Armature Actuator ================= **An actuator to manipulate Blender armatures in MORSE.** **Armatures** are the MORSE generic way to simulate kinematic chains made of a combination of revolute joints (hinge) and prismatic joints (slider). This component only allows to *set* an armature configuration. To read the armature pose, you need an :doc:`armature pose sensor <../sensors/armature_pose>`. .. important:: To be valid, special care must be given when creating armatures. If you want to add new one, please carefully read the :doc:`armature creation <../../dev/armature_creation>` documentation. This actuator offers two main ways to control a kinematic chain: either by setting the values of each joint individually (via a continuous datastream or via dedicated services: :py:meth:`translate`, :py:meth:`set_translation`, :py:meth:`rotate`, :py:meth:`set_rotation`) or by placing the end-effector and relying on a inverse kinematic solver (via the services :py:meth:`set_IK_target` and :py:meth:`move_IK_target`). .. note:: When setting the joints with a datastream, the data structure that the armature actuator expects depends on the armature itself. It is a dictionary of pair `(joint name, joint value)`. Joint values are either radians (for revolute joints) or meters (for prismatic joints) To use inverse kinematics, you must first define *IK targets* to control your kinematic chain. You can create them :doc:`manually from Blender <../../dev/armature_creation>` or directly in your `Builder script` (refer to the `Examples` section below for an example). .. note:: :tag:`ros` Armatures can be controlled in ROS through the `JointTrajectoryAction `_ interface. **See also:** :doc:`armature pose sensor <../sensors/armature_pose>` .. cssclass:: properties morse-section Configuration parameters for Armature Actuator ---------------------------------------------- You can set these properties in your scripts with ``.properties(=..., =...)``. - ``DistanceTolerance`` (float, default: ``0.005``) Tolerance in meters when translating a joint - ``AngleTolerance`` (float, default: ``0.01``) Tolerance in radians when rotating a joint - ``RotationSpeed`` (float, default: ``0.8``) Global rotation speed for the armature rotational joints (in rad/s) - ``LinearSpeed`` (float, default: ``0.05``) Global linear speed for the armature prismatic joints (in m/s) - ``IKRotationSpeed`` (float, default: ``0.5``) Default speed of IK target rotation (in rad/s) - ``IKLinearSpeed`` (float, default: ``0.5``) Default speed of IK target motion (in m/s) .. cssclass:: fields morse-section Data fields ----------- No data field documented (see above for possible notes). .. cssclass:: services morse-section Services for Armature Actuator ------------------------------ - ``get_properties()`` (blocking) Returns the properties of a component. - Return value a dictionary of the current component's properties - ``rotate(joint, rotation, speed)`` (non blocking) Rotates a joint at a given speed (in rad/s). **See also:** `Blender documentation on joint rotation `_ - Parameters - ``joint``: name of the armature's joint to rotate - ``rotation``: rotation around the joint axis in radians - ``speed``: (default: value of 'radial_speed' property) rotation speed, in rad/s - ``translate(joint, translation, speed)`` (non blocking) Translates a joint at a given speed (in m/s). - Parameters - ``joint``: name of the armature's joint to translate - ``translation``: the absolute translation, relative to the joint origin, in meters - ``speed``: (default: value of 'linear_speed' property) translation speed, in m/s - ``translate_joints(joint_translations, speed)`` (non blocking) Translates a set of joints at a given speed (in m/s). .. note:: Setting different speeds for each joints is not yet supported (but if you need it, ping morse-dev@laas.fr: it is fairly easy to add). - Parameters - ``joint_translations``: a list of mapping {name of the armature's joint: translation in meters} - ``speed``: (default: value of 'linear_speed' property) rotation speed for all joints, in m/s - ``move_IK_target(name, translation, rotation, relative, linear_speed, radial_speed)`` (non blocking) Moves an IK (inverse kinematic) target at a given speed (in m/s for translation, rad/s for rotation). Note that moving an IK target conflicts somewhat with the original purpose of the inverse kinematic solver, and overall continuity is not guaranteed (the IK solver may find a solution for a given target position that 'jumps' relative to the solution for the previous target position). **See also:** `place_IK_target` to set instantaneously the IK target pose. - Parameters - ``name``: name of the IK target (as returned by :py:meth:`list_IK_targets`) - ``translation``: a [x,y,z] translation vector, in the scene frame, in meters. - ``rotation``: a [rx,ry,rz] rotation, in the scene frame (ie, X,Y,Z rotation axis are the scene axis). Angles in radians. - ``relative``: if True (default), translation and rotation are relative to the current target pose. - ``linear_speed``: (default: value of the `ik_target_linear_speed` property) translation speed (in m/s). - ``radial_speed``: (default: value of the `ik_target_radial_speed` property) rotation speed (in rad/s). - ``get_joints()`` (blocking) Returns the names of all the joints in this armature, ordered from the root to the tip. - ``trajectory(trajectory)`` (non blocking) Executes a joint trajectory to the armature. The `trajectory` parameter should have the following structure: .. code-block:: python trajectory = { 'starttime': , 'points': [ {'positions': [...], 'velocities': [...], 'accelerations' [...], 'time_from_start': } {...}, ... ] } .. warning:: Currently, both `velocities` and `accelerations` are ignored. The trajectory execution starts after `starttime` timestamp passed (if omitted, the trajectory execution starts right away). `points` is the list of trajectory waypoints. It is assumed that the values in the waypoints are ordered the same way as in the set of joint of the armature (ie, from the root to the tip of the armature. Use the service ``get_joints()`` to retrieve the list of joints in the correct order.) `velocities` and `accelerations` are optional. The component attempts to achieve each waypoint at the time obtained by adding that waypoint's `time_from_start` value to `starttime`. - Parameters - ``trajectory``: the trajectory to execute, as describe above. - ``list_IK_targets()`` (blocking) (no documentation yet) - ``set_property(prop_name, prop_val)`` (blocking) Modify one property on a component - Parameters - ``prop_name``: the name of the property to modify (as shown the documentation) - ``prop_val``: the new value of the property. Note that there is no checking about the type of the value so be careful - Return value nothing - ``set_translations(translations)`` (blocking) Sets in one call the translations of the prismatic joints in this armature. Has the same effect as applying `set_translation` on each of the joints independantly. Translations must be ordered from the root to the tip of the armature. Use the service ``get_joints()`` to retrieve the list of joints in the correct order. If more translations are provided than the number of joints, the remaining ones are discarded. If less translations are provided, the maximum are applied. .. important:: If a revolute joint is encountered while applying the translations, an exception is thrown, and **no** translation is applied. **See also:** `set_translation` - Parameters - ``translations``: a set of absolute translations, in meters - ``get_dofs()`` (blocking) Returns a dictionary with keys the channels of the armature and as values the rotation axes of the joint. Rotation axes are represented as a list of boolean. For instance, ``[True, False, True]`` means that the `x` and `z` axes of the joint are free to rotate (or translate, depending on the type of the joint). - ``set_rotations(rotations)`` (blocking) Sets in one call the rotations of the revolute joints in this armature. Has the same effect as applying `set_rotation` on each of the joints independantly. Rotations must be ordered from the root to the tip of the armature. Use the service ``get_joints()`` to retrieve the list of joints in the correct order. If more rotations are provided than the number of joints, the remaining ones are discarded. If less rotations are provided, the maximum are applied. .. important:: If a prismatic joint is encountered while applying the rotation, an exception is thrown, and **no** rotation is applied. **See also:** `set_rotation` - Parameters - ``rotations``: a set of absolute rotations, in radians - ``rotate_joints(joint_rotations, speed)`` (non blocking) Rotates a set of joints at a given speed (in rad/s). **See also:** `Blender documentation on joint rotation `_ .. note:: Setting different speeds for each joints is not yet supported (but if you need it, ping morse-dev@laas.fr: it is fairly easy to add). - Parameters - ``joint_rotations``: a list of mapping {name of the armature's joint: rotation in radian} - ``speed``: (default: value of 'radial_speed' property) rotation speed for all joints, in rad/s - ``set_rotation(joint, rotation)`` (blocking) Rotates instantaneously the given (revolute) joint by the given rotation. Joint speed limit is not taken into account. If the joint does not exist or is not a revolute joint (hinge), throws a MorseServiceFailed exception. The rotation is always clamped to the joint limit. - Parameters - ``joint``: name of the joint to rotate - ``rotation``: absolute rotation from the joint origin along the joint rotation axis, in radians - ``set_translation(joint, translation)`` (blocking) Translates instantaneously the given (prismatic) joint by the given translation. Joint speed limit is not taken into account. **See also:** `Blender documentation on joint location `_ If the joint does not exist or is not a prismatic joint (slider), throws a MorseServiceFailed exception. The translation is always clamped to the joint limit. - Parameters - ``joint``: name of the joint to move - ``translation``: absolute translation from the joint origin in the joint sliding axis, in meters - ``get_configurations()`` (blocking) Returns the configurations of a component (parsed from the properties). - Return value a dictionary of the current component's configurations - ``place_IK_target(name, translation, rotation, relative)`` (blocking) Places instantaneously a IK (inverse kinematic) target to a given position and orientation. **See also:** `move_IK_target` to move the IK target over time. - Parameters - ``name``: name of the IK target (as returned by :py:meth:`list_IK_targets`) - ``translation``: a [x,y,z] translation vector, in the scene frame, in meters. - ``rotation``: a [rx,ry,rz] rotation, in the scene frame (ie, X,Y,Z rotation axis are the scene axis). Angles in radians. - ``relative``: if True (default), translation and rotation are relative to the current target pose. - ``get_IK_limits()`` (blocking) Returns the IK limits for the given joint. - For revolute joints, returns a pair `(ik_min,ik_max)`, in radians. - For prismatic joint, returns a pair `(0.0, max translation)`, in meters. .. cssclass:: examples morse-section Examples -------- The following examples show how to use this component in a *Builder* script: .. code-block:: python from morse.builder import * robot = ATRV() # imports an armature, # either from a Blender file... armature = Armature(model_name = "") # ...or by providing the name of an existing armature: # armature = Armature(armature_name = "") # (note that you can combine both options to select an armature in a # Blender file) # if you want to use inverse kinematics, you can create 'IK targets' # here as well: armature.create_ik_targets(["", ...]) # place your armature at the correct location armature.translate(, , ) armature.rotate(, , ) # define one or several communication interfaces, like 'socket' or 'ros' # With ROS, this actuator exposes a JointTrajectoryAction interface. armature.add_interface() robot.append(armature) env = Environment('empty') .. cssclass:: files morse-section Other sources of examples +++++++++++++++++++++++++ - `Source code <../../_modules/morse/actuators/armature.html>`_ - `Unit-test <../../_modules/base/armature_testing.html>`_ *(This page has been auto-generated from MORSE module morse.actuators.armature.)*