moro 0.2.0__tar.gz → 0.3.0.dev0__tar.gz

moro-0.3.0.dev0/LICENSE.txt

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Numython R&D
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

moro-0.3.0.dev0/PKG-INFO

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+Metadata-Version: 2.2
+Name: moro
+Version: 0.3.0.dev0
+Summary: Python library for kinematic and dynamic modeling of robots
+Home-page: https://github.com/JorgeDeLosSantos/moro
+Author: Pedro Jorge De Los Santos
+Author-email: delossantosmfq@gmail.com
+Keywords: Robotics,Kinematics,Dynamics
+Classifier: Development Status :: 2 - Pre-Alpha
+Classifier: Intended Audience :: Education
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python
+Classifier: Programming Language :: Python :: 3.6
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Description-Content-Type: text/markdown
+License-File: LICENSE.txt
+Requires-Dist: sympy
+Requires-Dist: matplotlib
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: keywords
+Dynamic: requires-dist
+Dynamic: summary
+
+# moro
+
+A Python library for kinematic and dynamic (symbolic) modeling of robots.
+
+# Installation
+
+Using `pip` to install latest version in PyPI:
+
+```
+pip install moro
+```
+
+Or from this repo:
+
+```
+pip install git+https://github.com/JorgeDeLosSantos/moro.git
+```
+
+# Documentation and examples
+
+Documentation is available in [https://jorgedelossantos.github.io/moro/](https://jorgedelossantos.github.io/moro/). 
+
+Also, Jupyter Notebooks are available in: [https://nbviewer.jupyter.org/github/jorgedelossantos/moro/tree/master/examples/nbooks/](https://nbviewer.jupyter.org/github/jorgedelossantos/moro/tree/master/examples/nbooks/)
+
+
+# Bugs
+
+Please report any bugs that you find, use the issue tracker: [https://github.com/jorgedelossantos/moro/issues](https://github.com/jorgedelossantos/moro/issues)
+
+# Roadmap
+
+Roadmap of moro: https://github.com/jorgedelossantos/moro/wiki/Roadmap

moro-0.3.0.dev0/README.md

@@ -0,0 +1,32 @@
+# moro
+
+A Python library for kinematic and dynamic (symbolic) modeling of robots.
+
+# Installation
+
+Using `pip` to install latest version in PyPI:
+
+```
+pip install moro
+```
+
+Or from this repo:
+
+```
+pip install git+https://github.com/JorgeDeLosSantos/moro.git
+```
+
+# Documentation and examples
+
+Documentation is available in [https://jorgedelossantos.github.io/moro/](https://jorgedelossantos.github.io/moro/). 
+
+Also, Jupyter Notebooks are available in: [https://nbviewer.jupyter.org/github/jorgedelossantos/moro/tree/master/examples/nbooks/](https://nbviewer.jupyter.org/github/jorgedelossantos/moro/tree/master/examples/nbooks/)
+
+
+# Bugs
+
+Please report any bugs that you find, use the issue tracker: [https://github.com/jorgedelossantos/moro/issues](https://github.com/jorgedelossantos/moro/issues)
+
+# Roadmap
+
+Roadmap of moro: https://github.com/jorgedelossantos/moro/wiki/Roadmap

{moro-0.2.0 → moro-0.3.0.dev0}/moro/__init__.py

@@ -1,5 +1,5 @@
 """
-Numython R&D, (c) 2020
+Numython R&D, (c) 2024
 Moro is a Python library for kinematic and dynamic modeling of serial robots. 
 This library has been designed, mainly, for academic and research purposes, 
 using SymPy as base library. 
@@ -14,10 +14,9 @@ from .plotting import *
 from .transformations import * 
 from .util import *
 
-
 # import sympy functions
-from sympy import solve, symbols, init_printing, pi, simplify, nsimplify
-from sympy import sin,cos,tan
+from sympy import solve, symbols, pi, simplify, nsimplify, trigsimp
+from sympy import sin,cos,tan,sqrt,atan2
 from sympy.matrices import Matrix, eye, zeros, ones
 from sympy.physics.mechanics import init_vprinting
 

{moro-0.2.0 → moro-0.3.0.dev0}/moro/abc.py

@@ -1,20 +1,21 @@
 from sympy import symbols
 from sympy.physics.mechanics import dynamicsymbols
 
-t = symbols("t")
-q1,q2,q3,q4,q5,q6 = dynamicsymbols('q_1:7')
-q1p,q2p,q3p,q4p,q5p,q6p = [q.diff(t) for q in (q1,q2,q3,q4,q5,q6)]
-q1pp,q2pp,q3pp,q4pp,q5pp,q6pp = [qp.diff(t) for qp in (q1p,q2p,q3p,q4p,q5p,q6p)]
+t = symbols("t") # time 
+q1,q2,q3,q4,q5,q6 = dynamicsymbols('q_1:7') # joint variables
+q1p,q2p,q3p,q4p,q5p,q6p = [q.diff(t) for q in (q1,q2,q3,q4,q5,q6)] # joint velocities
+q1pp,q2pp,q3pp,q4pp,q5pp,q6pp = [qp.diff(t) for qp in (q1p,q2p,q3p,q4p,q5p,q6p)] # joint accelerations
 t1,t2,t3,t4,t5,t6 = symbols('theta_1:7', real=True) # theta parameter
-l1,l2,l3,l4,l5,l6 = symbols('l_1:7', real=True) 
-lc1,lc2,lc3,lc4,lc5,lc6 = symbols('l_c1:7', real=True)
-d1,d2,d3,d4,d5,d6 = symbols('d_1:7', real=True) 
+l1,l2,l3,l4,l5,l6 = symbols('l_1:7', real=True) # parameters for constant lengths of the robot
+lc1,lc2,lc3,lc4,lc5,lc6 = symbols('l_c1:7', real=True) # parameters for center of mass location
+d1,d2,d3,d4,d5,d6 = symbols('d_1:7', real=True)  # for constant lengths of the robot
 m1,m2,m3,m4,m5,m6 = symbols('m_1:7', real=True) # for mass symbols
-a1,a2,a3,a4,a5,a6 = symbols('a_1:7', real=True)
-x0,x1,x2,x3,x4,x5,x6 = symbols("x_0:7", real=True)
+a1,a2,a3,a4,a5,a6 = symbols('a_1:7', real=True) # for constant lengths of the robot
+x0,x1,x2,x3,x4,x5,x6 = symbols("x_0:7", real=True) 
 y0,y1,y2,y3,y4,y5,y6 = symbols("y_0:7", real=True)
 z0,z1,z2,z3,z4,z5,z6 = symbols("z_0:7", real=True)
 g = symbols("g") # gravity
+tau1,tau2,tau3,tau4,tau5,tau6 = symbols("tau_1:7", real=True) # for generalized forces/torques
 
 # Some common greek letters 
 alpha,beta,gamma,delta = symbols("alpha,beta,gamma,delta", real=True)