arm_joints) for x in pair] + ["l_el_link"]
+
+# Note: 'Links' in IKPY correspond to 'Joints' in URDF terminology. 'Links' in URDF are stripped by IKPY. 
+robotis_op3_left_arm_chain = chain.Chain.from_urdf_file(
+    "urdf/robotis_op3.urdf",
+    base_elements=robotis_op3_left_arm_elements,
+    last_link_vector=[0, 0.10, 0],
+    active_links_mask=[False] + 3 * [True] + [False],
+    symbolic=False,
+    name="robotis_op3_left_arm")
+
+robotis_op3_left_arm_chain.to_json_file(force=True)
+
+
+###### Right Arm ######
+
+robotis_op3_right_arm_links = ["body_link",
+                              "r_sho_pitch_link",
+                              "r_sho_roll_link",
+                              "r_el_link"]
+
+robotis_op3_right_arm_joints = ["r_sho_pitch",
+                               "r_sho_roll",
+                               "r_el"]
+
+robotis_op3_right_arm_elements = [x for pair in zip(robotis_op3_right_arm_links, robotis_op3_right_arm_joints) for x in pair] + ["r_el_link"]
+
+robotis_op3_right_arm_chain = chain.Chain.from_urdf_file(
+    "urdf/robotis_op3.urdf",
+    base_elements=robotis_op3_right_arm_elements,
+    last_link_vector=[0, -0.10, 0],
+    active_links_mask=[False] + 3 * [True] + [False],
+    symbolic=False,
+    name="robotis_op3_right_arm"
+)
+
+robotis_op3_right_arm_chain.to_json_file(force=True)
+
+
+###### Left Leg ######
+
+robotis_op3_left_leg_links = ["body_link",
+                              "l_hip_yaw_link",
+                              "l_hip_roll_link",
+                              "l_hip_pitch_link",
+                              "l_knee_link",
+                              "l_ank_pitch_link",
+                              "l_ank_roll_link"]
+
+robotis_op3_left_leg_joints = ["l_hip_yaw",
+                               "l_hip_roll",
+                               "l_hip_pitch",
+                               "l_knee",
+                               "l_ank_pitch",
+                               "l_ank_roll"]
+
+robotis_op3_left_leg_elements = [x for pair in zip(robotis_op3_left_leg_links, robotis_op3_left_leg_joints) for x in pair] + ["l_ank_roll_link"]
+
+robotis_op3_left_leg_chain = chain.Chain.from_urdf_file(
+    "urdf/robotis_op3.urdf",
+    base_elements=robotis_op3_left_leg_elements,
+    last_link_vector=[0, 0, -0],
+    active_links_mask=[False] + 6 * [True] + [False],
+    symbolic=False,
+    name="robotis_op3_left_leg"
+)
+
+robotis_op3_left_leg_chain.to_json_file(force=True)
+
+
+###### Right Leg ######
+
+robotis_op3_right_leg_links = ["body_link",
+                              "r_hip_yaw_link",
+                              "r_hip_roll_link",
+                              "r_hip_pitch_link",
+                              "r_knee_link",
+                              "r_ank_pitch_link",
+                              "r_ank_roll_link"]
+
+robotis_op3_right_leg_joints = ["r_hip_yaw",
+                               "r_hip_roll",
+                               "r_hip_pitch",
+                               "r_knee",
+                               "r_ank_pitch",
+                               "r_ank_roll"]
+
+robotis_op3_right_leg_elements = [x for pair in zip(robotis_op3_right_leg_links, robotis_op3_right_leg_joints) for x in pair] + ["r_ank_roll_link"]
+
+robotis_op3_right_leg_chain = chain.Chain.from_urdf_file(
+    "urdf/robotis_op3.urdf",
+    base_elements=robotis_op3_right_leg_elements,
+    last_link_vector=[0, 0, 0],
+    active_links_mask=[False] + 6 * [True] + [False],
+    symbolic=False,
+    name="robotis_op3_right_leg"
+)
+
+robotis_op3_right_leg_chain.to_json_file(force=True)

resources/robotis_op3/generate_urdf_tree.py

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+from ikpy.urdf.utils import get_urdf_tree
+
+# Generate URDF Tree PDF
+dot, urdf_tree = get_urdf_tree('robotis_op3.urdf', out_image_path='robotis_op3', root_element='body_link')

resources/robotis_op3/robotis_op3

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+digraph robot {
+	link_body_link [label=body_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_hip_yaw [label=l_hip_yaw color=green fillcolor=lightgrey style=filled]
+	link_body_link -> joint_l_hip_yaw
+	link_l_hip_yaw_link [label=l_hip_yaw_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_hip_yaw -> link_l_hip_yaw_link
+	joint_l_hip_roll [label=l_hip_roll color=green fillcolor=lightgrey style=filled]
+	link_l_hip_yaw_link -> joint_l_hip_roll
+	link_l_hip_roll_link [label=l_hip_roll_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_hip_roll -> link_l_hip_roll_link
+	joint_l_hip_pitch [label=l_hip_pitch color=green fillcolor=lightgrey style=filled]
+	link_l_hip_roll_link -> joint_l_hip_pitch
+	link_l_hip_pitch_link [label=l_hip_pitch_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_hip_pitch -> link_l_hip_pitch_link
+	joint_l_knee [label=l_knee color=green fillcolor=lightgrey style=filled]
+	link_l_hip_pitch_link -> joint_l_knee
+	link_l_knee_link [label=l_knee_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_knee -> link_l_knee_link
+	joint_l_ank_pitch [label=l_ank_pitch color=green fillcolor=lightgrey style=filled]
+	link_l_knee_link -> joint_l_ank_pitch
+	link_l_ank_pitch_link [label=l_ank_pitch_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_ank_pitch -> link_l_ank_pitch_link
+	joint_l_ank_roll [label=l_ank_roll color=green fillcolor=lightgrey style=filled]
+	link_l_ank_pitch_link -> joint_l_ank_roll
+	link_l_ank_roll_link [label=l_ank_roll_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_ank_roll -> link_l_ank_roll_link
+	joint_r_hip_yaw [label=r_hip_yaw color=green fillcolor=lightgrey style=filled]
+	link_body_link -> joint_r_hip_yaw
+	link_r_hip_yaw_link [label=r_hip_yaw_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_hip_yaw -> link_r_hip_yaw_link
+	joint_r_hip_roll [label=r_hip_roll color=green fillcolor=lightgrey style=filled]
+	link_r_hip_yaw_link -> joint_r_hip_roll
+	link_r_hip_roll_link [label=r_hip_roll_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_hip_roll -> link_r_hip_roll_link
+	joint_r_hip_pitch [label=r_hip_pitch color=green fillcolor=lightgrey style=filled]
+	link_r_hip_roll_link -> joint_r_hip_pitch
+	link_r_hip_pitch_link [label=r_hip_pitch_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_hip_pitch -> link_r_hip_pitch_link
+	joint_r_knee [label=r_knee color=green fillcolor=lightgrey style=filled]
+	link_r_hip_pitch_link -> joint_r_knee
+	link_r_knee_link [label=r_knee_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_knee -> link_r_knee_link
+	joint_r_ank_pitch [label=r_ank_pitch color=green fillcolor=lightgrey style=filled]
+	link_r_knee_link -> joint_r_ank_pitch
+	link_r_ank_pitch_link [label=r_ank_pitch_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_ank_pitch -> link_r_ank_pitch_link
+	joint_r_ank_roll [label=r_ank_roll color=green fillcolor=lightgrey style=filled]
+	link_r_ank_pitch_link -> joint_r_ank_roll
+	link_r_ank_roll_link [label=r_ank_roll_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_ank_roll -> link_r_ank_roll_link
+	joint_l_sho_pitch [label=l_sho_pitch color=green fillcolor=lightgrey style=filled]
+	link_body_link -> joint_l_sho_pitch
+	link_l_sho_pitch_link [label=l_sho_pitch_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_sho_pitch -> link_l_sho_pitch_link
+	joint_l_sho_roll [label=l_sho_roll color=green fillcolor=lightgrey style=filled]
+	link_l_sho_pitch_link -> joint_l_sho_roll
+	link_l_sho_roll_link [label=l_sho_roll_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_sho_roll -> link_l_sho_roll_link
+	joint_l_el [label=l_el color=green fillcolor=lightgrey style=filled]
+	link_l_sho_roll_link -> joint_l_el
+	link_l_el_link [label=l_el_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_l_el -> link_l_el_link
+	joint_r_sho_pitch [label=r_sho_pitch color=green fillcolor=lightgrey style=filled]
+	link_body_link -> joint_r_sho_pitch
+	link_r_sho_pitch_link [label=r_sho_pitch_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_sho_pitch -> link_r_sho_pitch_link
+	joint_r_sho_roll [label=r_sho_roll color=green fillcolor=lightgrey style=filled]
+	link_r_sho_pitch_link -> joint_r_sho_roll
+	link_r_sho_roll_link [label=r_sho_roll_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_sho_roll -> link_r_sho_roll_link
+	joint_r_el [label=r_el color=green fillcolor=lightgrey style=filled]
+	link_r_sho_roll_link -> joint_r_el
+	link_r_el_link [label=r_el_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_r_el -> link_r_el_link
+	joint_head_pan [label=head_pan color=green fillcolor=lightgrey style=filled]
+	link_body_link -> joint_head_pan
+	link_head_pan_link [label=head_pan_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_head_pan -> link_head_pan_link
+	joint_head_tilt [label=head_tilt color=green fillcolor=lightgrey style=filled]
+	link_head_pan_link -> joint_head_tilt
+	link_head_tilt_link [label=head_tilt_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_head_tilt -> link_head_tilt_link
+	joint_cam [label=cam color=green fillcolor=lightgrey style=filled]
+	link_head_tilt_link -> joint_cam
+	link_cam_link [label=cam_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_cam -> link_cam_link
+	joint_cam_gazebo [label=cam_gazebo color=green fillcolor=lightgrey style=filled]
+	link_head_tilt_link -> joint_cam_gazebo
+	link_cam_gazebo_link [label=cam_gazebo_link color=blue fillcolor=lightgrey shape=box style=filled]
+	joint_cam_gazebo -> link_cam_gazebo_link
+}