Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) #26

ycho80 · 2020-01-29T03:01:58Z

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'

cdsousa · 2020-01-29T09:21:16Z

This seems to be due to change in new SymPy versions. Unfortunately, this project is unmaintained, although I'll accept PRs to fix issues.

ycho80 · 2020-01-30T19:57:27Z

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.

cdsousa · 2020-01-30T20:52:56Z

Viscouse friction, and Coulomb/constant friction

ycho80 · 2020-01-30T22:29:14Z

Thank you for your response.
I do not need to put the location of the center of mass for each link?

cdsousa · 2020-01-30T22:31:45Z

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 ***@***.***> wrote: Thank you for your response. I do not need to put the location of the center of mass for each link? — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#26?email_source=notifications&email_token=AACRNT5GWEWXFR2VJHR3CRTRANIDXA5CNFSM4KM5Z622YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEKMZYNA#issuecomment-580492340>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AACRNT5EEOAXWUU7LQ4M5CTRANIDXANCNFSM4KM5Z62Q> .

ycho80 · 2020-01-30T23:02:35Z

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 ?

cdsousa · 2020-01-30T23:27:51Z

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 ***@***.***> 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 <#26?email_source=notifications&email_token=AACRNTZTPCYDQDQYMTO6O23RANMAZA5CNFSM4KM5Z622YY3PNVWWK3TUL52HS4DFVREXG43VMVBW63LNMVXHJKTDN5WW2ZLOORPWSZGOEKM4JVQ#issuecomment-580502742>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AACRNT3TVMK2HEWPYDV7YOLRANMAZANCNFSM4KM5Z62Q> .

ycho80 · 2020-01-31T00:08:02Z

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?

ycho80 · 2020-01-31T00:20:10Z

Now, I totally understand it.
I really appreciate your favor.
You can ignore the previous question.
Thanks a lot.

QNjeason · 2020-07-12T11:48:02Z

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？

guri-dominic · 2020-07-27T17:43:10Z

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

ohmyjesus · 2020-08-10T13:12:32Z

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

...

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Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) #26

Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) #26

ycho80 commented Jan 29, 2020

cdsousa commented Jan 29, 2020

ycho80 commented Jan 30, 2020

cdsousa commented Jan 30, 2020

ycho80 commented Jan 30, 2020

cdsousa commented Jan 30, 2020 via email

ycho80 commented Jan 30, 2020

cdsousa commented Jan 30, 2020 via email

ycho80 commented Jan 31, 2020

ycho80 commented Jan 31, 2020

QNjeason commented Jul 12, 2020

guri-dominic commented Jul 27, 2020

ohmyjesus commented Aug 10, 2020

Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) #26

Error with rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) #26

Comments

ycho80 commented Jan 29, 2020

cdsousa commented Jan 29, 2020

ycho80 commented Jan 30, 2020

cdsousa commented Jan 30, 2020

ycho80 commented Jan 30, 2020

cdsousa commented Jan 30, 2020 via email

ycho80 commented Jan 30, 2020

cdsousa commented Jan 30, 2020 via email

ycho80 commented Jan 31, 2020

ycho80 commented Jan 31, 2020

QNjeason commented Jul 12, 2020

guri-dominic commented Jul 27, 2020

ohmyjesus commented Aug 10, 2020

if sympy.iterables.iterable(expr):

return expr