RoboticsInOne

Robotics In One (RIO) Studio

Introduction

RIO is committed to providing a standard and complete tool chain and ecology with a graphical operation interface for the robot community. RIO implements 3D visualization of robot links, joints and center of mass (CoM) by specifying a URDF file, and generates kinematics/dynamics codes via URDF ->MDH ->Kinematics ->Jacobian ->Dynamics.

Getting Started

For windows users, you can
- directly download a release version and double click the bat file to run;
- or clone the source code (usually newer)
```
git clone https://github.com/yunlongdong/RoboticsInOne.git
cd RoboticsInOne
pip install -r requirements.txt
python RIO.py
```

For ubuntu users, firstly you should install wxPython following here

# note that you should replace ubuntu-22.04 with your own ubuntu version
pip install -U -f https://extras.wxpython.org/wxPython4/extras/linux/gtk3/ubuntu-22.04 wxPython

Then, use the following commands to install other packages

git clone https://github.com/yunlongdong/RoboticsInOne.git
cd RoboticsInOne
# install other packages
pip install matplotlib sympy plyfile numpy scipy pandas pyrr pybullet anytree
# install moderngl
pip install moderngl==5.5.4
python RIO.py

Troubleshooting

In ubuntu 16.04 if 'error: GLSL 3.30 is not supported' occurs, use the command export MESA_GL_VERSION_OVERRIDE=3.3 and then run python RIO.py.

Features

URDF file visualization, including Link (adjustable transparency), Axis, CoM, etc
Joints Control
Invert Joint Z-Axis: z axis of any joint can be manually adjusted to achieve joint configuration consistent with the real robot
Exporting modified D-H parameters
Kinematics: forward kinematics, Jacobian symbolic representation, and code generation
Dynamics: mass matrix M, symbolic representation of Inverse Dynamics and code generation
System identification: derive the minimum parameter set, generate C++ and Python codes for system identification
Verification of the code generation with one single click: randomly generate test samples so that users can verify the correctness by comparing the results of the generated codes with the numerical solution provided by pybullet.

TODO

Interface: symoro is currently used for rigid body dynamics derivation; The code verification process currently utilizes pybullet. In the future, we hope to provide more interfaces and leave enough room for extensions. We believe it would be owesome if users are allowed to write their own plugins to connect to any rigid body dynamics library.
A series of tutorials (including websites, videos, blogs) should be produced.

Remark

URDF Joints Axis should be [0, 0, 1]
The urdf file contains only revolute joints
Currently, only URDF code generation with 1 subtree is supported
Floating base robots are not supported now.

Contact us

RoboticsInOne QQ Chat Group：179412348

hfutcgncas/RoboticsInOne