Robot Description Tutorial

Objectives

Through this tutorial, you will learn:

1. How to load a robot description from file

2. How to query useful data from the robot description

What is a Robot Description?

A “robot description” is essentially everything needed to describe the robot, which includes (but is not limited to):

• The kinematics (links, joints, frames, etc.)

• The definition of configuration space (c-space) and auxiliary c-space

• C-space position, velocity, acceleration, and jerk limits

• Default c-space position

• A list of tool frames

• Collision spheres for both self- and world-collision

Importantly, the robot description does NOT include a description of the environment (e.g. obstacles).

Loading a Robot Description From File

Currently, the cuMotion library does not support building robots programmatically. All robot descriptions are expected to be defined by two files:

1. URDF

2. XRDF

Assuming these two files are correctly formatted and contain all the required information, the robot description can be loaded using:

C++

std::ifstream xrdf_fstream(xrdf_file);
std::stringstream xrdf_ss;
xrdf_ss << xrdf_fstream.rdbuf();

PYTHON

robot_description = cumotion.load_robot_from_file(xrdf_path, urdf_path)

Alternatively, the robot description can be loaded from a string containing the contents of those files:

C++

std::ifstream xrdf_fstream(xrdf_file);
std::stringstream xrdf_ss;
xrdf_ss << xrdf_fstream.rdbuf();
const std::string xrdf_contents = xrdf_ss.str();

std::ifstream urdf_fstream(urdf_file);
std::stringstream urdf_ss;
urdf_ss << urdf_fstream.rdbuf();
const std::string urdf_contents = urdf_ss.str();

std::unique_ptr<cumotion::RobotDescription> robot_description_from_memory =
    cumotion::LoadRobotFromMemory(xrdf_contents, urdf_contents);

PYTHON

with open(xrdf_path) as file:
    xrdf_contents = file.read()
with open(urdf_path) as file:
    urdf_contents = file.read()
robot_description_from_memory = cumotion.load_robot_from_memory(xrdf_contents, urdf_contents)

Querying Robot Metadata

The robot description allows us to retrieve some useful metadata about the robot. We can get the number of c-space coordinates:

C++

const int num_coords = robot_description->numCSpaceCoords();

PYTHON

num_coords = robot_description.num_cspace_coords()

The name of each c-space coordinate:

C++

std::vector<std::string> coord_names(num_coords);
for (int coord_index = 0; coord_index < num_coords; ++coord_index) {
coord_names[coord_index] = robot_description->cSpaceCoordName(coord_index);
}
for (int coord_index = 0; coord_index < num_coords; ++coord_index) {
std::cout << "Coordinate " << coord_index << " name: " << coord_names[coord_index] << "\n";
}

PYTHON

coord_names = [robot_description.cspace_coord_name(coord_index) for coord_index in
               range(num_coords)]
for (index, name) in enumerate(coord_names):
    print("Coordinate {} name: {}".format(index, name))

Output:

Coordinate 0 name: panda_joint1
Coordinate 1 name: panda_joint2
Coordinate 2 name: panda_joint3
Coordinate 3 name: panda_joint4
Coordinate 4 name: panda_joint5
Coordinate 5 name: panda_joint6
Coordinate 6 name: panda_joint7

The default c-space position:

C++

Eigen::VectorXd default_cspace_position = robot_description->defaultCSpaceConfiguration();
std::cout << "Default position: [" << default_cspace_position.transpose() << "]\n";

PYTHON

default_cspace_position = robot_description.default_cspace_configuration()
print("Default position: ", default_cspace_position)

Output:

Default position: [    0  -1.3     0 -2.87     0     2  0.75]

And the tool frame names:

C++

std::vector<std::string> tool_frame_names = robot_description->toolFrameNames();
std::cout << "Tool frame names: [ ";
for (const auto &tool_name : tool_frame_names) {
std::cout << tool_name << " ";
}
std::cout << "]\n";

PYTHON

tool_frame_names = robot_description.tool_frame_names()
print("Tool frame names: ", tool_frame_names)

Output:

Tool frame names: [ panda_leftfingertip ]

Create the Robot Kinematics

The kinematics of the robot describe the physical structure of the robot, and provide the interface for querying the position and orientation of frames at each link, as a function of the c-space coordinates (i.e. forward kinematics).

Creating the kinematics for the robot is done through the robot description:

C++

std::unique_ptr<cumotion::Kinematics> kinematics = robot_description->kinematics();

PYTHON

kinematics: cumotion.Kinematics = robot_description.kinematics()

For more details on the kinematics, see the Kinematics Tutorial.

This function creates a new instance of the robot kinematics each time it is called. It is highly recommended that the user call this function once and save the result.

Note

When using C++, the kinematics.h header must be included prior to calling cumotion::RobotDescription::kinematics().