Denavit-Hartenberg models

Code author: Jesse Haviland

This class is used to model robots defined in terms of standard or modified Denavit-Hartenberg notation.

Note

These classes provide similar functionality and notation to MATLAB Toolbox SerialLink and Link classes.

DHRobot

The various Models all subclass this class.

class roboticstoolbox.robot.DHRobot.DHRobot(links, meshdir=None, **kwargs)[source]

Bases: Robot

Class for robots defined using Denavit-Hartenberg notation

Parameters:

L (list(n)) – List of links which define the robot
name (str) – Name of the robot
manufacturer (str) – Manufacturer of the robot
base (SE3) – Location of the base
tool (SE3) – Location of the tool
gravity (ndarray(3)) – Gravitational acceleration vector

A concrete superclass for arm type robots defined using Denavit-Hartenberg notation, that represents a serial-link arm-type robot. Each link and joint in the chain is described by a DHLink-class object using Denavit-Hartenberg parameters (standard or modified).

Note

Link subclass elements passed in must be all standard, or all modified, DH parameters.

Reference:

Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 7-9.
Robot, Modeling & Control, M.Spong, S. Hutchinson & M. Vidyasagar, Wiley 2006.

__str__()[source]

Pretty prints the DH Model of the robot. Will output angles in degrees

Returns:: Pretty print of the robot model
Return type:: str

property mdh

Modified Denavit-Hartenberg status

Returns:: whether robot is defined using modified Denavit-Hartenberg notation
Return type:: bool

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.mdh
0
>>> panda = rtb.models.DH.Panda()
>>> panda.mdh
1

property d

Link offset values

Returns:: List of link offset values $d_j$.
Return type:: ndarray(n,)

The following are equivalent:

robot.links[j].d
robot.d[j]

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.d
[0.6718299999999999, 0, 0.15005, 0.4318, 0, 0]

property a

Link length values

Returns:: List of link length values $a_j$.
Return type:: ndarray(n,)

The following are equivalent:

robot.links[j].a
robot.a[j]

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.a
[0, 0.4318, 0.0203, 0, 0, 0]

property theta

Joint angle values

Returns:: List of joint angle values $\theta_j$.
Return type:: ndarray(n,)

The following are equivalent:

robot.links[j].theta
robot.theta[j]

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.theta
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

property alpha

Link twist values

Returns:: List of link twist values $\alpha_j$.
Return type:: ndarray(n,)

The following are equivalent:

robot.links[j].alpha
robot.alpha[j]

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.alpha
[1.5707963267948966, 0.0, -1.5707963267948966, 1.5707963267948966, -1.5707963267948966, 0.0]

property r

Link centre of mass values

Returns:: Array of link centre of mass values $r_j$.
Return type:: ndarray(3,n)

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.r
array([[ 0.    , -0.3638, -0.0203,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.006 , -0.0141,  0.019 ,  0.    ,  0.    ],
       [ 0.    ,  0.2275,  0.07  ,  0.    ,  0.    ,  0.032 ]])

property offset

Joint offset values

Returns:: List of joint offset values $\bar{q}_j$.
Return type:: ndarray(n,)

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.offset
[0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

property reach

Reach of the robot

Returns:: Maximum reach of the robot
Return type:: float

A conservative estimate of the reach of the robot. It is computed as $\sum_j |a_j| + |d_j|$ where $d_j$ is taken as the maximum joint coordinate (qlim) if the joint is primsmatic.

Note

This is the length sum referred to in Craig’s book
Probably an overestimate of the actual reach
Used by numerical inverse kinematics to scale translational error.
For a prismatic joint, uses qlim if it is set

Warning

Computed on the first access. If kinematic parameters subsequently change this will not be reflected.

property nbranches

Number of branches

Returns:: number of branches in the robot’s kinematic tree
Return type:: int

Number of branches in this robot.

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Panda()
>>> robot.nbranches
1

Seealso:: n(), nlinks()

A(j, q=None)[source]

Link forward kinematics

Parameters:

j (int, 2-tuple) – Joints to compute link transform for
q (float ndarray(1,n)) – The joint configuration of the robot (Optional, if not supplied will use the stored q values)

Return T:

The transform between link frames

Rtype T:

SE3

robot.A(j, q) transform between link frames {0} and {j}. q is a vector (n) of joint variables.
robot.A([j1, j2], q) as above between link frames {j1} and {j2}.
robot.A(j) as above except uses the stored q value of the robot object.

Note

Base and tool transforms are not applied.

islimit(q=None)[source]

Joint limit test

Parameters:: q (ndarray(n) – The joint configuration of the robot (Optional, if not supplied will use the stored q values)
Return v:: is a vector of boolean values, one per joint, False if q[j] is within the joint limits, else True
Rtype v:: bool list

robot.islimit(q) is a list of boolean values indicating if the joint configuration q is in violation of the joint limits.
robot.jointlimit() as above except uses the stored q value of the robot object.

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.islimit([0, 0, -4, 4, 0, 0])
[False, False, True, False, False, False]

isspherical()[source]

Test for spherical wrist

Returns:: True if spherical wrist
Return type:: bool

Tests if the robot has a spherical wrist, that is, the last 3 axes are revolute and their axes intersect at a point.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.isspherical()
True

dhunique()[source]

Print the unique DH parameters

Print a table showing all the non-zero DH parameters, and their values. This is the minimum set of kinematic parameters required to describe the robot.

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.dhunique()
┌──────┬────────┐
│param │ value  │
├──────┼────────┤
│   d0 │ 0.6718 │
│   ⍺0 │ 1.571  │
│   a1 │ 0.4318 │
│   d2 │ 0.15   │
│   a2 │ 0.0203 │
│   ⍺2 │ -1.571 │
│   d3 │ 0.4318 │
│   ⍺3 │ 1.571  │
│   ⍺4 │ -1.571 │
└──────┴────────┘

twists(q=None)[source]

Joint axes as twists

Parameters:: q – The joint configuration of the robot, defaults to zero
Returns:: a vector of joint axis twists
Return type:: Twist3 instance
Returns:: Pose of the tool
Return type:: SE3 instance

tw, T0 = twists(q) calculates a vector of Twist objects (n) that represent the axes of the joints for the robot with joint coordinates q (n). Also returns T0 which is an SE3 object representing the pose of the tool.
tw, T0 = twists() as above but the joint coordinates are taken to be zero.

Example:

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> tw, T0 = robot.twists()
>>> tw
Twist3([
  [-0, -0, -0, 0, 0, 1],
  [0.67183, -0, -0, 0, -1, 6.1232e-17],
  [0.67183, -2.644e-17, -0.4318, 0, -1, 6.1232e-17],
  [-0.15005, -0.4521, 0, 0, 0, 1],
  [1.1036, -2.7683e-17, -0.4521, 0, -1, 6.1232e-17],
  [-0.15005, -0.4521, 0, 0, 0, 1]
])
>>> T0
SE3(array([[ 1.    ,  0.    ,  0.    ,  0.4521],
           [ 0.    ,  1.    ,  0.    , -0.15  ],
           [ 0.    ,  0.    ,  1.    ,  1.1036],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]))

ets(*args, **kwargs)[source]

Robot kinematics as an elemenary transform sequence

Returns:: elementary transform sequence
Return type:: ETS

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.ets()
[ET.Rz(jindex=0, qlim=array([-2.7925,  2.7925])), ET.tz(eta=0.6718299999999999), ET.Rx(eta=1.5707963267948966), ET.Rz(jindex=1, qlim=array([-1.9199,  1.9199])), ET.tx(eta=0.4318), ET.Rz(jindex=2, qlim=array([-2.3562,  2.3562])), ET.tz(eta=0.15005), ET.tx(eta=0.0203), ET.Rx(eta=-1.5707963267948966), ET.Rz(jindex=3, qlim=array([-4.6426,  4.6426])), ET.tz(eta=0.4318), ET.Rx(eta=1.5707963267948966), ET.Rz(jindex=4, qlim=array([-1.7453,  1.7453])), ET.Rx(eta=-1.5707963267948966), ET.Rz(jindex=5, qlim=array([-4.6426,  4.6426]))]

fkine(q, **kwargs)[source]

Forward kinematics

Parameters:: q (ndarray(n) or ndarray(m,n)) – The joint configuration
Returns:: Forward kinematics as an SE(3) matrix
Return type:: SE3 instance

robot.fkine(q) computes the forward kinematics for the robot at joint configuration q.

If q is a 2D array, the rows are interpreted as the generalized joint coordinates for a sequence of points along a trajectory. q[k,j] is the j’th joint coordinate for the k’th trajectory configuration, and the returned SE3 instance contains n values.

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.fkine([0, 0, 0, 0, 0, 0])
SE3(array([[ 1.    ,  0.    ,  0.    ,  0.4521],
           [ 0.    ,  1.    ,  0.    , -0.15  ],
           [ 0.    ,  0.    ,  1.    ,  1.1036],
           [ 0.    ,  0.    ,  0.    ,  1.    ]]))

Note

The robot’s base or tool transform, if present, are incorporated into the result.
Joint offsets, if defined, are added to q before the forward kinematics are computed.

fkine_path(q, old=None)[source]

Compute the pose of every link frame

Parameters:: q (darray(n)) – The joint configuration
Returns:: Pose of all links
Return type:: SE3 instance

T = robot.fkine_path(q) is an SE3 instance with robot.nlinks + 1 values:

T[0] is the base transform
T[i+1] is the pose of link whose number is i

References:

Kinematic Derivatives using the Elementary Transform Sequence, J. Haviland and P. Corke

segments()[source]

Segments of branched robot

For a single-chain robot with structure:

L1 - L2 - L3

the return is [[None, L1, L2, L3]]

For a robot with structure:

L1 - L2 +-  L3 - L4
        +- L5 - L6

the return is [[None, L1, L2], [L2, L3, L4], [L2, L5, L6]]

Returns:: Segment list
Return type:: segments

Notes

the length of the list is the number of segments in the robot
the first segment always starts with None which represents
the base transform (since there is no base link)
the last link of one segment is also the first link of subsequent
segments

fkine_all(q=None, old=True)[source]

Forward kinematics for all link frames

Parameters:

q (ndarray(n) or ndarray(m,n)) – The joint configuration of the robot (Optional, if not supplied will use the stored q values).
old (bool, optional) – “old” behaviour, defaults to True

Returns:

Forward kinematics as an SE(3) matrix

Return type:

SE3 instance with n values

fkine_all(q) evaluates fkine for each joint within a robot and returns a sequence of link frame poses.
fkine_all() as above except uses the stored q value of the robot object.

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> T = puma.fkine_all([0, 0, 0, 0, 0, 0])
>>> len(T)
7

Note

Old behaviour is to return a list of n frames {1} to {n}, but if old=False it returns ``n``+1 frames {0} to {n}, ie. it includes the base frame.
The robot’s base or tool transform, if present, are incorporated into the result.
Joint offsets, if defined, are added to q before the forward kinematics are computed.

jacobe(q, half=None, **kwargs)[source]

Manipulator Jacobian in end-effector frame

Parameters:

q (ndarray(n)) – Joint coordinate vector
half (str) – return half Jacobian: ‘trans’ or ‘rot’

Return J:

The manipulator Jacobian in the end-effector frame

Return type:

ndarray(6,n)

robot.jacobe(q) is the manipulator Jacobian matrix which maps joint velocity to end-effector spatial velocity.

End-effector spatial velocity $\nu = (v_x, v_y, v_z, \omega_x, \omega_y, \omega_z)^T$ is related to joint velocity by ${}^{E}\!\nu = \mathbf{J}_m(q) \dot{q}$.

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.jacobe([0, 0, 0, 0, 0, 0])
array([[ 0.15  , -0.4318, -0.4318,  0.    ,  0.    ,  0.    ],
       [ 0.4521,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.4521,  0.0203,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
       [ 0.    , -1.    , -1.    ,  0.    , -1.    ,  0.    ],
       [ 1.    ,  0.    ,  0.    ,  1.    ,  0.    ,  1.    ]])

Warning

This is the geometric Jacobian as described in texts by Corke, Spong etal., Siciliano etal. The end-effector velocity is described in terms of translational and angular velocity, not a velocity twist as per the text by Lynch & Park.

jacob0(q=None, T=None, half=None, start=None, end=None)[source]

Manipulator Jacobian in world frame

Parameters:

q (ndarray(n)) – Joint coordinate vector
T (SE3 instance) – Forward kinematics if known, SE(3 matrix)
half (str) – return half Jacobian: ‘trans’ or ‘rot’

Return J:

The manipulator Jacobian in the world frame

Return type:

ndarray(6,n)

robot.jacob0(q) is the manipulator geometric Jacobian matrix which maps joint velocity to end-effector spatial velocity.

End-effector spatial velocity $\nu = (v_x, v_y, v_z, \omega_x, \omega_y, \omega_z)^T$ is related to joint velocity by ${}^{0}\!\nu = \mathbf{J}_0(q) \dot{q}$.

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.jacob0([0, 0, 0, 0, 0, 0])
array([[ 0.15  , -0.4318, -0.4318,  0.    ,  0.    ,  0.    ],
       [ 0.4521,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.4521,  0.0203,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
       [ 0.    , -1.    , -1.    ,  0.    , -1.    ,  0.    ],
       [ 1.    ,  0.    ,  0.    ,  1.    ,  0.    ,  1.    ]])

Warning

This is the geometric Jacobian is as described in texts by Corke, Spong etal., Siciliano etal. The end-effector velocity is described in terms of translational and angular velocity, not a velocity twist as per the text by Lynch & Park.

Note

T can be passed in to save the cost of computing forward kinematics which is needed to transform velocity from end-effector frame to world frame.

jacob0_analytical(q, representation=None, T=None)[source]

Manipulator Jacobian in world frame

Parameters:

q (ndarray(n)) – Joint coordinate vector
representation (str) – return analytical Jacobian instead of geometric Jacobian
T (SE3 instance) – Forward kinematics if known, SE(3 matrix)

Return J:

The manipulator analytical Jacobian in the world frame

Return type:

ndarray(6,n)

Return the manipulator’s analytical Jacobian matrix which maps joint velocity to end-effector spatial velocity.

End-effector spatial velocity $\nu_a = (v_x, v_y, v_z, \dot{\Gamma}_1, \dot{\Gamma}_2, \dot{\Gamma}_3)^T$ is related to joint velocity by ${}^{0}\!\nu_a = \mathbf{J}_{a,0}(q) \dot{q}$. Where $\dvec{\Gamma} = (\dot{\Gamma}_1, \dot{\Gamma}_2, \dot{\Gamma}_3)$ is orientation rate expressed as one of:

`representation`	Rotational representation
`'rpy/xyz'`	RPY angular rates in XYZ order
`'rpy/zyx'`	RPY angular rates in XYZ order
`'eul'`	Euler angular rates in ZYZ order
`'exp'`	exponential coordinate rates

Example:

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.jacob0_analytical([0, 0, 0, 0, 0, 0], "rpy/xyz")
array([[ 0.15  , -0.4318, -0.4318,  0.    ,  0.    ,  0.    ],
       [ 0.4521,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.4521,  0.0203,  0.    ,  0.    ,  0.    ],
       [ 1.    ,  0.    ,  0.    ,  1.    ,  0.    ,  1.    ],
       [ 0.    , -1.    , -1.    ,  0.    , -1.    ,  0.    ],
       [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ]])

Warning

The geometric Jacobian is as described in texts by Corke, Spong etal., Siciliano etal. The end-effector velocity is described in terms of translational and angular velocity, not a velocity twist as per the text by Lynch & Park.

Note

T can be passed in to save the cost of computing forward kinematics which is needed to transform velocity from end-effector frame to world frame.

hessian0(q=None, J0=None, start=None, end=None)[source]

Manipulator Hessian in base frame

Parameters:

q (array_like) – joint coordinates
J0 (ndarray(6,n)) – Jacobian in {0} frame

Returns:

Hessian matrix

Return type:

ndarray(6,n,n)

This method calculcates the Hessisan in the base frame. One of J0 or q is required. If J0 is already calculated for the joint coordinates q it can be passed in to to save computation time.

If we take the time derivative of the differential kinematic relationship

\[\begin{split}\nu &= \mat{J}(\vec{q}) \dvec{q} \\ \alpha &= \dmat{J} \dvec{q} + \mat{J} \ddvec{q}\end{split}\]

where

\[\dmat{J} = \mat{H} \dvec{q}\]

and $\mat{H} \in \mathbb{R}^{6\times n \times n}$ is the Hessian tensor.

The elements of the Hessian are

\[\mat{H}_{i,j,k} = \frac{d^2 u_i}{d q_j d q_k}\]

where $u = \{t_x, t_y, t_z, r_x, r_y, r_z\}$ are the elements of the spatial velocity vector.

Similarly, we can write

\[\mat{J}_{i,j} = \frac{d u_i}{d q_j}\]

References:

Kinematic Derivatives using the Elementary Transform Sequence, J. Haviland and P. Corke

Seealso:

jacob0(), jacob_dot()

delete_rne()[source]: Frees the memory holding the robot object in c if the robot object has been initialised in c.

rne(q, qd=None, qdd=None, gravity=None, fext=None, base_wrench=False)[source]

Inverse dynamics

Parameters:

q (ndarray(n)) – Joint coordinates
qd (ndarray(n)) – Joint velocity
qdd (ndarray(n)) – The joint accelerations of the robot
gravity (ndarray(6)) – Gravitational acceleration to override robot’s gravity value
fext (ndarray(6)) – Specify wrench acting on the end-effector $W=[F_x F_y F_z M_x M_y M_z]$

tau = rne(q, qd, qdd, grav, fext) is the joint torque required for the robot to achieve the specified joint position q (1xn), velocity qd (1xn) and acceleration qdd (1xn), where n is the number of robot joints. fext describes the wrench acting on the end-effector

Trajectory operation: If q, qd and qdd (mxn) are matrices with m cols representing a trajectory then tau (mxn) is a matrix with cols corresponding to each trajectory step.

Note

The torque computed contains a contribution due to armature inertia and joint friction.
If a model has no dynamic parameters set the result is zero.

Seealso:: rne_python()

rne_python(Q, QD=None, QDD=None, gravity=None, fext=None, debug=False, base_wrench=False)[source]

Compute inverse dynamics via recursive Newton-Euler formulation

Parameters:

Q – Joint coordinates
QD – Joint velocity
QDD – Joint acceleration
gravity (array_like(3), optional) – gravitational acceleration, defaults to attribute of self
fext (array-like(6), optional) – end-effector wrench, defaults to None
debug (bool, optional) – print debug information to console, defaults to False
base_wrench (bool, optional) – compute the base wrench, defaults to False

Raises:

ValueError – for misshaped inputs

Returns:

Joint force/torques

Return type:

NumPy array

Recursive Newton-Euler for standard Denavit-Hartenberg notation.

rne_dh(q, qd, qdd) where the arguments have shape (n,) where n is the number of robot joints. The result has shape (n,).
rne_dh(q, qd, qdd) where the arguments have shape (m,n) where n is the number of robot joints and where m is the number of steps in the joint trajectory. The result has shape (m,n).
rne_dh(p) where the input is a 1D array p = [q, qd, qdd] with shape (3n,), and the result has shape (n,).
rne_dh(p) where the input is a 2D array p = [q, qd, qdd] with shape (m,3n) and the result has shape (m,n).

Note

This is a pure Python implementation and slower than the .rne()

which is written in C. - This version supports symbolic model parameters - Verified against MATLAB code

Seealso:: rne()

ikine_6s(T, config, ikfunc)[source]

config_validate(config, allowables)[source]

Validate a configuration string

Parameters:

config (str) – a configuration string
allowable (tuple of str) – [description]

Raises:

ValueError – bad character in configuration string

Returns:

configuration string

Return type:

str

For analytic inverse kinematics the Toolbox uses a string whose letters indicate particular solutions, eg. for the Puma 560

Character

Meaning

‘l’

lefty

‘r’

righty

‘u’

elbow up

‘d’

elbow down

‘n’

wrist not flipped

‘f’

wrist flipped

This method checks that the configuration string is valid and adds default values for missing characters. For example:

config = self.config_validate(config, (‘lr’, ‘ud’, ‘nf’))

indicates the valid characters, and the first character in each string is the default, ie. if neither ‘l’ or ‘r’ is given then ‘l’ will be added to the string.

ik_lm_chan(Tep, q0=None, ilimit=30, slimit=100, tol=1e-06, reject_jl=True, we=None, λ=1.0)[source]

Numerical inverse kinematics by Levenberg-Marquadt optimization (Chan’s Method)

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
reject_jl (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
we (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
λ (float) – value of lambda for the damping matrix Wn

Returns:

inverse kinematic solution

Return type:

tuple (q, success, iterations, searches, residual)

sol = ets.ik_lm_chan(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. The return value sol is a tuple with elements:

If success == 0 the q values will be valid numbers, but the solution will be in error. The amount of error is indicated by the residual.

Joint Limits:

sol = robot.ikine_LM(T, slimit=100) which is the deafualt for this method. The solver will initialise a solution attempt with a random valid q0 and perform a maximum of ilimit steps within this attempt. If a solution is not found, this process is repeated up to slimit times.

Global search:

sol = robot.ikine_LM(T, reject_jl=True) is the deafualt for this method. By setting reject_jl to True, the solver will discard any solution which violates the defined joint limits of the robot. The solver will then re-initialise with a new random q0 and repeat the process up to slimit times. Note that finding a solution with valid joint coordinates takes longer than without.

Underactuated robots:

For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates.

In this case we specify the we option where the we vector (6) specifies the Cartesian DOF (in the wrist coordinate frame) that will be ignored in reaching a solution. The we vector has six elements that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively. The value can be 0 (for ignore) or above to assign a priority relative to other Cartesian DoF. The number of non-zero elements must equal the number of manipulator DOF.

For example when using a 3 DOF manipulator tool orientation might be unimportant, in which case use the option we=[1, 1, 1, 0, 0, 0].

Note

See `Toolbox kinematics wiki page
<https://github.com/petercorke/robotics-toolbox-python/wiki/Kinematics>`_
Implements a Levenberg-Marquadt variable-damping solver.
The tolerance is computed on the norm of the error between
current and desired tool pose. This norm is computed from distances and angles without any kind of weighting.
The inverse kinematic solution is generally not unique, and
depends on the initial guess q0.

References:: TODO
Seealso:: TODO

ik_lm_wampler(Tep, q0=None, ilimit=30, slimit=100, tol=1e-06, reject_jl=True, we=None, λ=1.0)[source]

Numerical inverse kinematics by Levenberg-Marquadt optimization (Wamplers’s Method)

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
reject_jl (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
we (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
λ (float) – value of lambda for the damping matrix Wn

Returns:

inverse kinematic solution

Return type:

tuple (q, success, iterations, searches, residual)

sol = ets.ik_lm_chan(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. The return value sol is a tuple with elements:

If success == 0 the q values will be valid numbers, but the solution will be in error. The amount of error is indicated by the residual.

Joint Limits:

sol = robot.ikine_LM(T, slimit=100) which is the deafualt for this method. The solver will initialise a solution attempt with a random valid q0 and perform a maximum of ilimit steps within this attempt. If a solution is not found, this process is repeated up to slimit times.

Global search:

sol = robot.ikine_LM(T, reject_jl=True) is the deafualt for this method. By setting reject_jl to True, the solver will discard any solution which violates the defined joint limits of the robot. The solver will then re-initialise with a new random q0 and repeat the process up to slimit times. Note that finding a solution with valid joint coordinates takes longer than without.

Underactuated robots:

For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates.

In this case we specify the we option where the we vector (6) specifies the Cartesian DOF (in the wrist coordinate frame) that will be ignored in reaching a solution. The we vector has six elements that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively. The value can be 0 (for ignore) or above to assign a priority relative to other Cartesian DoF. The number of non-zero elements must equal the number of manipulator DOF.

For example when using a 3 DOF manipulator tool orientation might be unimportant, in which case use the option we=[1, 1, 1, 0, 0, 0].

Note

See `Toolbox kinematics wiki page
<https://github.com/petercorke/robotics-toolbox-python/wiki/Kinematics>`_
Implements a Levenberg-Marquadt variable-damping solver.
The tolerance is computed on the norm of the error between
current and desired tool pose. This norm is computed from distances and angles without any kind of weighting.
The inverse kinematic solution is generally not unique, and
depends on the initial guess q0.

References:: TODO
Seealso:: TODO

ik_lm_sugihara(Tep, q0=None, ilimit=30, slimit=100, tol=1e-06, reject_jl=True, we=None, λ=1.0)[source]

Numerical inverse kinematics by Levenberg-Marquadt optimization (Sugihara’s Method)

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
reject_jl (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
we (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
λ (float) – value of lambda for the damping matrix Wn

Returns:

inverse kinematic solution

Return type:

tuple (q, success, iterations, searches, residual)

sol = ets.ik_lm_chan(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. The return value sol is a tuple with elements:

If success == 0 the q values will be valid numbers, but the solution will be in error. The amount of error is indicated by the residual.

Joint Limits:

sol = robot.ikine_LM(T, slimit=100) which is the deafualt for this method. The solver will initialise a solution attempt with a random valid q0 and perform a maximum of ilimit steps within this attempt. If a solution is not found, this process is repeated up to slimit times.

Global search:

sol = robot.ikine_LM(T, reject_jl=True) is the deafualt for this method. By setting reject_jl to True, the solver will discard any solution which violates the defined joint limits of the robot. The solver will then re-initialise with a new random q0 and repeat the process up to slimit times. Note that finding a solution with valid joint coordinates takes longer than without.

Underactuated robots:

For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates.

In this case we specify the we option where the we vector (6) specifies the Cartesian DOF (in the wrist coordinate frame) that will be ignored in reaching a solution. The we vector has six elements that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively. The value can be 0 (for ignore) or above to assign a priority relative to other Cartesian DoF. The number of non-zero elements must equal the number of manipulator DOF.

For example when using a 3 DOF manipulator tool orientation might be unimportant, in which case use the option we=[1, 1, 1, 0, 0, 0].

Note

See `Toolbox kinematics wiki page
<https://github.com/petercorke/robotics-toolbox-python/wiki/Kinematics>`_
Implements a Levenberg-Marquadt variable-damping solver.
The tolerance is computed on the norm of the error between
current and desired tool pose. This norm is computed from distances and angles without any kind of weighting.
The inverse kinematic solution is generally not unique, and
depends on the initial guess q0.

References:: TODO
Seealso:: TODO

ik_nr(Tep, q0=None, ilimit=30, slimit=100, tol=1e-06, reject_jl=True, we=None, use_pinv=True, pinv_damping=0.0)[source]

Numerical inverse kinematics by Levenberg-Marquadt optimization (Newton-Raphson Method)

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
reject_jl (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
we (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
λ – value of lambda for the damping matrix Wn

Returns:

inverse kinematic solution

Return type:

tuple (q, success, iterations, searches, residual)

sol = ets.ik_lm_chan(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. The return value sol is a tuple with elements:

If success == 0 the q values will be valid numbers, but the solution will be in error. The amount of error is indicated by the residual.

Joint Limits:

sol = robot.ikine_LM(T, slimit=100) which is the deafualt for this method. The solver will initialise a solution attempt with a random valid q0 and perform a maximum of ilimit steps within this attempt. If a solution is not found, this process is repeated up to slimit times.

Global search:

sol = robot.ikine_LM(T, reject_jl=True) is the deafualt for this method. By setting reject_jl to True, the solver will discard any solution which violates the defined joint limits of the robot. The solver will then re-initialise with a new random q0 and repeat the process up to slimit times. Note that finding a solution with valid joint coordinates takes longer than without.

Underactuated robots:

For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates.

In this case we specify the we option where the we vector (6) specifies the Cartesian DOF (in the wrist coordinate frame) that will be ignored in reaching a solution. The we vector has six elements that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively. The value can be 0 (for ignore) or above to assign a priority relative to other Cartesian DoF. The number of non-zero elements must equal the number of manipulator DOF.

For example when using a 3 DOF manipulator tool orientation might be unimportant, in which case use the option we=[1, 1, 1, 0, 0, 0].

Note

See `Toolbox kinematics wiki page
<https://github.com/petercorke/robotics-toolbox-python/wiki/Kinematics>`_
Implements a Levenberg-Marquadt variable-damping solver.
The tolerance is computed on the norm of the error between
current and desired tool pose. This norm is computed from distances and angles without any kind of weighting.
The inverse kinematic solution is generally not unique, and
depends on the initial guess q0.

References:: TODO
Seealso:: TODO

ik_gn(Tep, q0=None, ilimit=30, slimit=100, tol=1e-06, reject_jl=True, we=None, use_pinv=True, pinv_damping=0.0)[source]

Numerical inverse kinematics by Levenberg-Marquadt optimization (Gauss-Newton Method)

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
reject_jl (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
we (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
λ – value of lambda for the damping matrix Wn

Returns:

inverse kinematic solution

Return type:

tuple (q, success, iterations, searches, residual)

sol = ets.ik_lm_chan(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. The return value sol is a tuple with elements:

If success == 0 the q values will be valid numbers, but the solution will be in error. The amount of error is indicated by the residual.

Joint Limits:

sol = robot.ikine_LM(T, slimit=100) which is the deafualt for this method. The solver will initialise a solution attempt with a random valid q0 and perform a maximum of ilimit steps within this attempt. If a solution is not found, this process is repeated up to slimit times.

Global search:

sol = robot.ikine_LM(T, reject_jl=True) is the deafualt for this method. By setting reject_jl to True, the solver will discard any solution which violates the defined joint limits of the robot. The solver will then re-initialise with a new random q0 and repeat the process up to slimit times. Note that finding a solution with valid joint coordinates takes longer than without.

Underactuated robots:

For the case where the manipulator has fewer than 6 DOF the solution space has more dimensions than can be spanned by the manipulator joint coordinates.

In this case we specify the we option where the we vector (6) specifies the Cartesian DOF (in the wrist coordinate frame) that will be ignored in reaching a solution. The we vector has six elements that correspond to translation in X, Y and Z, and rotation about X, Y and Z respectively. The value can be 0 (for ignore) or above to assign a priority relative to other Cartesian DoF. The number of non-zero elements must equal the number of manipulator DOF.

For example when using a 3 DOF manipulator tool orientation might be unimportant, in which case use the option we=[1, 1, 1, 0, 0, 0].

Note

See `Toolbox kinematics wiki page
<https://github.com/petercorke/robotics-toolbox-python/wiki/Kinematics>`_
Implements a Levenberg-Marquadt variable-damping solver.
The tolerance is computed on the norm of the error between
current and desired tool pose. This norm is computed from distances and angles without any kind of weighting.
The inverse kinematic solution is generally not unique, and
depends on the initial guess q0.

References:: TODO
Seealso:: TODO

ikine_LM(Tep, q0=None, ilimit=30, slimit=100, tol=1e-06, joint_limits=False, mask=None, seed=None)[source]

Levenberg-Marquadt Numerical Inverse Kinematics Solver

A method which provides functionality to perform numerical inverse kinematics (IK) using the Levemberg-Marquadt method.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose
end – the link considered as the end-effector
start – the link considered as the base frame, defaults to the robots’s base frame
q0 (Union[list, ndarray, tuple, set, None]) – The initial joint coordinate vector
ilimit (int) – How many iterations are allowed within a search before a new search is started
slimit (int) – How many searches are allowed before being deemed unsuccessful
tol (float) – Maximum allowed residual error E
mask (Union[list, ndarray, tuple, set, None]) – A 6 vector which assigns weights to Cartesian degrees-of-freedom error priority
joint_limits (bool) – Reject solutions with joint limit violations
seed (Optional[int]) – A seed for the private RNG used to generate random joint coordinate vectors
k – Sets the gain value for the damping matrix Wn in the next iteration. See synopsis
method – One of “chan”, “sugihara” or “wampler”. Defines which method is used to calculate the damping matrix Wn in the step method
kq – The gain for joint limit avoidance. Setting to 0.0 will remove this completely from the solution
km – The gain for maximisation. Setting to 0.0 will remove this completely from the solution
ps – The minimum angle/distance (in radians or metres) in which the joint is allowed to approach to its limit
pi – The influence angle/distance (in radians or metres) in null space motion becomes active

Synopsis

The operation is defined by the choice of the method kwarg.

The step is deined as

\[\begin{split}\vec{q}_{k+1} &= \vec{q}_k + \left( \mat{A}_k \right)^{-1} \bf{g}_k \\ % \mat{A}_k &= {\mat{J}(\vec{q}_k)}^\top \mat{W}_e \ {\mat{J}(\vec{q}_k)} + \mat{W}_n\end{split}\]

where $\mat{W}_n = \text{diag}(\vec{w_n})(\vec{w_n} \in \mathbb{R}^n_{>0})$ is a diagonal damping matrix. The damping matrix ensures that $\mat{A}_k$ is non-singular and positive definite. The performance of the LM method largely depends on the choice of $\mat{W}_n$.

Chan’s Method

Chan proposed

\[\mat{W}_n = λ E_k \mat{1}_n\]

where λ is a constant which reportedly does not have much influence on performance. Use the kwarg k to adjust the weighting term λ.

Sugihara’s Method

Sugihara proposed

\[\mat{W}_n = E_k \mat{1}_n + \text{diag}(\hat{\vec{w}}_n)\]

where $\hat{\vec{w}}_n \in \mathbb{R}^n$, $\hat{w}_{n_i} = l^2 \sim 0.01 l^2$, and $l$ is the length of a typical link within the manipulator. We provide the variable k as a kwarg to adjust the value of $w_n$.

Wampler’s Method

Wampler proposed $\vec{w_n}$ to be a constant. This is set through the k kwarg.

Examples

The following example makes a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_LM method.

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
>>> panda.ikine_LM(Tep)
IKSolution(q=array([-2.036 ,  0.549 ,  2.2166, -2.1763, -0.4799,  1.8933,  1.1613]), success=True, iterations=11, searches=1, residual=2.2844759740298008e-07, reason='Success')

Notes

The value for the k kwarg will depend on the method chosen and the arm you are using. Use the following as a rough guide chan, k = 1.0 - 0.01, wampler, k = 0.01 - 0.0001, and sugihara, k = 0.1 - 0.0001

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

This class supports null-space motion to assist with maximising manipulability and avoiding joint limits. These are enabled by setting kq and km to non-zero values.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

IK_LM: An IK Solver class which implements the Levemberg Marquadt optimisation technique
ikine_NR: Implements the IK_NR class as a method within the Robot class
ikine_GN: Implements the IK_GN class as a method within the Robot class
ikine_QP: Implements the IK_QP class as a method within the Robot class

Changed in version 1.0.4: Added the Levemberg-Marquadt IK solver method on the Robot class

classmethod URDF(file_path, gripper=None)

Construct a Robot object from URDF file

Parameters:

file_path (str) – the path to the URDF
gripper (Union[int, str, None]) – index or name of the gripper link(s)

Returns:

If gripper is specified, links from that link outward are removed
from the rigid-body tree and folded into a Gripper object.

static URDF_read(file_path, tld=None, xacro_tld=None)

Read a URDF file as Links

File should be specified relative to RTBDATA/URDF/xacro

Parameters:

file_path – File path relative to the xacro folder
tld – A custom top-level directory which holds the xacro data, defaults to None
xacro_tld – A custom top-level within the xacro data, defaults to None

Return type:

Tuple[List[Link], str, str, Union[Path, PurePosixPath]]

Returns:

links – a list of links
name – the name of the robot
urdf – a string representing the URDF
file_path – a path to the original file

Notes

If tld is not supplied, filepath pointing to xacro data should be directly under RTBDATA/URDF/xacro OR under ./xacro relative to the model file calling this method. If tld is supplied, then `file_path` needs to be relative to tld

__getitem__(i)

Get link

This also supports iterating over each link in the robot object, from the base to the tool.

Parameters:: i (Union[int, str]) – link number or name
Returns:: i’th link or named link
Return type:: link

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> print(robot[1]) # print the 2nd link
RevoluteDH:   θ=q,  d=0,  a=0.4318,  ⍺=0.0
>>> print([link.a for link in robot])  # print all the a_j values
[0, 0.4318, 0.0203, 0, 0, 0]

Notes

Robot supports link lookup by name,: eg. robot['link1']

accel(q, qd, torque, gravity=None)

Compute acceleration due to applied torque

qdd = accel(q, qd, torque) calculates a vector (n) of joint accelerations that result from applying the actuator force/torque (n) to the manipulator in state q (n) and qd (n), and n is the number of robot joints.

\[\ddot{q} = \mathbf{M}^{-1} \left(\tau - \mathbf{C}(q)\dot{q} - \mathbf{g}(q)\right)\]

Trajectory operation

If q, qd, torque are matrices (m,n) then qdd is a matrix (m,n) where each row is the acceleration corresponding to the equivalent rows of q, qd, torque.

Parameters:

q – Joint coordinates
qd – Joint velocity
torque – Joint torques of the robot
gravity – Gravitational acceleration (Optional, if not supplied will use the gravity attribute of self).

Return type:

ndarray(n)

Examples

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.accel(puma.qz, 0.5 * np.ones(6), np.zeros(6))
array([ -7.5544, -12.22  ,  -6.4022,  -5.4303,  -4.9518,  -2.1178])

Notes

Useful for simulation of manipulator dynamics, in
conjunction with a numerical integration function.
Uses the method 1 of Walker and Orin to compute the forward
dynamics.
Featherstone’s method is more efficient for robots with large
numbers of joints.
Joint friction is considered.

References

Efficient dynamic computer simulation of robotic mechanisms,
M. W. Walker and D. E. Orin, ASME Journa of Dynamic Systems, Measurement and Control, vol. 104, no. 3, pp. 205-211, 1982.

accel_x(q, xd, wrench, gravity=None, pinv=False, representation='rpy/xyz')

Operational space acceleration due to applied wrench

xdd = accel_x(q, qd, wrench) is the operational space acceleration due to wrench applied to the end-effector of a robot in joint configuration q and joint velocity qd.

\[\ddot{x} = \mathbf{J}(q) \mathbf{M}(q)^{-1} \left( \mathbf{J}(q)^T w - \mathbf{C}(q)\dot{q} - \mathbf{g}(q) \right)\]

Trajectory operation

If q, qd, torque are matrices (m,n) then qdd is a matrix (m,n) where each row is the acceleration corresponding to the equivalent rows of q, qd, wrench.

Parameters:

q – Joint coordinates
qd – Joint velocity
wrench – Wrench applied to the end-effector
gravity – Gravitational acceleration (Optional, if not supplied will use the gravity attribute of self).
pinv – use pseudo inverse rather than inverse
analytical – the type of analytical Jacobian to use, default is ‘rpy/xyz’
xd –
representation – (Default value = “rpy/xyz”)

Returns:

Operational space accelerations of the end-effector

Return type:

accel

Examples

    ainv = _umath_linalg.inv(a, signature=signature, extobj=extobj)
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/numpy/linalg/linalg.py", line 88, in _raise_linalgerror_singular
    raise LinAlgError("Singular matrix")
numpy.linalg.LinAlgError: Singular matrix

Notes

Useful for simulation of manipulator dynamics, in
conjunction with a numerical integration function.
Uses the method 1 of Walker and Orin to compute the forward
dynamics.
Featherstone’s method is more efficient for robots with large
numbers of joints.
Joint friction is considered.

See also

accel()

addconfiguration(name, q)

Add a named joint configuration

Add a named configuration to the robot instance’s dictionary of named configurations.

Parameters:

name (str) – Name of the joint configuration
q (ndarray) – Joint configuration

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.addconfiguration_attr("mypos", [0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
>>> robot.configs["mypos"]
array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])

See also

addconfiguration()

addconfiguration_attr(name, q, unit='rad')

Add a named joint configuration as an attribute

Parameters:

name (str) – Name of the joint configuration
q (Union[ndarray, List[float], Tuple[float], Set[float]]) – Joint configuration

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.addconfiguration_attr("mypos", [0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
>>> robot.mypos
array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])
>>> robot.configs["mypos"]
array([0.1, 0.2, 0.3, 0.4, 0.5, 0.6])

Notes

Used in robot model init method to store the qr configuration
Dynamically adding attributes to objects can cause issues with
Python type checking.
Configuration is also added to the robot instance’s dictionary of
named configurations.

See also

addconfiguration()

attach(object)

attach_to(object)

property base: SE3

Get/set robot base transform

robot.base is the robot base transform
robot.base = ... checks and sets the robot base transform

Parameters:: base – the new robot base transform
Returns:: the current robot base transform
Return type:: base

property base_link: LinkType

Get the robot base link

robot.base_link is the robot base link

Returns:: the first link in the robot tree
Return type:: base_link

cinertia(q): Deprecated, use inertia_x

closest_point(q, shape, inf_dist=1.0, skip=False)

Find the closest point between robot and shape

closest_point(shape, inf_dist) returns the minimum euclidean distance between this robot and shape, provided it is less than inf_dist. It will also return the points on self and shape in the world frame which connect the line of length distance between the shapes. If the distance is negative then the shapes are collided.

shape: The shape to compare distance to

inf_dist: The minimum distance within which to consider the shape

skip: Skip setting all shape transforms based on q, use this option if using this method in conjuction with Swift to save time

Return type:

Tuple[Optional[int], Optional[ndarray], Optional[ndarray]]

Returns:

d – distance between the robot and shape
p1 – [x, y, z] point on the robot (in the world frame)
p2 – [x, y, z] point on the shape (in the world frame)

collided(q, shape, skip=False)

Check if the robot is in collision with a shape

collided(shape) checks if this robot and shape have collided

shape: The shape to compare distance to

skip: Skip setting all shape transforms based on q, use this option if using this method in conjuction with Swift to save time

Returns:: True if shapes have collided
Return type:: collided

property comment: str

Get/set robot comment

robot.comment is the robot comment
robot.comment = ... checks and sets the robot comment

Parameters:: name – the new robot comment
Returns:: robot comment
Return type:: comment

property configs: Dict[str, ndarray]

configurations_str(border='thin')

property control_mode: str

Get/set robot control mode

robot.control_type is the robot control mode
robot.control_type = ... checks and sets the robot control mode

Parameters:: control_mode – the new robot control mode
Returns:: the current robot control mode
Return type:: control_mode

copy()

coriolis(q, qd)

Coriolis and centripetal term

coriolis(q, qd) calculates the Coriolis/centripetal matrix (n,n) for the robot in configuration q and velocity qd, where n is the number of joints.

The product $\mathbf{C} \dot{q}$ is the vector of joint force/torque due to velocity coupling. The diagonal elements are due to centripetal effects and the off-diagonal elements are due to Coriolis effects. This matrix is also known as the velocity coupling matrix, since it describes the disturbance forces on any joint due to velocity of all other joints.

Trajectory operation

If q and qd are matrices (m,n), each row is interpretted as a joint configuration, and the result (n,n,m) is a 3d-matrix where each plane corresponds to a row of q and qd.

Parameters:

q – Joint coordinates
qd – Joint velocity

Returns:

Velocity matrix

Return type:

coriolis

Examples

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.coriolis(puma.qz, 0.5 * np.ones((6,)))
array([[-0.4017, -0.5513, -0.2025, -0.0007, -0.0013,  0.    ],
       [ 0.2023, -0.1937, -0.3868, -0.    , -0.002 ,  0.    ],
       [ 0.1987,  0.193 , -0.    ,  0.    , -0.0001,  0.    ],
       [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
       [ 0.0007,  0.0007,  0.0001,  0.    ,  0.    ,  0.    ],
       [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ]])

Notes

Joint viscous friction is also a joint force proportional to
velocity but it is eliminated in the computation of this value.
Computationally slow, involves $n^2/2$ invocations of RNE.

coriolis_x(q, qd, pinv=False, representation='rpy/xyz', J=None, Ji=None, Jd=None, C=None, Mx=None)

Operational space Coriolis and centripetal term

coriolis_x(q, qd) is the Coriolis/centripetal matrix (m,m) in operational space for the robot in configuration q and velocity qd, where n is the number of joints.

\[\mathbf{C}_x = \mathbf{J}(q)^{-T} \left( \mathbf{C}(q) - \mathbf{M}_x(q) \mathbf{J})(q) \right) \mathbf{J}(q)^{-1}\]

The product $\mathbf{C} \dot{x}$ is the operational space wrench due to joint velocity coupling. This matrix is also known as the velocity coupling matrix, since it describes the disturbance forces on any joint due to velocity of all other joints.

The transformation to operational space requires an analytical, rather than geometric, Jacobian. analytical can be one of:

Value

Rotational representation

'rpy/xyz'

RPY angular rates in XYZ order (default)

'rpy/zyx'

RPY angular rates in XYZ order

'eul'

Euler angular rates in ZYZ order

'exp'

exponential coordinate rates

Trajectory operation

If q and qd are matrices (m,n), each row is interpretted as a joint configuration, and the result (n,n,m) is a 3d-matrix where each plane corresponds to a row of q and qd.

Parameters:

q – Joint coordinates
qd – Joint velocity
pinv – use pseudo inverse rather than inverse (Default value = False)
analytical – the type of analytical Jacobian to use, default is ‘rpy/xyz’
representation – (Default value = “rpy/xyz”)
J –
Ji –
Jd –
C –
Mx –

Returns:

Operational space velocity matrix

Return type:

ndarray(6,6) or ndarray(m,6,6)

Examples

    ainv = _umath_linalg.inv(a, signature=signature, extobj=extobj)
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/numpy/linalg/linalg.py", line 88, in _raise_linalgerror_singular
    raise LinAlgError("Singular matrix")
numpy.linalg.LinAlgError: Singular matrix

Notes

Joint viscous friction is also a joint force proportional to
velocity but it is eliminated in the computation of this value.
Computationally slow, involves $n^2/2$ invocations of RNE.
If the robot is not 6 DOF the pinv option is set True.
pinv() is around 5x slower than inv()

Warning

Assumes that the operational space has 6 DOF.

property default_backend

Get default graphical backend

robot.default_backend Get the default graphical backend, used when
no explicit backend is passed to Robot.plot.
robot.default_backend = ... Set the default graphical backend, used when
no explicit backend is passed to Robot.plot. The default set here will be overridden if the particular Robot subclass cannot support it.

Returns:: backend name
Return type:: default_backend

dfs_links(start, func=None)

A link search method

Visit all links from start in depth-first order and will apply func to each visited link

Parameters:

start (TypeVar(LinkType, bound= BaseLink)) – The link to start at
func (Optional[Callable[[TypeVar(LinkType, bound= BaseLink)], Any]]) – An optional function to apply to each link as it is found

Returns:

A list of links

Return type:

links

dotfile(filename, etsbox=False, ets='full', jtype=False, static=True)

Write a link transform graph as a GraphViz dot file

The file can be processed using dot:

% dot -Tpng -o out.png dotfile.dot

The nodes are:

Base is shown as a grey square. This is the world frame origin, but can be changed using the base attribute of the robot.
Link frames are indicated by circles
ETS transforms are indicated by rounded boxes

The edges are:

an arrow if jtype is False or the joint is fixed
an arrow with a round head if jtype is True and the joint is revolute
an arrow with a box head if jtype is True and the joint is prismatic

Edge labels or nodes in blue have a fixed transformation to the preceding link.

Note

If filename is a file object then the file will not: be closed after the GraphViz model is written.

Parameters:

file – Name of file to write to
etsbox (bool) – Put the link ETS in a box, otherwise an edge label
ets (Literal['full', 'brief']) – Display the full ets with “full” or a brief version with “brief”
jtype (bool) – Arrowhead to node indicates revolute or prismatic type
static (bool) – Show static joints in blue and bold

See also

showgraph()

dynamics()

Pretty print the dynamic parameters (Robot superclass)

The dynamic parameters (inertial and friction) are printed in a table, with one row per link.

Examples

dynamics_list()

Print dynamic parameters (Robot superclass)

Display the kinematic and dynamic parameters to the console in reable format

dynchanged(what=None)

Dynamic parameters have changed

Called from a property setter to inform the robot that the cache of dynamic parameters is invalid.

See also

roboticstoolbox.Link._listen_dyn()

property ee_links: List[LinkType]

fdyn(T, q0, Q=None, Q_args={}, qd0=None, solver='RK45', solver_args={}, dt=None, progress=False)

Integrate forward dynamics

tg = R.fdyn(T, q) integrates the dynamics of the robot with zero input torques over the time interval 0 to T and returns the trajectory as a namedtuple with elements:

t the time vector (M,)
q the joint coordinates (M,n)
qd the joint velocities (M,n)

tg = R.fdyn(T, q, torqfun) as above but the torque applied to the joints is given by the provided function:

tau = function(robot, t, q, qd, **args)

where the inputs are:

the robot object

current time

current joint coordinates (n,)

current joint velocity (n,)

args, optional keyword arguments can be specified, these are

passed in from the targs kewyword argument.

The function must return a Numpy array (n,) of joint forces/torques.

Parameters:

T (float) – integration time
q0 (Union[ndarray, List[float], Tuple[float], Set[float]]) – initial joint coordinates
qd0 (Union[ndarray, List[float], Tuple[float], Set[float], None]) – initial joint velocities, assumed zero if not given
Q (Optional[Callable[[Any, float, ndarray, ndarray], ndarray]]) – a function that computes generalized joint force as a function of time and/or state
Q_args (Dict) – positional arguments passed to torque
solver (str) – str
solver_args (Dict) – dict
dt (Optional[float]) – float
progress (bool) – show progress bar, default False

Returns:

robot trajectory

Return type:

trajectory

Examples

To apply zero joint torque to the robot without Coulomb friction:

>>> def myfunc(robot, t, q, qd):
>>>     return np.zeros((robot.n,))

>>> tg = robot.nofriction().fdyn(5, q0, myfunc)

>>> plt.figure()
>>> plt.plot(tg.t, tg.q)
>>> plt.show()

We could also use a lambda function:

>>> tg = robot.nofriction().fdyn(
>>>     5, q0, lambda r, t, q, qd: np.zeros((r.n,)))

The robot is controlled by a PD controller. We first define a function to compute the control which has additional parameters for the setpoint and control gains (qstar, P, D):

>>> def myfunc(robot, t, q, qd, qstar, P, D):
>>>     return (qstar - q) * P + qd * D  # P, D are (6,)

>>> tg = robot.fdyn(10, q0, myfunc, torque_args=(qstar, P, D)) )

Many integrators have variable step length which is problematic if we want to animate the result. If dt is specified then the solver results are interpolated in time steps of dt.

Notes

This function performs poorly with non-linear joint friction,
such as Coulomb friction. The R.nofriction() method can be used to set this friction to zero.
If the function is not specified then zero force/torque is
applied to the manipulator joints.
Interpolation is performed using `ScipY integrate.ode
<https://docs.scipy.org/doc/scipy/reference/generated/scipy.integrate.ode.html>`
The SciPy RK45 integrator is used by default
Interpolation is performed using `SciPy interp1
<https://docs.scipy.org/doc/scipy/reference/generated/scipy.interpolate.interp1d.html>`

fellipse(q, opt='trans', unit='rad', centre=[0, 0, 0])

Create a force ellipsoid object for plotting with PyPlot

robot.fellipse(q) creates a force ellipsoid for the robot at pose q. The ellipsoid is centered at the origin.

q: The joint configuration of the robot.

opt: ‘trans’ or ‘rot’ will plot either the translational or rotational force ellipsoid

unit: ‘rad’ or ‘deg’ will plot the ellipsoid in radians or degrees

centre: The centre of the ellipsoid, either ‘ee’ for the end-effector or a 3-vector [x, y, z] in the world frame

Returns:: An EllipsePlot object
Return type:: env

Notes

By default the ellipsoid related to translational motion is
drawn. Use opt='rot' to draw the rotational velocity ellipsoid.
By default the ellipsoid is drawn at the origin. The option
centre allows its origin to set to set to the specified 3-vector, or the string “ee” ensures it is drawn at the end-effector position.

friction(qd)

Manipulator joint friction (Robot superclass)

robot.friction(qd) is a vector of joint friction forces/torques for the robot moving with joint velocities qd.

The friction model includes:

Viscous friction which is a linear function of velocity.
Coulomb friction which is proportional to sign(qd).

\[\begin{split}\tau_j = G^2 B \dot{q}_j + |G_j| \left\{ \begin{array}{ll} \tau_{C,j}^+ & \mbox{if $\dot{q}_j > 0$} \\ \tau_{C,j}^- & \mbox{if $\dot{q}_j < 0$} \end{array} \right.\end{split}\]

Parameters:: qd (ndarray) – The joint velocities of the robot
Returns:: The joint friction forces/torques for the robot
Return type:: friction

Notes

The friction value should be added to the motor output torque to
determine the nett torque. It has a negative value when qd > 0.
The returned friction value is referred to the output of the
gearbox.
The friction parameters in the Link object are referred to the
motor.
Motor viscous friction is scaled up by $G^2$.
Motor Coulomb friction is scaled up by math:G.
The appropriate Coulomb friction value to use in the
non-symmetric case depends on the sign of the joint velocity, not the motor velocity.
Coulomb friction is zero for zero joint velocity, stiction is
not modeled.
The absolute value of the gear ratio is used. Negative gear
ratios are tricky: the Puma560 robot has negative gear ratio for joints 1 and 3.
The absolute value of the gear ratio is used. Negative gear
ratios are tricky: the Puma560 has negative gear ratio for joints 1 and 3.

See also

Robot.nofriction(), Link.friction()

get_path(end=None, start=None)

Find a path from start to end

Parameters:

end (Union[Gripper, TypeVar(LinkType, bound= BaseLink), str, None]) – end-effector or gripper to compute forward kinematics to
start (Union[Gripper, TypeVar(LinkType, bound= BaseLink), str, None]) – name or reference to a base link, defaults to None

Raises:

ValueError – link not known or ambiguous

Return type:

Tuple[List[TypeVar(LinkType, bound= BaseLink)], int, SE3]

Returns:

path – the path from start to end
n – the number of joints in the path
T – the tool transform present after end

property gravity: ndarray

Get/set default gravitational acceleration (Robot superclass)

robot.name is the default gravitational acceleration
robot.name = ... checks and sets default gravitational
acceleration

Parameters:: gravity – the new gravitational acceleration for this robot
Returns:: gravitational acceleration
Return type:: gravity

Notes

If the z-axis is upward, out of the Earth, this should be a positive number.

gravload(q=None, gravity=None)

Compute gravity load

robot.gravload(q) calculates the joint gravity loading (n) for the robot in the joint configuration q and using the default gravitational acceleration specified in the DHRobot object.

robot.gravload(q, gravity=g) as above except the gravitational acceleration is explicitly specified as g.

Trajectory operation

If q is a matrix (nxm) each column is interpreted as a joint configuration vector, and the result is a matrix (nxm) each column being the corresponding joint torques.

Parameters:

q (Union[ndarray, List[float], Tuple[float], Set[float], None]) – Joint coordinates
gravity (ndarray(3)) – Gravitational acceleration (Optional, if not supplied will use the stored gravity values).

Returns:

The generalised joint force/torques due to gravity

Return type:

gravload

Examples

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.gravload(puma.qz)
array([ 0.    , 37.4837,  0.2489,  0.    ,  0.    ,  0.    ])

gravload_x(q=None, gravity=None, pinv=False, representation='rpy/xyz', Ji=None)

Operational space gravity load

robot.gravload_x(q) calculates the gravity wrench for the robot in the joint configuration q and using the default gravitational acceleration specified in the robot object.

robot.gravload_x(q, gravity=g) as above except the gravitational acceleration is explicitly specified as g.

\[\mathbf{G}_x = \mathbf{J}(q)^{-T} \mathbf{G}(q)\]

The transformation to operational space requires an analytical, rather than geometric, Jacobian. analytical can be one of:

Value

Rotational representation

'rpy/xyz'

RPY angular rates in XYZ order (default)

'rpy/zyx'

RPY angular rates in XYZ order

'eul'

Euler angular rates in ZYZ order

'exp'

exponential coordinate rates

Trajectory operation

If q is a matrix (nxm) each column is interpreted as a joint configuration vector, and the result is a matrix (nxm) each column being the corresponding joint torques.

Parameters:

q – Joint coordinates
gravity – Gravitational acceleration (Optional, if not supplied will use the gravity attribute of self).
pinv – use pseudo inverse rather than inverse (Default value = False)
analytical – the type of analytical Jacobian to use, default is ‘rpy/xyz’
representation – (Default value = “rpy/xyz”)
Ji –

Returns:

The operational space gravity wrench

Return type:

gravload

Examples

    ainv = _umath_linalg.inv(a, signature=signature, extobj=extobj)
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/numpy/linalg/linalg.py", line 88, in _raise_linalgerror_singular
    raise LinAlgError("Singular matrix")
numpy.linalg.LinAlgError: Singular matrix

Notes

If the robot is not 6 DOF the pinv option is set True.
pinv() is around 5x slower than inv()

Warning

Assumes that the operational space has 6 DOF.

See also

gravload()

property grippers: List[Gripper]

Grippers attached to the robot

Returns:: A list of grippers
Return type:: grippers

property hascollision

Robot has collision model

Returns:

hascollision – Robot has collision model
At least one link has associated collision model.

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.hascollision
False

See also

hasgeometry()

property hasdynamics

Robot has dynamic parameters

Returns:

hasdynamics – Robot has dynamic parameters
At least one link has associated dynamic parameters.

Examples

property hasgeometry

Robot has geometry model

At least one link has associated mesh to describe its shape.

Returns:: Robot has geometry model
Return type:: hasgeometry

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.hasgeometry
True

See also

hascollision()

hessiane(q=None, end=None, start=None, Je=None, tool=None)

Manipulator Hessian

The manipulator Hessian tensor maps joint acceleration to end-effector spatial acceleration, expressed in the end coordinate frame. This function calulcates this based on the ETS of the robot. One of J0 or q is required. Supply J0 if already calculated to save computation time

Parameters:

q – The joint angles/configuration of the robot (Optional, if not supplied will use the stored q values).
end (Union[str, Link, Gripper, None]) – the final link/Gripper which the Hessian represents
start (Union[str, Link, Gripper, None]) – the first link which the Hessian represents
J0 – The manipulator Jacobian in the end frame
tool (Union[ndarray, SE3, None]) – a static tool transformation matrix to apply to the end of end, defaults to None

Returns:

The manipulator Hessian in end frame

Return type:

he

Synopsis

This method computes the manipulator Hessian in the end frame. If we take the time derivative of the differential kinematic relationship .. math:

\nu    &= \mat{J}(\vec{q}) \dvec{q} \\
\alpha &= \dmat{J} \dvec{q} + \mat{J} \ddvec{q}

where .. math:

\dmat{J} = \mat{H} \dvec{q}

and $\mat{H} \in \mathbb{R}^{6\times n \times n}$ is the Hessian tensor.

The elements of the Hessian are .. math:

\mat{H}_{i,j,k} =  \frac{d^2 u_i}{d q_j d q_k}

where $u = \{t_x, t_y, t_z, r_x, r_y, r_z\}$ are the elements of the spatial velocity vector.

Similarly, we can write .. math:

\mat{J}_{i,j} = \frac{d u_i}{d q_j}

Examples

The following example makes a Panda robot object, and solves for the end-effector frame Hessian at the given joint angle configuration

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> panda.hessiane([0, -0.3, 0, -2.2, 0, 2, 0.7854])
array([[[-0.4816, -0.    , -0.4835, -0.    , -0.1539, -0.    ,  0.    ],
        [ 0.    , -0.0796,  0.    , -0.2466,  0.    , -0.2006,  0.    ],
        [-0.0483, -0.    , -0.0485, -0.    , -0.0154, -0.    ,  0.    ],
        [ 0.    , -0.995 ,  0.    ,  0.995 , -0.    ,  0.995 , -0.    ],
        [ 0.    ,  0.    ,  0.2955, -0.    , -0.9463, -0.    , -0.0998],
        [ 0.    , -0.0998,  0.    ,  0.0998, -0.    ,  0.0998,  0.    ]],

       [[-0.    , -0.4896, -0.    ,  0.4715, -0.    ,  0.088 ,  0.    ],
        [-0.0796,  0.    ,  0.    , -0.    ,  0.    , -0.    ,  0.    ],
        [-0.    ,  0.0309,  0.    ,  0.2952,  0.    ,  0.2104, -0.    ],
        [ 0.    ,  0.    ,  0.9801,  0.    , -0.4161,  0.    , -1.    ],
        [ 0.    ,  0.    , -0.    , -0.    ,  0.    , -0.    ,  0.    ],
        [ 0.    ,  0.    , -0.1987, -0.    ,  0.9093, -0.    ,  0.    ]],

       [[-0.4835, -0.    , -0.4763, -0.    , -0.1516, -0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    , -0.383 ,  0.    , -0.2237,  0.    ],
        [-0.0485,  0.    ,  0.0965, -0.    ,  0.0307, -0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.9801, -0.    ,  0.9801,  0.    ],
        [ 0.    ,  0.    ,  0.    , -0.    , -0.8085, -0.    ,  0.1987],
        [ 0.    ,  0.    ,  0.    , -0.1987, -0.    , -0.1987, -0.    ]],

       [[-0.    ,  0.4715, -0.    , -0.4715,  0.    , -0.088 ,  0.    ],
        [-0.2466, -0.    , -0.383 ,  0.    , -0.    ,  0.    , -0.    ],
        [-0.    ,  0.2952, -0.    , -0.2952, -0.    , -0.2104,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.4161,  0.    ,  1.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    , -0.    ,  0.    , -0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    , -0.9093,  0.    ,  0.    ]],

       [[-0.1539, -0.    , -0.1516,  0.    ,  0.0644,  0.    , -0.    ],
        [ 0.    ,  0.    ,  0.    , -0.    , -0.    ,  0.1676, -0.    ],
        [-0.0154,  0.    ,  0.0307, -0.    , -0.1407, -0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    , -0.4161, -0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    , -0.9093],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.9093,  0.    ]],

       [[-0.    ,  0.088 , -0.    , -0.088 ,  0.    , -0.088 ,  0.    ],
        [-0.2006, -0.    , -0.2237,  0.    ,  0.1676,  0.    , -0.    ],
        [-0.    ,  0.2104, -0.    , -0.2104, -0.    , -0.2104,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  1.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    , -0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ]],

       [[ 0.    ,  0.    ,  0.    ,  0.    , -0.    ,  0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    , -0.    , -0.    , -0.    , -0.    ],
        [ 0.    , -0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ],
        [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.    ]]])

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

hierarchy()

Pretty print the robot link hierachy

Return type:: Pretty print of the robot model

Examples

Makes a robot and prints the heirachy

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.URDF.Panda()
>>> robot.hierarchy()
 panda_link0
   panda_link1
     panda_link2
       panda_link3
         panda_link4
           panda_link5
             panda_link6
               panda_link7
                 panda_link8
                   panda_hand
                     panda_leftfinger
                     panda_rightfinger

ik_GN(Tep, end=None, start=None, q0=None, ilimit=30, slimit=100, tol=1e-06, mask=None, joint_limits=True, pinv=True, pinv_damping=0.0)

Fast numerical inverse kinematics by Gauss-Newton optimization

sol = ets.ik_GN(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. This is a fast solver implemented in C++.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Note

When using this method with redundant robots (>6 DoF), pinv must be set to True

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
end (Union[str, Link, Gripper, None]) – the link considered as the end-effector
start (Union[str, Link, Gripper, None]) – the link considered as the base frame, defaults to the robots’s base frame
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
mask (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
joint_limits (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
pinv (int) – Use the psuedo-inverse instad of the normal matrix inverse
pinv_damping (float) – Damping factor for the psuedo-inverse

Return type:

Tuple[ndarray, int, int, int, float]

Returns:

sol – tuple (q, success, iterations, searches, residual)
The return value sol is a tuple with elements
============ ========== ===============================================
Element Type Description
============ ========== ===============================================
q ndarray(n) joint coordinates in units of radians or metres
success int whether a solution was found
iterations int total number of iterations
searches int total number of searches
residual float final value of cost function
============ ========== ===============================================
If success == 0 the q values will be valid numbers, but the
solution will be in error. The amount of error is indicated by
the residual.

Synopsis

Each iteration uses the Gauss-Newton optimisation method

\[\begin{split}\vec{q}_{k+1} &= \vec{q}_k + \left( {\mat{J}(\vec{q}_k)}^\top \mat{W}_e \ {\mat{J}(\vec{q}_k)} \right)^{-1} \bf{g}_k \\ \bf{g}_k &= {\mat{J}(\vec{q}_k)}^\top \mat{W}_e \vec{e}_k\end{split}\]

where $\mat{J} = {^0\mat{J}}$ is the base-frame manipulator Jacobian. If $\mat{J}(\vec{q}_k)$ is non-singular, and $\mat{W}_e = \mat{1}_n$, then the above provides the pseudoinverse solution. However, if $\mat{J}(\vec{q}_k)$ is singular, the above can not be computed and the GN solution is infeasible.

Examples

The following example gets a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_GN method.

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
>>> panda.ik_GN(Tep)
(array([-1.0805, -0.5328,  0.9086, -2.1781,  0.4612,  1.9018,  0.4239]), 1, 510, 32, 2.803306327008683e-09)

Notes

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

ik_NR: A fast numerical inverse kinematics solver using Newton-Raphson optimisation
ik_GN: A fast numerical inverse kinematics solver using Gauss-Newton optimisation

ik_LM(Tep, end=None, start=None, q0=None, ilimit=30, slimit=100, tol=1e-06, mask=None, joint_limits=True, k=1.0, method='chan')

Fast levenberg-Marquadt Numerical Inverse Kinematics Solver

A method which provides functionality to perform numerical inverse kinematics (IK) using the Levemberg-Marquadt method. This is a fast solver implemented in C++.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose
end (Union[str, Link, Gripper, None]) – the link considered as the end-effector
start (Union[str, Link, Gripper, None]) – the link considered as the base frame, defaults to the robots’s base frame
q0 (Optional[ndarray]) – The initial joint coordinate vector
ilimit (int) – How many iterations are allowed within a search before a new search is started
slimit (int) – How many searches are allowed before being deemed unsuccessful
tol (float) – Maximum allowed residual error E
mask (Optional[ndarray]) – A 6 vector which assigns weights to Cartesian degrees-of-freedom error priority
joint_limits (bool) – Reject solutions with joint limit violations
seed – A seed for the private RNG used to generate random joint coordinate vectors
k (float) – Sets the gain value for the damping matrix Wn in the next iteration. See synopsis
method (Literal['chan', 'wampler', 'sugihara']) – One of “chan”, “sugihara” or “wampler”. Defines which method is used to calculate the damping matrix Wn in the step method

Return type:

Tuple[ndarray, int, int, int, float]

Synopsis

The operation is defined by the choice of the method kwarg.

The step is deined as

\[\begin{split}\vec{q}_{k+1} &= \vec{q}_k + \left( \mat{A}_k \right)^{-1} \bf{g}_k \\ % \mat{A}_k &= {\mat{J}(\vec{q}_k)}^\top \mat{W}_e \ {\mat{J}(\vec{q}_k)} + \mat{W}_n\end{split}\]

where $\mat{W}_n = \text{diag}(\vec{w_n})(\vec{w_n} \in \mathbb{R}^n_{>0})$ is a diagonal damping matrix. The damping matrix ensures that $\mat{A}_k$ is non-singular and positive definite. The performance of the LM method largely depends on the choice of $\mat{W}_n$.

Chan’s Method

Chan proposed

\[\mat{W}_n = λ E_k \mat{1}_n\]

where λ is a constant which reportedly does not have much influence on performance. Use the kwarg k to adjust the weighting term λ.

Sugihara’s Method

Sugihara proposed

\[\mat{W}_n = E_k \mat{1}_n + \text{diag}(\hat{\vec{w}}_n)\]

where $\hat{\vec{w}}_n \in \mathbb{R}^n$, $\hat{w}_{n_i} = l^2 \sim 0.01 l^2$, and $l$ is the length of a typical link within the manipulator. We provide the variable k as a kwarg to adjust the value of $w_n$.

Wampler’s Method

Wampler proposed $\vec{w_n}$ to be a constant. This is set through the k kwarg.

Examples

The following example makes a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_LM method.

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
>>> panda.ikine_LM(Tep)
IKSolution(q=array([-0.8539, -0.4228,  0.742 , -2.1893,  0.3191,  1.954 ,  0.5343]), success=True, iterations=61, searches=4, residual=4.257612407309886e-07, reason='Success')

Notes

The value for the k kwarg will depend on the method chosen and the arm you are using. Use the following as a rough guide chan, k = 1.0 - 0.01, wampler, k = 0.01 - 0.0001, and sugihara, k = 0.1 - 0.0001

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

This class supports null-space motion to assist with maximising manipulability and avoiding joint limits. These are enabled by setting kq and km to non-zero values.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

ik_NR: A fast numerical inverse kinematics solver using Newton-Raphson optimisation
ik_GN: A fast numerical inverse kinematics solver using Gauss-Newton optimisation

Changed in version 1.0.4: Merged the Levemberg-Marquadt IK solvers into the ik_LM method

ik_NR(Tep, end=None, start=None, q0=None, ilimit=30, slimit=100, tol=1e-06, mask=None, joint_limits=True, pinv=True, pinv_damping=0.0)

Fast numerical inverse kinematics using Newton-Raphson optimization

sol = ets.ik_NR(Tep) are the joint coordinates (n) corresponding to the robot end-effector pose Tep which is an SE3 or ndarray object. This method can be used for robots with any number of degrees of freedom. This is a fast solver implemented in C++.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Note

When using this method with redundant robots (>6 DoF), pinv must be set to True

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose or pose trajectory
end (Union[str, Link, Gripper, None]) – the link considered as the end-effector
start (Union[str, Link, Gripper, None]) – the link considered as the base frame, defaults to the robots’s base frame
q0 (Optional[ndarray]) – initial joint configuration (default to random valid joint configuration contrained by the joint limits of the robot)
ilimit (int) – maximum number of iterations per search
slimit (int) – maximum number of search attempts
tol (float) – final error tolerance
mask (Optional[ndarray]) – a mask vector which weights the end-effector error priority. Corresponds to translation in X, Y and Z and rotation about X, Y and Z respectively
joint_limits (bool) – constrain the solution to being within the joint limits of the robot (reject solution with invalid joint configurations and perfrom another search up to the slimit)
pinv (int) – Use the psuedo-inverse instad of the normal matrix inverse
pinv_damping (float) – Damping factor for the psuedo-inverse

Return type:

Tuple[ndarray, int, int, int, float]

Returns:

sol – tuple (q, success, iterations, searches, residual)
The return value sol is a tuple with elements
============ ========== ===============================================
Element Type Description
============ ========== ===============================================
q ndarray(n) joint coordinates in units of radians or metres
success int whether a solution was found
iterations int total number of iterations
searches int total number of searches
residual float final value of cost function
============ ========== ===============================================
If success == 0 the q values will be valid numbers, but the
solution will be in error. The amount of error is indicated by
the residual.

Synopsis

Each iteration uses the Newton-Raphson optimisation method

\[\vec{q}_{k+1} = \vec{q}_k + {^0\mat{J}(\vec{q}_k)}^{-1} \vec{e}_k\]

Examples

The following example gets a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_GN method.

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
>>> panda.ik_NR(Tep)
(array([-1.0805, -0.5328,  0.9086, -2.1781,  0.4612,  1.9018,  0.4239]), 1, 489, 32, 2.8033063270234757e-09)

Notes

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

ik_LM: A fast numerical inverse kinematics solver using Levenberg-Marquadt optimisation
ik_GN: A fast numerical inverse kinematics solver using Gauss-Newton optimisation

ikine_GN(Tep, end=None, start=None, q0=None, ilimit=30, slimit=100, tol=1e-06, mask=None, joint_limits=True, seed=None, pinv=False, kq=0.0, km=0.0, ps=0.0, pi=0.3, **kwargs)

Gauss-Newton Numerical Inverse Kinematics Solver

A method which provides functionality to perform numerical inverse kinematics (IK) using the Gauss-Newton method.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Note

When using this method with redundant robots (>6 DoF), pinv must be set to True

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose
end (Union[str, Link, Gripper, None]) – the link considered as the end-effector
start (Union[str, Link, Gripper, None]) – the link considered as the base frame, defaults to the robots’s base frame
q0 (Union[ndarray, List[float], Tuple[float], Set[float], None]) – The initial joint coordinate vector
ilimit (int) – How many iterations are allowed within a search before a new search is started
slimit (int) – How many searches are allowed before being deemed unsuccessful
tol (float) – Maximum allowed residual error E
mask (Union[ndarray, List[float], Tuple[float], Set[float], None]) – A 6 vector which assigns weights to Cartesian degrees-of-freedom error priority
joint_limits (bool) – Reject solutions with joint limit violations
seed (Optional[int]) – A seed for the private RNG used to generate random joint coordinate vectors
pinv (bool) – If True, will use the psuedoinverse in the step method instead of the normal inverse
kq (float) – The gain for joint limit avoidance. Setting to 0.0 will remove this completely from the solution
km (float) – The gain for maximisation. Setting to 0.0 will remove this completely from the solution
ps (float) – The minimum angle/distance (in radians or metres) in which the joint is allowed to approach to its limit
pi (Union[ndarray, float]) – The influence angle/distance (in radians or metres) in null space motion becomes active

Synopsis

Each iteration uses the Gauss-Newton optimisation method

\[\begin{split}\vec{q}_{k+1} &= \vec{q}_k + \left( {\mat{J}(\vec{q}_k)}^\top \mat{W}_e \ {\mat{J}(\vec{q}_k)} \right)^{-1} \bf{g}_k \\ \bf{g}_k &= {\mat{J}(\vec{q}_k)}^\top \mat{W}_e \vec{e}_k\end{split}\]

where $\mat{J} = {^0\mat{J}}$ is the base-frame manipulator Jacobian. If $\mat{J}(\vec{q}_k)$ is non-singular, and $\mat{W}_e = \mat{1}_n$, then the above provides the pseudoinverse solution. However, if $\mat{J}(\vec{q}_k)$ is singular, the above can not be computed and the GN solution is infeasible.

Examples

The following example gets a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_GN method.

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
>>> panda.ikine_GN(Tep)
IKSolution(q=array([-0.603 , -1.0082, -2.0555, -0.5958, -2.191 ,  0.6342, -1.7251]), success=False, iterations=100, searches=100, residual=0.0, reason='iteration and search limit reached, 100 numpy.LinAlgError encountered')

Notes

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

This class supports null-space motion to assist with maximising manipulability and avoiding joint limits. These are enabled by setting kq and km to non-zero values.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

IK_NR: An IK Solver class which implements the Newton-Raphson optimisation technique
ikine_LM: Implements the IK_LM class as a method within the ETS class
ikine_NR: Implements the IK_NR class as a method within the ETS class
ikine_QP: Implements the IK_QP class as a method within the ETS class

Changed in version 1.0.4: Added the Gauss-Newton IK solver method on the Robot class

ikine_NR(Tep, end=None, start=None, q0=None, ilimit=30, slimit=100, tol=1e-06, mask=None, joint_limits=True, seed=None, pinv=False, kq=0.0, km=0.0, ps=0.0, pi=0.3, **kwargs)

Newton-Raphson Numerical Inverse Kinematics Solver

A method which provides functionality to perform numerical inverse kinematics (IK) using the Newton-Raphson method.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Note

When using this method with redundant robots (>6 DoF), pinv must be set to True

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose
end (Union[str, Link, Gripper, None]) – the link considered as the end-effector
start (Union[str, Link, Gripper, None]) – the link considered as the base frame, defaults to the robots’s base frame
q0 (Union[ndarray, List[float], Tuple[float], Set[float], None]) – The initial joint coordinate vector
ilimit (int) – How many iterations are allowed within a search before a new search is started
slimit (int) – How many searches are allowed before being deemed unsuccessful
tol (float) – Maximum allowed residual error E
mask (Union[ndarray, List[float], Tuple[float], Set[float], None]) – A 6 vector which assigns weights to Cartesian degrees-of-freedom error priority
joint_limits (bool) – Reject solutions with joint limit violations
seed (Optional[int]) – A seed for the private RNG used to generate random joint coordinate vectors
pinv (bool) – If True, will use the psuedoinverse in the step method instead of the normal inverse
kq (float) – The gain for joint limit avoidance. Setting to 0.0 will remove this completely from the solution
km (float) – The gain for maximisation. Setting to 0.0 will remove this completely from the solution
ps (float) – The minimum angle/distance (in radians or metres) in which the joint is allowed to approach to its limit
pi (Union[ndarray, float]) – The influence angle/distance (in radians or metres) in null space motion becomes active

Synopsis

Each iteration uses the Newton-Raphson optimisation method

\[\vec{q}_{k+1} = \vec{q}_k + {^0\mat{J}(\vec{q}_k)}^{-1} \vec{e}_k\]

Examples

The following example gets a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_NR method.

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> Tep = panda.fkine([0, -0.3, 0, -2.2, 0, 2, 0.7854])
>>> panda.ikine_NR(Tep)
IKSolution(q=array([-2.2737, -1.4516, -0.5652, -2.2696, -0.8241,  0.3567, -2.4835]), success=False, iterations=100, searches=100, residual=0.0, reason='iteration and search limit reached, 100 numpy.LinAlgError encountered')

Notes

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

This class supports null-space motion to assist with maximising manipulability and avoiding joint limits. These are enabled by setting kq and km to non-zero values.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

IK_NR: An IK Solver class which implements the Newton-Raphson optimisation technique
ikine_LM: Implements the IK_LM class as a method within the ETS class
ikine_GN: Implements the IK_GN class as a method within the ETS class
ikine_QP: Implements the IK_QP class as a method within the ETS class

Changed in version 1.0.4: Added the Newton-Raphson IK solver method on the Robot class

ikine_QP(Tep, end=None, start=None, q0=None, ilimit=30, slimit=100, tol=1e-06, mask=None, joint_limits=True, seed=None, kj=1.0, ks=1.0, kq=0.0, km=0.0, ps=0.0, pi=0.3, **kwargs)

Quadratic Programming Numerical Inverse Kinematics Solver

A method that provides functionality to perform numerical inverse kinematics (IK) using a quadratic progamming approach.

See the Inverse Kinematics Docs Page for more details and for a tutorial on numerical IK, see here.

Parameters:

Tep (Union[ndarray, SE3]) – The desired end-effector pose
end (Union[str, Link, Gripper, None]) – the link considered as the end-effector
start (Union[str, Link, Gripper, None]) – the link considered as the base frame, defaults to the robots’s base frame
q0 (Union[ndarray, List[float], Tuple[float], Set[float], None]) – The initial joint coordinate vector
ilimit (int) – How many iterations are allowed within a search before a new search is started
slimit (int) – How many searches are allowed before being deemed unsuccessful
tol (float) – Maximum allowed residual error E
mask (Union[ndarray, List[float], Tuple[float], Set[float], None]) – A 6 vector which assigns weights to Cartesian degrees-of-freedom error priority
joint_limits (bool) – Reject solutions with joint limit violations
seed (Optional[int]) – A seed for the private RNG used to generate random joint coordinate vectors
kj – A gain for joint velocity norm minimisation
ks – A gain which adjusts the cost of slack (intentional error)
kq (float) – The gain for joint limit avoidance. Setting to 0.0 will remove this completely from the solution
km (float) – The gain for maximisation. Setting to 0.0 will remove this completely from the solution
ps (float) – The minimum angle/distance (in radians or metres) in which the joint is allowed to approach to its limit
pi (Union[ndarray, float]) – The influence angle/distance (in radians or metres) in null space motion becomes active

Raises:

ImportError – If the package qpsolvers is not installed

Synopsis

Each iteration uses the following approach

\[\vec{q}_{k+1} = \vec{q}_{k} + \dot{\vec{q}}.\]

where the QP is defined as

\[\begin{split}\min_x \quad f_o(\vec{x}) &= \frac{1}{2} \vec{x}^\top \mathcal{Q} \vec{x}+ \mathcal{C}^\top \vec{x}, \\ \text{subject to} \quad \mathcal{J} \vec{x} &= \vec{\nu}, \\ \mathcal{A} \vec{x} &\leq \mathcal{B}, \\ \vec{x}^- &\leq \vec{x} \leq \vec{x}^+\end{split}\]

with

\[\begin{split}\vec{x} &= \begin{pmatrix} \dvec{q} \\ \vec{\delta} \end{pmatrix} \in \mathbb{R}^{(n+6)} \\ \mathcal{Q} &= \begin{pmatrix} \lambda_q \mat{1}_{n} & \mathbf{0}_{6 \times 6} \\ \mathbf{0}_{n \times n} & \lambda_\delta \mat{1}_{6} \end{pmatrix} \in \mathbb{R}^{(n+6) \times (n+6)} \\ \mathcal{J} &= \begin{pmatrix} \mat{J}(\vec{q}) & \mat{1}_{6} \end{pmatrix} \in \mathbb{R}^{6 \times (n+6)} \\ \mathcal{C} &= \begin{pmatrix} \mat{J}_m \\ \bf{0}_{6 \times 1} \end{pmatrix} \in \mathbb{R}^{(n + 6)} \\ \mathcal{A} &= \begin{pmatrix} \mat{1}_{n \times n + 6} \\ \end{pmatrix} \in \mathbb{R}^{(l + n) \times (n + 6)} \\ \mathcal{B} &= \eta \begin{pmatrix} \frac{\rho_0 - \rho_s} {\rho_i - \rho_s} \\ \vdots \\ \frac{\rho_n - \rho_s} {\rho_i - \rho_s} \end{pmatrix} \in \mathbb{R}^{n} \\ \vec{x}^{-, +} &= \begin{pmatrix} \dvec{q}^{-, +} \\ \vec{\delta}^{-, +} \end{pmatrix} \in \mathbb{R}^{(n+6)},\end{split}\]

where $\vec{\delta} \in \mathbb{R}^6$ is the slack vector, $\lambda_\delta \in \mathbb{R}^+$ is a gain term which adjusts the cost of the norm of the slack vector in the optimiser, $\dvec{q}^{-,+}$ are the minimum and maximum joint velocities, and $\dvec{\delta}^{-,+}$ are the minimum and maximum slack velocities.

Examples

The following example gets a panda robot object, makes a goal pose Tep, and then solves for the joint coordinates which result in the pose Tep using the ikine_QP method.

  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/roboticstoolbox/robot/IK.py", line 1331, in __init__
    "the package qpsolvers is required for this class. \nInstall using 'pip"
ImportError: the package qpsolvers is required for this class. 
Install using 'pip install qpsolvers'

Notes

When using the this method, the initial joint coordinates $q_0$, should correspond to a non-singular manipulator pose, since it uses the manipulator Jacobian.

This class supports null-space motion to assist with maximising manipulability and avoiding joint limits. These are enabled by setting kq and km to non-zero values.

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

See also

IK_NR: An IK Solver class which implements the Newton-Raphson optimisation technique
ikine_LM: Implements the IK_LM class as a method within the ETS class
ikine_GN: Implements the IK_GN class as a method within the ETS class
ikine_NR: Implements the IK_NR class as a method within the ETS class

Changed in version 1.0.4: Added the Quadratic Programming IK solver method on the Robot class

inertia(q)

Manipulator inertia matrix inertia(q) is the symmetric joint inertia matrix (n,n) which relates joint torque to joint acceleration for the robot at joint configuration q.

Trajectory operation

If q is a matrix (m,n), each row is interpretted as a joint state vector, and the result is a 3d-matrix (nxnxk) where each plane corresponds to the inertia for the corresponding row of q.

Parameters:: q (ndarray) – Joint coordinates
Returns:: The inertia matrix
Return type:: inertia

Examples

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.inertia(puma.qz)
array([[ 3.9611, -0.1627, -0.1389,  0.0016, -0.0004,  0.    ],
       [-0.1627,  4.4566,  0.3727,  0.    ,  0.0019,  0.    ],
       [-0.1389,  0.3727,  0.9387,  0.    ,  0.0019,  0.    ],
       [ 0.0016,  0.    ,  0.    ,  0.1924,  0.    ,  0.    ],
       [-0.0004,  0.0019,  0.0019,  0.    ,  0.1713,  0.    ],
       [ 0.    ,  0.    ,  0.    ,  0.    ,  0.    ,  0.1941]])

Notes

The diagonal elements M[j,j] are the inertia seen by joint
actuator j.
The off-diagonal elements M[j,k] are coupling inertias that
relate acceleration on joint j to force/torque on joint k.
The diagonal terms include the motor inertia reflected through
the gear ratio.

See also

cinertia()

inertia_x(q=None, pinv=False, representation='rpy/xyz', Ji=None)

Operational space inertia matrix

robot.inertia_x(q) is the operational space (Cartesian) inertia matrix which relates Cartesian force/torque to Cartesian acceleration at the joint configuration q.

\[\mathbf{M}_x = \mathbf{J}(q)^{-T} \mathbf{M}(q) \mathbf{J}(q)^{-1}\]

The transformation to operational space requires an analytical, rather than geometric, Jacobian. analytical can be one of:

Value

Rotational representation

'rpy/xyz'

RPY angular rates in XYZ order (default)

'rpy/zyx'

RPY angular rates in XYZ order

'eul'

Euler angular rates in ZYZ order

'exp'

exponential coordinate rates

Trajectory operation

If q is a matrix (m,n), each row is interpretted as a joint state vector, and the result is a 3d-matrix (m,n,n) where each plane corresponds to the Cartesian inertia for the corresponding row of q.

Parameters:

q – Joint coordinates
pinv – use pseudo inverse rather than inverse (Default value = False)
analytical – the type of analytical Jacobian to use, default is ‘rpy/xyz’
representation – (Default value = “rpy/xyz”)
Ji – The inverse analytical Jacobian (base-frame)

Returns:

The operational space inertia matrix

Return type:

inertia_x

Examples

    ainv = _umath_linalg.inv(a, signature=signature, extobj=extobj)
  File "/opt/hostedtoolcache/Python/3.7.17/x64/lib/python3.7/site-packages/numpy/linalg/linalg.py", line 88, in _raise_linalgerror_singular
    raise LinAlgError("Singular matrix")
numpy.linalg.LinAlgError: Singular matrix

Notes

If the robot is not 6 DOF the pinv option is set True.
pinv() is around 5x slower than inv()

Warning

Assumes that the operational space has 6 DOF.

See also

inertia()

iscollided(q, shape, skip=False)

Check if the robot is in collision with a shape

iscollided(shape) checks if this robot and shape have collided

shape: The shape to compare distance to

skip: Skip setting all shape transforms based on q, use this option if using this method in conjuction with Swift to save time

Returns:: True if shapes have collided
Return type:: iscollided

isprismatic(j)

Check if joint is prismatic

Returns:: True if prismatic
Return type:: j

Examples

See also

Link.isprismatic(), prismaticjoints()

isrevolute(j)

Check if joint is revolute

Returns:: True if revolute
Return type:: j

Examples

See also

Link.isrevolute(), revolutejoints()

itorque(q, qdd)

Inertia torque

itorque(q, qdd) is the inertia force/torque vector (n) at the specified joint configuration q (n) and acceleration qdd (n), and n is the number of robot joints. It is $\mathbf{I}(q) \ddot{q}$.

Trajectory operation

If q and qdd are matrices (m,n), each row is interpretted as a joint configuration, and the result is a matrix (m,n) where each row is the corresponding joint torques.

Parameters:

q – Joint coordinates
qdd – Joint acceleration

Returns:

The inertia torque vector

Return type:

itorque

Examples

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.itorque(puma.qz, 0.5 * np.ones((6,)))
array([1.8304, 2.3343, 0.5872, 0.0971, 0.0873, 0.0971])

Notes

If the robot model contains non-zero motor inertia then this
will be included in the result.

See also

inertia()

jacob0_dot(q, qd, J0=None, representation=None)

Derivative of Jacobian

robot.jacob_dot(q, qd) computes the rate of change of the Jacobian elements

\[\dmat{J} = \frac{d \mat{J}}{d \vec{q}} \frac{d \vec{q}}{dt}\]

where the first term is the rank-3 Hessian.

Parameters:

q –
robot (The joint configuration of the) –
qd (Union[ndarray, List[float], Tuple[float], Set[float]]) – The joint velocity of the robot
J0 – Jacobian in {0} frame
representation (Optional[Literal['rpy/xyz', 'rpy/zyx', 'eul', 'exp']]) – angular representation

Returns:

The derivative of the manipulator Jacobian

Return type:

jdot

Synopsis

If J0 is already calculated for the joint coordinates q it can be passed in to to save computation time.

It is computed as the mode-3 product of the Hessian tensor and the velocity vector.

The derivative of an analytical Jacobian can be obtained by setting representation as

|``representation`` | Rotational representation | |---------------------|————————————-| |'rpy/xyz' | RPY angular rates in XYZ order | |'rpy/zyx' | RPY angular rates in XYZ order | |'eul' | Euler angular rates in ZYZ order | |'exp' | exponential coordinate rates |

References

Kinematic Derivatives using the Elementary Transform
Sequence, J. Haviland and P. Corke

See also

jacob0(), hessian0()

jacobm(q=None, J=None, H=None, end=None, start=None, axes='all')

The manipulability Jacobian

This measure relates the rate of change of the manipulability to the joint velocities of the robot. One of J or q is required. Supply J and H if already calculated to save computation time

Parameters:

q – The joint angles/configuration of the robot (Optional, if not supplied will use the stored q values).
J – The manipulator Jacobian in any frame
H – The manipulator Hessian in any frame
end (Union[str, Link, Gripper, None]) – the final link or Gripper which the Hessian represents
start (Union[str, Link, Gripper, None]) – the first link which the Hessian represents

Returns:

The manipulability Jacobian

Return type:

jacobm

Synopsis

Yoshikawa’s manipulability measure

\[m(\vec{q}) = \sqrt{\mat{J}(\vec{q}) \mat{J}(\vec{q})^T}\]

This method returns its Jacobian with respect to configuration

\[\frac{\partial m(\vec{q})}{\partial \vec{q}}\]

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

joint_velocity_damper(ps=0.05, pi=0.1, n=None, gain=1.0)

Compute the joint velocity damper for QP motion control

Formulates an inequality contraint which, when optimised for will make it impossible for the robot to run into joint limits. Requires the joint limits of the robot to be specified. See examples/mmc.py for use case

ps: The minimum angle (in radians) in which the joint is allowed to approach to its limit

pi: The influence angle (in radians) in which the velocity damper becomes active

n: The number of joints to consider. Defaults to all joints

gain: The gain for the velocity damper

Return type:

Tuple[ndarray, ndarray]

Returns:

Ain – A (6,) vector inequality contraint for an optisator
Bin – b (6,) vector inequality contraint for an optisator

jointdynamics(q, qd=None)

Transfer function of joint actuator

tf = jointdynamics(qd, q) calculates a vector of n continuous-time transfer functions that represent the transfer function 1/(Js+B) for each joint based on the dynamic parameters of the robot and the configuration q (n). n is the number of robot joints. The result is a list of tuples (J, B) for each joint.

tf = jointdynamics(q, qd) as above but include the linearized effects of Coulomb friction when operating at joint velocity QD (1xN).

Parameters:

q – Joint coordinates
qd – Joint velocity

Returns:

transfer function denominators

Return type:

list of 2-tuples

jtraj(T1, T2, t, **kwargs)

Joint-space trajectory between SE(3) poses

The initial and final poses are mapped to joint space using inverse kinematics:

if the object has an analytic solution ikine_a that will be used,
otherwise the general numerical algorithm ikine_lm will be used.

traj = obot.jtraj(T1, T2, t) is a trajectory object whose attribute traj.q is a row-wise joint-space trajectory.

Parameters:

T1 (Union[ndarray, SE3]) – initial end-effector pose
T2 (Union[ndarray, SE3]) – final end-effector pose
t (Union[ndarray, int]) – time vector or number of steps
kwargs – arguments passed to the IK solver

Return type:

trajectory

property keywords: List[str]

link_collision_damper(shape, q, di=0.3, ds=0.05, xi=1.0, end=None, start=None, collision_list=None)

Compute a collision constrain for QP motion control

Formulates an inequality contraint which, when optimised for will make it impossible for the robot to run into a collision. Requires See examples/neo.py for use case

ds: The minimum distance in which a joint is allowed to approach the collision object shape

di: The influence distance in which the velocity damper becomes active

xi: The gain for the velocity damper

end: The end link of the robot to consider

start: The start link of the robot to consider

collision_list: A list of shapes to consider for collision

Returns:

Ain – A (6,) vector inequality contraint for an optisator
Bin – b (6,) vector inequality contraint for an optisator

property link_dict: Dict[str, LinkType]

linkcolormap(linkcolors='viridis')

Create a colormap for robot joints

cm = robot.linkcolormap() is an n-element colormap that gives a unique color for every link. The RGBA colors for link j are cm(j).
cm = robot.linkcolormap(cmap) as above but cmap is the name of a valid matplotlib colormap. The default, example above, is the viridis colormap.
cm = robot.linkcolormap(list of colors) as above but a colormap is created from a list of n color names given as strings, tuples or hexstrings.

Parameters:: linkcolors (Union[List[Any], str]) – list of colors or colormap, defaults to “viridis”
Returns:: the color map
Return type:: color map

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> cm = robot.linkcolormap("inferno")
>>> print(cm(range(6))) # cm(i) is 3rd color in colormap
[[0.0015 0.0005 0.0139 1.    ]
 [0.2582 0.0386 0.4065 1.    ]
 [0.5783 0.148  0.4044 1.    ]
 [0.865  0.3168 0.2261 1.    ]
 [0.9876 0.6453 0.0399 1.    ]
 [0.9884 0.9984 0.6449 1.    ]]
>>> cm = robot.linkcolormap(
...     ['red', 'g', (0,0.5,0), '#0f8040', 'yellow', 'cyan'])
>>> print(cm(range(6)))
[[1.     0.     0.     1.    ]
 [0.     0.5    0.     1.    ]
 [0.     0.5    0.     1.    ]
 [0.0588 0.502  0.251  1.    ]
 [1.     1.     0.     1.    ]
 [0.     1.     1.     1.    ]]

Notes

Colormaps have 4-elements: red, green, blue, alpha (RGBA)
Names of supported colors and colormaps are defined in the matplotlib documentation.
- `Specifying colors
<https://matplotlib.org/3.1.0/tutorials/colors/colors.html#sphx-glr-tutorials-colors-colors-py>`_ - Colormaps

property links: List[LinkType]

Robot links

Returns:: A list of link objects
Return type:: links

Notes

It is probably more concise to index the robot object rather than the list of links, ie. the following are equivalent: - robot.links[i] - robot[i]

manipulability(q=None, J=None, end=None, start=None, method='yoshikawa', axes='all', **kwargs)

Manipulability measure

manipulability(q) is the scalar manipulability index for the robot at the joint configuration q. It indicates dexterity, that is, how well conditioned the robot is for motion with respect to the 6 degrees of Cartesian motion. The values is zero if the robot is at a singularity.

Parameters:

q – Joint coordinates, one of J or q required
J – Jacobian in base frame if already computed, one of J or q required
method (Literal['yoshikawa', 'asada', 'minsingular', 'invcondition']) – method to use, “yoshikawa” (default), “invcondition”, “minsingular” or “asada”
axes (Union[Literal['all', 'trans', 'rot'], List[bool]]) – Task space axes to consider: “all” [default], “trans”, or “rot”

Return type:

manipulability

Synopsis

Various measures are supported:

Measure | Description |

|-------------------|————————————————-| | "yoshikawa" | Volume of the velocity ellipsoid, distance | | | from singularity [Yoshikawa85] | | "invcondition"``| Inverse condition number of Jacobian, isotropy | | | of the velocity ellipsoid [Klein87]_ | | ``"minsingular" | Minimum singular value of the Jacobian, | | | distance from singularity [Klein87] | | "asada" | Isotropy of the task-space acceleration | | | ellipsoid which is a function of the Cartesian | | | inertia matrix which depends on the inertial | | | parameters [Asada83] |

Trajectory operation:

If q is a matrix (m,n) then the result (m,) is a vector of manipulability indices for each joint configuration specified by a row of q.

Notes

Invokes the jacob0 method of the robot if J is not passed
The “all” option includes rotational and translational
dexterity, but this involves adding different units. It can be more useful to look at the translational and rotational manipulability separately.
Examples in the RVC book (1st edition) can be replicated by
using the “all” option
Asada’s measure requires inertial a robot model with inertial
parameters.

References

[Yoshikawa85]

Manipulability of Robotic Mechanisms. Yoshikawa T., The International Journal of Robotics Research. 1985;4(2):3-9. doi:10.1177/027836498500400201

[Asada83]

A geometrical representation of manipulator dynamics and its application to arm design, H. Asada, Journal of Dynamic Systems, Measurement, and Control, vol. 105, p. 131, 1983.

[Klein87]

Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators. Klein CA, Blaho BE. The International Journal of Robotics Research. 1987;6(2):72-83. doi:10.1177/027836498700600206

Robotics, Vision & Control, Chap 8, P. Corke, Springer 2011.

Changed in version 1.0.3: Removed ‘both’ option for axes, added a custom list option.

property manufacturer

Get/set robot manufacturer’s name

robot.manufacturer is the robot manufacturer’s name
robot.manufacturer = ... checks and sets the manufacturer’s name

Returns:: robot manufacturer’s name
Return type:: manufacturer

property n: int

Number of joints

Returns:: Number of joints
Return type:: n

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.n
6

See also

nlinks(), nbranches()

property name: str

Get/set robot name

robot.name is the robot name
robot.name = ... checks and sets the robot name

Parameters:: name – the new robot name
Returns:: the current robot name
Return type:: name

property nlinks

Number of links

The returned number is the total of both variable joints and static links

Returns:: Number of links
Return type:: nlinks

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.nlinks
6

See also

n(), nbranches()

nofriction(coulomb=True, viscous=False)

Remove manipulator joint friction

nofriction() copies the robot and returns a robot with the same link parameters except the Coulomb and/or viscous friction parameter are set to zero.

Parameters:

coulomb (bool) – set the Coulomb friction to 0
viscous (bool) – set the viscous friction to 0

Returns:

A copy of the robot with dynamic parameters perturbed

Return type:

robot

See also

Robot.friction(), Link.nofriction()

partial_fkine0(q, n=3, end=None, start=None)

Manipulator Forward Kinematics nth Partial Derivative

This method computes the nth derivative of the forward kinematics where n is greater than or equal to 3. This is an extension of the differential kinematics where the Jacobian is the first partial derivative and the Hessian is the second.

Parameters:

q (Union[ndarray, List[float], Tuple[float], Set[float]]) – The joint angles/configuration of the robot (Optional, if not supplied will use the stored q values).
end (Union[str, Link, Gripper, None]) – the final link/Gripper which the Hessian represents
start (Union[str, Link, Gripper, None]) – the first link which the Hessian represents
tool – a static tool transformation matrix to apply to the end of end, defaults to None

Returns:

The nth Partial Derivative of the forward kinematics

Return type:

A

Examples

The following example makes a Panda robot object, and solves for the base-effector frame 4th defivative of the forward kinematics at the given joint angle configuration

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.Panda()
>>> panda.partial_fkine0([0, -0.3, 0, -2.2, 0, 2, 0.7854], n=4)
array([[[[[ 0.484 ,  0.    ,  0.486 , ...,  0.1547, -0.    ,  0.    ],
          [-0.    , -0.0796, -0.    , ..., -0.    , -0.2006,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  1.    ,  0.    , ..., -0.    , -1.    , -0.    ],
          [ 0.    ,  0.    ,  0.2955, ..., -0.9463,  0.    , -0.0998],
          [ 0.    , -0.    ,  0.    , ..., -0.    ,  0.    , -0.    ]],

         [[ 0.    ,  0.484 ,  0.    , ...,  0.    , -0.1086,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-1.    ,  0.    , -0.9553, ...,  0.3233, -0.    ,  0.995 ],
          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[ 0.4624,  0.    ,  0.4643, ...,  0.1478, -0.    ,  0.    ],
          [-0.    ,  0.067 , -0.    , ..., -0.    , -0.2237,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.9553,  0.    , ..., -0.    , -0.9553, -0.    ],
          [-0.2955, -0.    ,  0.    , ..., -0.8085,  0.    ,  0.1987],
          [-0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         ...,

         [[-0.1565, -0.    , -0.1571, ..., -0.05  ,  0.    ,  0.    ],
          [ 0.    , -0.4323,  0.    , ..., -0.    ,  0.1676,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.3233,  0.    , ...,  0.    ,  0.3233, -0.    ],
          [ 0.9463,  0.    ,  0.8085, ...,  0.    ,  0.    , -0.9093],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[ 0.    , -0.484 ,  0.    , ..., -0.    ,  0.1086,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 1.    ,  0.    ,  0.9553, ..., -0.3233,  0.    , -0.995 ],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.4816, -0.    , -0.4835, ..., -0.1539,  0.    ,  0.    ],
          [ 0.    ,  0.0309,  0.    , ...,  0.    ,  0.2104,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.995 ,  0.    , ...,  0.    ,  0.995 ,  0.    ],
          [ 0.0998,  0.    , -0.1987, ...,  0.9093, -0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ]]],


        [[[ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    , -0.0796, -0.    , ..., -0.    , -0.2006,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    , -0.    ,  0.2955, ..., -0.9463,  0.    , -0.0998]],

         [[-0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.0796, -0.    , ..., -0.    , -0.2006,  0.    ],
          [-0.0796, -0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.    ,  0.2955, ..., -0.9463,  0.    , -0.0998],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.143 , -0.    , -0.1436, ..., -0.0457, -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    , -0.2955,  0.    , ..., -0.    ,  0.2955,  0.    ],
          [-0.2955, -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         ...,

         [[ 0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.4581,  0.    ,  0.4599, ...,  0.1464,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.9463,  0.    , ...,  0.    , -0.9463, -0.    ],
          [ 0.9463,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ]],

         [[ 0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.    ,  0.0796,  0.    , ...,  0.    ,  0.2006,  0.    ],
          [ 0.0796,  0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.    , -0.    , -0.2955, ...,  0.9463,  0.    ,  0.0998],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.0483,  0.    ,  0.0485, ...,  0.0154,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.0998, -0.    , ...,  0.    , -0.0998,  0.    ],
          [ 0.0998,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ]]],


        [[[ 0.4624,  0.    ,  0.4643, ...,  0.1478, -0.    ,  0.    ],
          [-0.    , -0.0761, -0.    , ..., -0.    , -0.1916,  0.    ],
          [-0.143 , -0.    , -0.1436, ..., -0.0457, -0.    ,  0.    ],
          [ 0.    ,  0.9553,  0.    , ..., -0.    , -0.9553, -0.    ],
          [ 0.    ,  0.    ,  0.2823, ..., -0.904 ,  0.    , -0.0954],
          [ 0.    , -0.2955,  0.    , ...,  0.    ,  0.2955,  0.    ]],

         [[ 0.    ,  0.4624,  0.    , ...,  0.    , -0.1037,  0.    ],
          [-0.    , -0.    , -0.1436, ..., -0.0457, -0.    ,  0.    ],
          [ 0.    ,  0.0091,  0.    , ...,  0.    ,  0.1916,  0.    ],
          [-0.9553,  0.    , -0.9127, ...,  0.3089, -0.    ,  0.9506],
          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.2955,  0.    ],
          [ 0.2955,  0.    , -0.2823, ...,  0.904 , -0.    ,  0.0954]],

         [[ 0.4418,  0.    ,  0.486 , ...,  0.1547, -0.    ,  0.    ],
          [-0.    ,  0.064 , -0.    , ..., -0.    , -0.2137,  0.    ],
          [-0.007 ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.9127,  0.    , ..., -0.    , -1.    , -0.    ],
          [-0.2823, -0.    ,  0.    , ..., -0.7724,  0.    ,  0.1898],
          [-0.    ,  0.2823,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         ...,

         [[-0.1495, -0.    , -0.286 , ..., -0.091 ,  0.    ,  0.    ],
          [ 0.    , -0.413 ,  0.    , ..., -0.    ,  0.1601,  0.    ],
          [ 0.0223, -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.3089,  0.    , ..., -0.    ,  0.5885, -0.    ],
          [ 0.904 ,  0.    ,  0.7724, ...,  0.    ,  0.    , -0.8687],
          [-0.    , -0.904 ,  0.    , ...,  0.    , -0.    , -0.    ]],

         [[ 0.    , -0.486 ,  0.    , ..., -0.    ,  0.0444,  0.    ],
          [-0.143 ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.067 ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.9553,  0.    ,  1.    , ..., -0.5885,  0.    , -0.9801],
          [-0.    , -0.2955, -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.2955,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.4601, -0.    , -0.4763, ..., -0.1516,  0.    ,  0.    ],
          [ 0.    ,  0.0295,  0.    , ...,  0.    ,  0.201 ,  0.    ],
          [ 0.0023,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.9506,  0.    , ...,  0.    ,  0.9801,  0.    ],
          [ 0.0954, -0.    , -0.1898, ...,  0.8687, -0.    ,  0.    ],
          [-0.    , -0.0954, -0.    , ...,  0.    , -0.    ,  0.    ]]],


        ...,


        [[[-0.1565, -0.    , -0.1571, ..., -0.05  ,  0.    ,  0.    ],
          [ 0.    ,  0.0257,  0.    , ...,  0.    ,  0.0648,  0.    ],
          [ 0.4581,  0.    ,  0.4599, ...,  0.1464,  0.    ,  0.    ],
          [ 0.    , -0.3233, -0.    , ...,  0.    ,  0.3233,  0.    ],
          [ 0.    , -0.    , -0.0955, ...,  0.3059, -0.    ,  0.0323],
          [ 0.    ,  0.9463, -0.    , ...,  0.    , -0.9463, -0.    ]],

         [[-0.    , -0.1565, -0.    , ..., -0.    ,  0.0351,  0.    ],
          [ 0.    , -0.    , -0.0457, ...,  0.1464,  0.    ,  0.    ],
          [-0.    ,  0.4066, -0.    , ...,  0.    , -0.0648,  0.    ],
          [ 0.3233,  0.    ,  0.3089, ..., -0.1045,  0.    , -0.3217],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.9463, -0.    ],
          [-0.9463,  0.    , -0.713 , ..., -0.3059, -0.    , -0.0323]],

         [[-0.1495, -0.    , -0.1366, ..., -0.091 , -0.    ,  0.    ],
          [ 0.    , -0.0217,  0.    , ...,  0.    ,  0.0723,  0.    ],
          [ 0.2994,  0.    ,  0.3028, ...,  0.1251,  0.    ,  0.    ],
          [ 0.    , -0.3089,  0.    , ...,  0.    ,  0.5885,  0.    ],
          [ 0.0955,  0.    ,  0.    , ...,  0.2614, -0.    , -0.0642],
          [ 0.    ,  0.713 ,  0.    , ...,  0.    , -0.8085, -0.    ]],

         ...,

         [[ 0.0506,  0.    ,  0.0075, ...,  0.1547,  0.    ,  0.    ],
          [-0.    ,  0.1398, -0.    , ..., -0.    , -0.0542,  0.    ],
          [ 0.2945,  0.    ,  0.2885, ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.1045, -0.    , ...,  0.    , -1.    , -0.    ],
          [-0.3059, -0.    , -0.2614, ...,  0.    ,  0.    ,  0.294 ],
          [-0.    ,  0.3059, -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.2318,  0.    , ...,  0.    ,  0.1547,  0.    ],
          [ 0.4581,  0.    ,  0.5056, ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.4323,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.3233, -0.    , -0.5885, ...,  1.    ,  0.    ,  0.4161],
          [ 0.    ,  0.9463,  0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.9463,  0.    ,  0.8085, ..., -0.    ,  0.    ,  0.    ]],

         [[ 0.1557,  0.    ,  0.1518, ...,  0.0644,  0.    ,  0.    ],
          [ 0.    , -0.01  ,  0.    , ..., -0.    , -0.068 ,  0.    ],
          [ 0.0311, -0.    ,  0.0304, ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.3217, -0.    , ...,  0.    , -0.4161,  0.    ],
          [-0.0323,  0.    ,  0.0642, ..., -0.294 ,  0.    ,  0.    ],
          [ 0.    ,  0.0323,  0.    , ..., -0.    ,  0.    ,  0.    ]]],


        [[[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
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          [ 0.    , -0.    , -0.2955, ...,  0.9463,  0.    ,  0.0998]],

         [[-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.2006, -0.    , ...,  0.    ,  0.2006,  0.    ],
          [-0.2006, -0.    , -0.2237, ...,  0.1676,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.0998],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ]],

         [[ 0.    ,  0.0593,  0.    , ...,  0.    , -0.0593,  0.    ],
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          [ 0.    , -0.0349,  0.    , ...,  0.    ,  0.1916,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.0295],
          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.2955,  0.    ,  0.    , ...,  0.8085, -0.    ,  0.0954]],

         ...,

         [[-0.    , -0.1898, -0.    , ...,  0.    ,  0.1898,  0.    ],
          [ 0.    , -0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.3296, -0.    , ..., -0.    , -0.0648,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.0945],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [-0.9463, -0.    , -0.8085, ...,  0.    ,  0.    , -0.0323]],

         [[ 0.    , -0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.2006,  0.    , ..., -0.    , -0.2006,  0.    ],
          [ 0.2006,  0.    ,  0.2237, ..., -0.1676, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.    , -0.0998],
          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ]],

         [[-0.    , -0.028 , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.0483,  0.    , -0.0485, ..., -0.0154, -0.    ,  0.    ],
          [ 0.    ,  0.0375,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    , -0.    ,  0.0295, ..., -0.0945,  0.    ,  0.    ],
          [ 0.    , -0.0998, -0.    , ...,  0.    ,  0.0998,  0.    ],
          [-0.0998, -0.    , -0.0954, ...,  0.0323,  0.    ,  0.    ]]],


        [[[-0.4816, -0.    , -0.4835, ..., -0.1539,  0.    ,  0.    ],
          [ 0.    ,  0.0792,  0.    , ...,  0.    ,  0.1996,  0.    ],
          [ 0.0483,  0.    ,  0.0485, ...,  0.0154,  0.    ,  0.    ],
          [ 0.    , -0.995 , -0.    , ...,  0.    ,  0.995 ,  0.    ],
          [ 0.    , -0.    , -0.294 , ...,  0.9416, -0.    ,  0.0993],
          [ 0.    ,  0.0998, -0.    , ...,  0.    , -0.0998,  0.    ]],

         [[-0.    , -0.4816, -0.    , ..., -0.    ,  0.108 ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
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          [ 0.995 ,  0.    ,  0.9506, ..., -0.3217,  0.    , -0.99  ],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.0998,  0.    ,  0.4927, ..., -1.8509,  0.    , -0.0993]],

         [[-0.4601, -0.    , -0.4619, ..., -0.147 ,  0.    ,  0.    ],
          [ 0.    , -0.0666,  0.    , ...,  0.    ,  0.2226,  0.    ],
          [-0.2385, -0.    , -0.2394, ..., -0.0762,  0.    ,  0.    ],
          [ 0.    , -0.9506,  0.    , ...,  0.    ,  0.9506,  0.    ],
          [ 0.294 ,  0.    ,  0.    , ...,  0.8045, -0.    , -0.1977],
          [ 0.    , -0.4927,  0.    , ...,  0.    ,  0.4927,  0.    ]],

         ...,

         [[ 0.1557,  0.    ,  0.1563, ...,  0.0498, -0.    ,  0.    ],
          [-0.    ,  0.4302, -0.    , ...,  0.    , -0.1667,  0.    ],
          [ 0.8959,  0.    ,  0.8994, ...,  0.2863,  0.    ,  0.    ],
          [-0.    ,  0.3217, -0.    , ...,  0.    , -0.3217,  0.    ],
          [-0.9416, -0.    , -0.8045, ...,  0.    , -0.    ,  0.9048],
          [-0.    ,  1.8509, -0.    , ...,  0.    , -1.8509, -0.    ]],

         [[-0.    ,  0.4816, -0.    , ...,  0.    , -0.108 ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.1101,  0.    , ...,  0.    ,  0.41  ,  0.    ],
          [-0.995 , -0.    , -0.9506, ...,  0.3217,  0.    ,  0.99  ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.0998, -0.    , -0.4927, ...,  1.8509,  0.    ,  0.0993]],

         [[ 0.4792,  0.    ,  0.4811, ...,  0.1532, -0.    ,  0.    ],
          [-0.    , -0.0308, -0.    , ..., -0.    , -0.2093,  0.    ],
          [ 0.0481,  0.    ,  0.0483, ...,  0.0154,  0.    ,  0.    ],
          [-0.    ,  0.99  , -0.    , ..., -0.    , -0.99  ,  0.    ],
          [-0.0993, -0.    ,  0.1977, ..., -0.9048,  0.    ,  0.    ],
          [-0.    ,  0.0993, -0.    , ...,  0.    , -0.0993,  0.    ]]]],



       [[[[ 0.    ,  0.484 ,  0.    , ...,  0.    , -0.1086,  0.    ],
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          [-0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         ...,

         [[ 0.    , -0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.4838,  0.    ,  0.4599, ...,  0.1464,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.9463,  0.    , ...,  0.    , -0.9463, -0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ]],

         [[-0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
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          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.995 , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.0998, -0.    , ...,  0.    , -0.0998,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ]]],


        [[[ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ]],

         [[ 0.    ,  0.484 ,  0.    , ...,  0.    , -0.1086,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.0796,  0.    , ...,  0.    ,  0.2006,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    , -0.2955, ...,  0.9463, -0.    ,  0.0998]],

         [[ 0.4154,  0.    ,  0.4643, ...,  0.1478, -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.9553,  0.    , ..., -0.    , -0.9553, -0.    ],
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          [-0.    ,  0.2955,  0.    , ...,  0.    , -0.2955, -0.    ]],

         ...,

         [[-0.0058, -0.    , -0.1571, ..., -0.05  ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.5095, -0.    , -0.4599, ..., -0.1464, -0.    ,  0.    ],
          [-0.    , -0.3233,  0.    , ...,  0.    ,  0.3233, -0.    ],
          [ 0.9463,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.9463, -0.    , ...,  0.    ,  0.9463,  0.    ]],

         [[ 0.    , -0.484 ,  0.    , ..., -0.    ,  0.1086,  0.    ],
          [-0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.0796, -0.    , ..., -0.    , -0.2006,  0.    ],
          [ 0.    ,  0.    ,  0.9553, ..., -0.3233,  0.    , -0.995 ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    ,  0.    ,  0.2955, ..., -0.9463,  0.    , -0.0998]],

         [[-0.4657, -0.    , -0.4835, ..., -0.1539,  0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.2068, -0.    , -0.0485, ..., -0.0154, -0.    ,  0.    ],
          [-0.    , -0.995 ,  0.    , ...,  0.    ,  0.995 ,  0.    ],
          [ 0.0998,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.0998,  0.    , ..., -0.    ,  0.0998,  0.    ]]],


        [[[ 0.    ,  0.4624,  0.    , ...,  0.    , -0.1037,  0.    ],
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          [ 0.    ,  0.    , -0.9127, ...,  0.3089, -0.    ,  0.9506],
          [ 0.    , -0.2955,  0.    , ..., -0.    ,  0.2955,  0.    ],
          [ 0.    , -0.    , -0.2823, ...,  0.904 , -0.    ,  0.0954]],

         [[-0.0235,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.067 ,  0.    , ...,  0.    ,  0.2237,  0.    ],
          [ 0.0761,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.2955,  0.    ,  0.    , ...,  0.8085, -0.    , -0.1987],
          [ 0.    ,  0.    , -0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    ,  0.    ,  0.    , ...,  0.    , -0.0661,  0.    ],
          [-0.2232,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.2137,  0.    ],
          [ 0.9127,  0.    ,  0.    , ..., -0.2389, -0.    ,  0.0587],
          [-0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.2823,  0.    ,  0.    , ...,  0.7724, -0.    , -0.1898]],

         ...,

         [[ 0.    , -0.0644, -0.    , ..., -0.    ,  0.0495,  0.    ],
          [ 0.1154, -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.3914, -0.    , ...,  0.    , -0.1601,  0.    ],
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          [ 0.    , -0.8085,  0.    , ...,  0.    ,  0.    , -0.    ],
          [-0.904 , -0.    , -0.7724, ..., -0.    , -0.    ,  0.8687]],

         [[ 0.    , -0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.2955,  0.    , -0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    ,  0.0158, -0.    , ..., -0.    ,  0.0622,  0.    ],
          [ 0.2227, -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    , -0.0962, -0.    , ..., -0.    , -0.201 ,  0.    ],
          [-0.9506, -0.    , -0.0587, ...,  0.2687,  0.    ,  0.    ],
          [-0.    ,  0.1987, -0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.0954,  0.    ,  0.1898, ..., -0.8687,  0.    ,  0.    ]]],


        ...,


        [[[ 0.    , -0.1565, -0.    , ..., -0.    ,  0.0351,  0.    ],
          [ 0.4838,  0.    ,  0.4599, ...,  0.1464,  0.    ,  0.    ],
          [ 0.    , -0.0257,  0.    , ...,  0.    , -0.0648,  0.    ],
          [ 0.    , -0.    ,  0.3089, ..., -0.1045,  0.    , -0.3217],
          [ 0.    ,  0.9463, -0.    , ...,  0.    , -0.9463, -0.    ],
          [ 0.    ,  0.    ,  0.0955, ..., -0.3059, -0.    , -0.0323]],

         [[ 0.0754, -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.4323,  0.    , ...,  0.    , -0.1676,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.9463,  0.    , -0.8085, ..., -0.    , -0.    ,  0.9093],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.    ]],

         [[-0.    , -0.    , -0.    , ..., -0.    ,  0.0495,  0.    ],
          [ 0.3925,  0.    ,  0.3929, ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.1601,  0.    ],
          [-0.3089, -0.    ,  0.    , ...,  0.    ,  0.    , -0.2687],
          [ 0.    ,  0.8085,  0.    , ...,  0.    ,  0.    , -0.    ],
          [-0.0955,  0.    ,  0.    , ..., -0.    , -0.    ,  0.8687]],

         ...,

         [[ 0.    ,  0.    ,  0.    , ...,  0.    , -0.1586,  0.    ],
          [ 0.0668,  0.    ,  0.1251, ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.0542,  0.    ],
          [ 0.1045,  0.    , -0.    , ...,  0.    , -0.    ,  0.8605],
          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.3059,  0.    ,  0.    , ...,  0.    , -0.    , -0.294 ]],

         [[-0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.9463,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    , -0.0724,  0.    , ...,  0.    , -0.1991,  0.    ],
          [-0.4578, -0.    , -0.4726, ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.4401, -0.    , ...,  0.    ,  0.068 ,  0.    ],
          [ 0.3217,  0.    ,  0.2687, ..., -0.8605, -0.    ,  0.    ],
          [ 0.    , -0.9093,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.0323, -0.    , -0.8687, ...,  0.294 , -0.    , -0.    ]]],


        [[[-0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.0796,  0.    , ...,  0.    ,  0.2006,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.    , -0.2955, ...,  0.9463,  0.    ,  0.0998],
          [ 0.    , -0.    , -0.    , ...,  0.    , -0.    ,  0.    ]],

         [[-0.    , -0.484 , -0.    , ..., -0.    ,  0.1086,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.0796, -0.    , ..., -0.    , -0.2006,  0.    ],
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          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.    , -0.    ],
          [ 0.    ,  0.    ,  0.2955, ..., -0.9463,  0.    , -0.0998]],

         [[-0.5217, -0.    , -0.5304, ..., -0.0983, -0.    ,  0.    ],
          [ 0.    ,  0.0897,  0.    , ..., -0.    ,  0.2237,  0.    ],
          [ 0.0486,  0.    ,  0.0701, ..., -0.2058,  0.    ,  0.    ],
          [ 0.    , -0.9553,  0.    , ...,  0.    ,  0.9553,  0.    ],
          [ 0.2955,  0.    ,  0.    , ...,  1.617 , -0.    , -0.1987],
          [ 0.    , -0.2955,  0.    , ...,  0.    ,  0.2955,  0.    ]],

         ...,

         [[ 0.3463,  0.    ,  0.3688, ..., -0.1086,  0.    ,  0.    ],
          [-0.    ,  0.697 , -0.    , ...,  0.    , -0.1676,  0.    ],
          [ 0.3932,  0.    ,  0.3875, ...,  0.2006,  0.    ,  0.    ],
          [-0.    ,  0.3233, -0.    , ...,  0.    , -0.3233,  0.    ],
          [-0.9463, -0.    , -1.617 , ...,  0.    , -0.    ,  0.9093],
          [-0.    ,  0.9463, -0.    , ...,  0.    , -0.9463, -0.    ]],

         [[-0.    ,  0.484 , -0.    , ...,  0.    , -0.1086,  0.    ],
          [-0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.0796,  0.    , ..., -0.    ,  0.2006,  0.    ],
          [ 0.    , -0.    , -0.9553, ...,  0.3233,  0.    ,  0.995 ],
          [-0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    , -0.    , -0.2955, ...,  0.9463,  0.    ,  0.0998]],

         [[ 0.4937,  0.    ,  0.5059, ...,  0.1372, -0.    ,  0.    ],
          [-0.    , -0.2413, -0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.072 , -0.    , -0.1741, ...,  0.1822,  0.    ,  0.    ],
          [-0.    ,  0.995 , -0.    , ..., -0.    , -0.995 ,  0.    ],
          [-0.0998,  0.    ,  0.1987, ..., -0.9093,  0.    ,  0.    ],
          [-0.    ,  0.0998, -0.    , ...,  0.    , -0.0998,  0.    ]]],


        [[[-0.    , -0.4816, -0.    , ..., -0.    ,  0.108 ,  0.    ],
          [ 0.1276,  0.    ,  0.0485, ...,  0.0154,  0.    ,  0.    ],
          [-0.    , -0.0792, -0.    , ..., -0.    , -0.1996,  0.    ],
          [ 0.    , -0.    ,  0.9506, ..., -0.3217,  0.    , -0.99  ],
          [ 0.    ,  0.0998, -0.    , ...,  0.    , -0.0998,  0.    ],
          [ 0.    ,  0.    ,  0.294 , ..., -0.9416,  0.    , -0.0993]],

         [[ 0.0079, -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.    , -0.0309, -0.    , ..., -0.    , -0.2104,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
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          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ]],

         [[-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.0181, -0.    , -0.0965, ..., -0.0307,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.9506, -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    , -0.1987,  0.    , ...,  0.    ,  0.1987, -0.    ],
          [-0.294 , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         ...,

         [[ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.407 ,  0.    ,  0.4419, ...,  0.1407, -0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.3217,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ],
          [-0.    ,  0.9093, -0.    , ...,  0.    , -0.9093,  0.    ],
          [ 0.9416,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ]],

         [[-0.0079,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.0309,  0.    , ...,  0.    ,  0.2104,  0.    ],
          [ 0.0792,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.0998, -0.    , -0.1987, ...,  0.9093,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.0796, -0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.99  ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.0993,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ]]]],



       [[[[ 0.486 ,  0.    ,  0.4643, ...,  0.1478, -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.2237,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         ...,

         [[-0.1571, -0.    , -0.286 , ..., -0.091 ,  0.    ,  0.    ],
          [-0.    , -0.3914,  0.    , ..., -0.    ,  0.1601,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.5885, -0.    ],
          [ 0.8085,  0.    ,  0.7724, ...,  0.    ,  0.    , -0.8687],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[ 0.    , -0.486 ,  0.    , ..., -0.    ,  0.0444,  0.    ],
          [-0.143 ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.9553,  0.    ,  1.    , ..., -0.5885, -0.    , -0.9801],
          [-0.    , -0.2955, -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.4835, -0.    , -0.4763, ..., -0.1516,  0.    ,  0.    ],
          [ 0.    ,  0.0962,  0.    , ...,  0.    ,  0.201 ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.9801,  0.    ],
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          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ]]],


        [[[ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.2955,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         [[ 0.486 ,  0.    ,  0.4643, ...,  0.1478, -0.    ,  0.    ],
          [ 0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.9553, -0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.2955, -0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    , -0.0661,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.2137,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.2389, -0.    ,  0.0587],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.7724, -0.    , -0.1898]],

         ...,

         [[ 0.    , -0.0644, -0.    , ..., -0.    ,  0.0495,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.3914, -0.    , ...,  0.    , -0.1601,  0.    ],
          [ 0.    ,  0.    ,  0.2389, ...,  0.    ,  0.    , -0.2687],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    , -0.    , -0.7724, ...,  0.    , -0.    ,  0.8687]],

         [[-0.0471, -0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.2191, -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.9553,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.2955, -0.    , -0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.    ,  0.2955,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    ,  0.0158, -0.    , ..., -0.    ,  0.0622,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    , -0.0962, -0.    , ..., -0.    , -0.201 ,  0.    ],
          [ 0.    ,  0.    , -0.0587, ...,  0.2687,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    , -0.    ],
          [-0.    ,  0.    ,  0.1898, ..., -0.8687,  0.    ,  0.    ]]],


        [[[ 0.4643,  0.    ,  0.486 , ...,  0.1547, -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.2137,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -1.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.7724,  0.    ,  0.1898],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    , -0.0661,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.2137,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.2389, -0.    ,  0.0587],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.7724, -0.    , -0.1898]],

         [[ 0.4435,  0.    ,  0.4643, ...,  0.1478, -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.2237,  0.    ],
          [ 0.1372,  0.    ,  0.1436, ...,  0.0457,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.9553, -0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.8085,  0.    ,  0.1987],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.2955, -0.    ]],

         ...,

         [[-0.0344, -0.    , -0.2732, ..., -0.087 ,  0.    ,  0.    ],
          [-0.    , -0.3929,  0.    , ..., -0.    ,  0.1676,  0.    ],
          [-0.0274, -0.    , -0.0845, ..., -0.0269,  0.    ,  0.    ],
          [ 0.    ,  0.2389,  0.    , ...,  0.    ,  0.5622, -0.    ],
          [ 0.7724,  0.    ,  0.8085, ...,  0.    ,  0.    , -0.9093],
          [ 0.    , -0.7724,  0.    , ...,  0.    ,  0.1739, -0.    ]],

         [[ 0.    , -0.484 ,  0.    , ..., -0.    ,  0.0425,  0.    ],
          [-0.2872,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    , -0.0796,  0.    , ..., -0.    ,  0.0131,  0.    ],
          [ 1.    ,  0.    ,  0.9553, ..., -0.5622,  0.    , -0.9363],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.    ,  0.    ,  0.2955, ..., -0.1739,  0.    , -0.2896]],

         [[-0.4904, -0.    , -0.455 , ..., -0.1448,  0.    ,  0.    ],
          [ 0.    ,  0.0965,  0.    , ...,  0.    ,  0.2104,  0.    ],
          [-0.1476, -0.    , -0.1407, ..., -0.0448,  0.    ,  0.    ],
          [ 0.    , -0.0587,  0.    , ...,  0.    ,  0.9363,  0.    ],
          [-0.1898, -0.    , -0.1987, ...,  0.9093, -0.    ,  0.    ],
          [-0.    ,  0.1898,  0.    , ...,  0.    ,  0.2896,  0.    ]]],


        ...,


        [[[-0.1571, -0.    , -0.286 , ..., -0.091 , -0.    ,  0.    ],
          [-0.    ,  0.    ,  0.    , ...,  0.    ,  0.0723,  0.    ],
          [ 0.3914,  0.    ,  0.3929, ...,  0.1251,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.5885,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.2614, -0.    , -0.0642],
          [ 0.    ,  0.8085, -0.    , ...,  0.    , -0.8085, -0.    ]],

         [[-0.    , -0.0644, -0.    , ..., -0.    ,  0.0495,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.3914, -0.    , ...,  0.    , -0.1601,  0.    ],
          [-0.    ,  0.    ,  0.2389, ...,  0.    ,  0.    , -0.2687],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.    , -0.    ],
          [-0.8085,  0.    , -0.7724, ...,  0.    , -0.    ,  0.8687]],

         [[-0.2657, -0.    , -0.3893, ..., -0.1239, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.1316,  0.    ],
          [ 0.3274,  0.    ,  0.2908, ...,  0.0926,  0.    ,  0.    ],
          [-0.    , -0.2389,  0.    , ...,  0.    ,  0.8011,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.4758, -0.    , -0.1169],
          [ 0.    ,  0.7724,  0.    , ...,  0.    , -0.5985, -0.    ]],

         ...,

         [[ 0.0508,  0.    ,  0.0555, ...,  0.1478,  0.    ,  0.    ],
          [ 0.    ,  0.1874, -0.    , ..., -0.    , -0.0986,  0.    ],
          [ 0.2737,  0.    ,  0.3901, ...,  0.0457,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    , -0.9553, -0.    ],
          [-0.2614, -0.    , -0.4758, ...,  0.    ,  0.    ,  0.5351],
          [-0.    , -0.    , -0.    , ...,  0.    , -0.2955, -0.    ]],

         [[ 0.    ,  0.3492,  0.    , ...,  0.    ,  0.1478,  0.    ],
          [ 0.4141,  0.    ,  0.3929, ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.3445,  0.    , ...,  0.    ,  0.0457,  0.    ],
          [-0.5885, -0.    , -0.8011, ...,  0.9553,  0.    ,  0.3976],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.8085,  0.    ,  0.5985, ...,  0.2955,  0.    ,  0.123 ]],

         [[ 0.2864,  0.    ,  0.2936, ...,  0.0615,  0.    ,  0.    ],
          [ 0.    , -0.0461,  0.    , ..., -0.    , -0.1238,  0.    ],
          [ 0.0063, -0.    , -0.0008, ...,  0.019 ,  0.    ,  0.    ],
          [-0.    ,  0.2687, -0.    , ...,  0.    , -0.3976,  0.    ],
          [ 0.0642,  0.    ,  0.1169, ..., -0.5351, -0.    ,  0.    ],
          [ 0.    , -0.8687,  0.    , ...,  0.    , -0.123 ,  0.    ]]],


        [[[ 0.    , -0.0235,  0.    , ...,  0.    , -0.0593,  0.    ],
          [-0.143 ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.0761,  0.    , ...,  0.    ,  0.1916,  0.    ],
          [ 0.    ,  0.    ,  0.0873, ..., -0.2797, -0.    , -0.0295],
          [ 0.    , -0.2955, -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    , -0.    , -0.2823, ...,  0.904 , -0.    ,  0.0954]],

         [[-0.486 , -0.    , -0.4643, ..., -0.1478, -0.    ,  0.    ],
          [ 0.    , -0.067 ,  0.    , ...,  0.    ,  0.2237,  0.    ],
          [ 0.    , -0.    , -0.1436, ..., -0.0457,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    ,  0.9553,  0.    ],
          [ 0.2955,  0.    ,  0.    , ...,  0.8085, -0.    , -0.1987],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.2955,  0.    ]],

         [[ 0.    ,  0.0198,  0.    , ...,  0.    , -0.0661,  0.    ],
          [-0.1436,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.064 ,  0.    , ...,  0.    ,  0.2137,  0.    ],
          [-0.0873,  0.    ,  0.    , ..., -0.2389, -0.    ,  0.0587],
          [ 0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.2823, -0.    ,  0.    , ...,  0.7724, -0.    , -0.1898]],

         ...,

         [[ 0.    , -0.2899, -0.    , ...,  0.    ,  0.2117,  0.    ],
          [ 0.0685, -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.3252, -0.    , ..., -0.    , -0.0723,  0.    ],
          [ 0.2797, -0.    ,  0.2389, ...,  0.    ,  0.    , -0.188 ],
          [ 0.    , -0.8085,  0.    , ...,  0.    ,  0.    , -0.    ],
          [-0.904 , -0.    , -0.7724, ...,  0.    ,  0.    ,  0.0642]],

         [[-0.0357, -0.    , -0.0661, ...,  0.0495, -0.    ,  0.    ],
          [-0.    ,  0.2237,  0.    , ..., -0.    , -0.2237,  0.    ],
          [ 0.0486,  0.    ,  0.2137, ..., -0.1601,  0.    ,  0.    ],
          [ 0.    , -0.9553,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.    ,  0.1987],
          [ 0.    , -0.2955,  0.    , ..., -0.    ,  0.    , -0.    ]],

         [[-0.    ,  0.049 , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.0962,  0.    ,  0.0965, ...,  0.0307, -0.    ,  0.    ],
          [-0.    , -0.008 ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.0295, -0.    , -0.0587, ...,  0.188 ,  0.    ,  0.    ],
          [-0.    ,  0.1987, -0.    , ...,  0.    , -0.1987,  0.    ],
          [-0.0954, -0.    ,  0.1898, ..., -0.0642,  0.    ,  0.    ]]],


        [[[-0.4835, -0.    , -0.4763, ..., -0.1516, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.2226,  0.    ],
          [-0.0962,  0.    , -0.0965, ..., -0.0307,  0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.9801,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.8045, -0.    , -0.1977],
          [ 0.    , -0.1987, -0.    , ...,  0.    ,  0.1987,  0.    ]],

         [[-0.    ,  0.0158, -0.    , ..., -0.    ,  0.0622,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    , -0.0962, -0.    , ..., -0.    , -0.201 ,  0.    ],
          [ 0.    ,  0.    , -0.0587, ...,  0.2687,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ],
          [ 0.1987,  0.    ,  0.1898, ..., -0.8687,  0.    ,  0.    ]],

         [[-0.4335, -0.    , -0.4265, ..., -0.1358, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.2192,  0.    ],
          [-0.2348, -0.    , -0.233 , ..., -0.0742,  0.    ,  0.    ],
          [-0.    ,  0.0587,  0.    , ...,  0.    ,  0.8776,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.7924, -0.    , -0.1947],
          [ 0.    , -0.1898,  0.    , ...,  0.    ,  0.4794,  0.    ]],

         ...,

         [[ 0.0262,  0.    ,  0.0234, ...,  0.0074, -0.    ,  0.    ],
          [-0.    ,  0.3958, -0.    , ...,  0.    , -0.1642,  0.    ],
          [ 0.8781,  0.    ,  0.8728, ...,  0.2779,  0.    ,  0.    ],
          [-0.    , -0.2687, -0.    , ...,  0.    , -0.0481,  0.    ],
          [-0.8045, -0.    , -0.7924, ...,  0.    , -0.    ,  0.8912],
          [-0.    ,  0.8687, -0.    , ...,  0.    , -1.7961, -0.    ]],

         [[-0.    ,  0.4586, -0.    , ...,  0.    , -0.1686,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.1742,  0.    , ...,  0.    ,  0.3976,  0.    ],
          [-0.9801, -0.    , -0.8776, ...,  0.0481,  0.    ,  0.9752],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [-0.1987, -0.    , -0.4794, ...,  1.7961,  0.    ,  0.0978]],

         [[ 0.4811,  0.    ,  0.4739, ...,  0.1509, -0.    ,  0.    ],
          [-0.    , -0.0973, -0.    , ..., -0.    , -0.2062,  0.    ],
          [ 0.0483,  0.    ,  0.0475, ...,  0.0151,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.9752,  0.    ],
          [ 0.1977,  0.    ,  0.1947, ..., -0.8912,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    , -0.0978,  0.    ]]]],



       ...,



       [[[[ 0.1547,  0.    ,  0.1478, ..., -0.05  ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.1676,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.3233, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.9093],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ]],

         [[ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.0457, ...,  0.1464,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.9463, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ]],

         [[ 0.1478,  0.    ,  0.1547, ..., -0.091 ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.1601,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.5885, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.8687],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ]],

         ...,

         [[-0.05  , -0.    , -0.091 , ...,  0.1547,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.0542,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -1.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.294 ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.2318,  0.    , ...,  0.    ,  0.1547,  0.    ],
          [ 0.4581,  0.    ,  0.5056, ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.3233, -0.    , -0.5885, ...,  1.    ,  0.    ,  0.4161],
          [-0.    ,  0.9463, -0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]],

         [[-0.1539, -0.    , -0.1516, ...,  0.0644,  0.    ,  0.    ],
          [ 0.    , -0.4401,  0.    , ..., -0.    , -0.068 ,  0.    ],
          [ 0.    , -0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.4161,  0.    ],
          [ 0.9093,  0.    ,  0.8687, ..., -0.294 ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ]]],


        [[[ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
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          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.9463, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ]],

         [[ 0.1547,  0.    ,  0.1478, ..., -0.05  ,  0.    ,  0.    ],
          [ 0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    ,  0.    ,  0.0457, ..., -0.1464, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.3233, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.9463,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.0495,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.1601,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.2687],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.8687]],

         ...,

         [[-0.    , -0.    , -0.    , ...,  0.    , -0.1586,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.0542,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.8605],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.294 ]],

         [[-0.2358, -0.    , -0.3049, ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.4838, -0.    , -0.5056, ...,  0.    ,  0.    ,  0.    ],
          [-0.    , -0.3233, -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.9463,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    , -0.9463,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    , -0.0724, -0.    , ...,  0.    , -0.1991,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.4401, -0.    , ...,  0.    ,  0.068 ,  0.    ],
          [ 0.    ,  0.    ,  0.2687, ..., -0.8605, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.    , -0.8687, ...,  0.294 , -0.    , -0.    ]]],


        [[[ 0.1478,  0.    ,  0.1547, ..., -0.091 ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.1601,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.5885, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.8687],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.    ]],

         [[ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.0495,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.1601,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.2687],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.8687]],

         [[ 0.1412,  0.    ,  0.1478, ..., -0.087 ,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.1676,  0.    ],
          [ 0.0437,  0.    ,  0.0457, ..., -0.0269,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.5622, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.9093],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.1739, -0.    ]],

         ...,

         [[-0.0478, -0.    , -0.087 , ...,  0.1478,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.0986,  0.    ],
          [-0.0148, -0.    , -0.0269, ...,  0.0457,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.9553, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.5351],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.2955, -0.    ]],

         [[ 0.    ,  0.2849,  0.    , ...,  0.    ,  0.1478,  0.    ],
          [ 0.4141,  0.    ,  0.3929, ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.0469,  0.    , ...,  0.    ,  0.0457,  0.    ],
          [-0.5885, -0.    , -0.5622, ...,  0.9553,  0.    ,  0.3976],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    , -0.1739, ...,  0.2955,  0.    ,  0.123 ]],

         [[-0.017 , -0.    , -0.1448, ...,  0.0615,  0.    ,  0.    ],
          [ 0.    , -0.4419,  0.    , ..., -0.    , -0.1238,  0.    ],
          [-0.0241, -0.    , -0.0448, ...,  0.019 ,  0.    ,  0.    ],
          [ 0.    ,  0.2687,  0.    , ...,  0.    , -0.3976,  0.    ],
          [ 0.8687,  0.    ,  0.9093, ..., -0.5351, -0.    ,  0.    ],
          [ 0.    , -0.8687,  0.    , ...,  0.    , -0.123 ,  0.    ]]],


        ...,


        [[[-0.05  , -0.    , -0.091 , ...,  0.1547,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.0542,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -1.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.294 ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.    , -0.    , -0.    , ...,  0.    , -0.1586,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.0542,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.8605],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    , -0.294 ]],

         [[-0.0478, -0.    , -0.087 , ...,  0.1478,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.0986,  0.    ],
          [-0.0148, -0.    , -0.0269, ...,  0.0457,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.9553, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.5351],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.2955, -0.    ]],

         ...,

         [[ 0.0162,  0.    ,  0.0294, ..., -0.05  ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.1676,  0.    ],
          [ 0.0473,  0.    ,  0.0861, ..., -0.1464, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.3233, -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.9093],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.9463,  0.    ]],

         [[ 0.    , -0.484 ,  0.    , ..., -0.    , -0.05  ,  0.    ],
          [ 0.2928,  0.    ,  0.2501, ...,  0.    ,  0.    ,  0.    ],
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          [ 1.    ,  0.    ,  0.9553, ..., -0.3233,  0.    , -0.1345],
          [-0.    , -0.    , -0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.    ,  0.    ,  0.2955, ..., -0.9463,  0.    , -0.3938]],

         [[-0.3667, -0.    , -0.4107, ..., -0.0208,  0.    ,  0.    ],
          [ 0.    ,  0.2108,  0.    , ..., -0.    ,  0.2104,  0.    ],
          [ 0.4286,  0.    ,  0.4207, ..., -0.0609, -0.    ,  0.    ],
          [ 0.    , -0.8605,  0.    , ...,  0.    ,  0.1345,  0.    ],
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          [-0.    ,  0.294 ,  0.    , ..., -0.    ,  0.3938,  0.    ]]],


        [[[ 0.    ,  0.0754,  0.    , ...,  0.    ,  0.1898,  0.    ],
          [ 0.4581,  0.    ,  0.5056, ..., -0.    , -0.    ,  0.    ],
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          [ 0.    , -0.    , -0.2797, ...,  0.8955,  0.    ,  0.0945],
          [ 0.    ,  0.9463,  0.    , ..., -0.    ,  0.    , -0.    ],
          [ 0.    , -0.    ,  0.0955, ..., -0.3059,  0.    , -0.0323]],

         [[-0.1547, -0.    , -0.1478, ...,  0.05  ,  0.    ,  0.    ],
          [ 0.    ,  0.4323,  0.    , ...,  0.    , -0.1676,  0.    ],
          [ 0.    , -0.    , -0.0457, ...,  0.1464,  0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.3233,  0.    ],
          [-0.9463,  0.    , -0.8085, ..., -0.    , -0.    ,  0.9093],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.9463, -0.    ]],

         [[ 0.    , -0.0634,  0.    , ...,  0.    ,  0.2117,  0.    ],
          [ 0.3456,  0.    ,  0.3929, ..., -0.    , -0.    ,  0.    ],
          [-0.    ,  0.0217, -0.    , ..., -0.    , -0.0723,  0.    ],
          [ 0.2797,  0.    ,  0.    , ...,  0.7651,  0.    , -0.188 ],
          [-0.    ,  0.8085,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.0955, -0.    ,  0.    , ..., -0.2614,  0.    ,  0.0642]],

         ...,

         [[-0.    ,  0.4091, -0.    , ..., -0.    , -0.1586,  0.    ],
          [ 0.1464, -0.    ,  0.1251, ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.1398,  0.    , ..., -0.    ,  0.0542,  0.    ],
          [-0.8955, -0.    , -0.7651, ...,  0.    ,  0.    ,  0.8605],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.3059,  0.    ,  0.2614, ...,  0.    ,  0.    , -0.294 ]],

         [[ 0.501 ,  0.    ,  0.5166, ..., -0.1586,  0.    ,  0.    ],
          [ 0.    , -0.1676,  0.    , ...,  0.    ,  0.1676,  0.    ],
          [ 0.3932,  0.    ,  0.4333, ...,  0.0542, -0.    ,  0.    ],
          [-0.    ,  0.3233, -0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.    , -0.9093],
          [-0.    ,  0.9463, -0.    , ..., -0.    ,  0.    ,  0.    ]],

         [[-0.    , -0.2116, -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.4401, -0.    , -0.4419, ..., -0.1407,  0.    ,  0.    ],
          [ 0.    , -0.0887,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.0945, -0.    ,  0.188 , ..., -0.8605,  0.    ,  0.    ],
          [ 0.    , -0.9093,  0.    , ...,  0.    ,  0.9093, -0.    ],
          [ 0.0323,  0.    , -0.0642, ...,  0.294 , -0.    , -0.    ]]],


        [[[-0.1539, -0.    , -0.1516, ...,  0.0644,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.1667,  0.    ],
          [ 0.4401,  0.    ,  0.4419, ...,  0.1407,  0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    , -0.4161,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.9048],
          [ 0.    ,  0.9093, -0.    , ..., -0.    , -0.9093, -0.    ]],

         [[-0.    , -0.0724, -0.    , ..., -0.    , -0.1991,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.4401,  0.    , ...,  0.    ,  0.068 ,  0.    ],
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          [-0.9093,  0.    , -0.8687, ...,  0.294 , -0.    , -0.    ]],

         [[-0.2771, -0.    , -0.2754, ...,  0.0199,  0.    ,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    , -0.1642,  0.    ],
          [ 0.375 ,  0.    ,  0.3773, ...,  0.1534,  0.    ,  0.    ],
          [ 0.    , -0.2687,  0.    , ...,  0.    , -0.1288,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.8912],
          [ 0.    ,  0.8687,  0.    , ..., -0.    , -0.9917, -0.    ]],

         ...,

         [[ 0.4663,  0.    ,  0.4672, ...,  0.1123,  0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    ,  0.0697,  0.    ],
          [ 0.0034, -0.    ,  0.0006, ..., -0.1064, -0.    ,  0.    ],
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          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    , -0.3784],
          [ 0.    , -0.294 ,  0.    , ...,  0.    ,  0.6878,  0.    ]],

         [[ 0.    , -0.129 ,  0.    , ...,  0.    ,  0.2443,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.4733,  0.    , ..., -0.    , -0.1515,  0.    ],
          [ 0.4161,  0.    ,  0.1288, ...,  0.7259,  0.    , -0.4141],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.9093,  0.    ,  0.9917, ..., -0.6878,  0.    , -0.0415]],

         [[ 0.1532,  0.    ,  0.1509, ..., -0.0641,  0.    ,  0.    ],
          [-0.    ,  0.4452, -0.    , ...,  0.    ,  0.0876,  0.    ],
          [ 0.0154, -0.    ,  0.0151, ..., -0.0064, -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.4141,  0.    ],
          [-0.9048, -0.    , -0.8912, ...,  0.3784, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.0415,  0.    ]]]],



       [[[[-0.    , -0.1086, -0.    , ...,  0.    ,  0.1086,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         ...,

         [[ 0.    , -0.1547,  0.    , ...,  0.    ,  0.1547,  0.    ],
          [ 0.0648,  0.    ,  0.0723, ..., -0.0542, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.4161],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.0998],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    , -0.4016,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.1512,  0.    ,  0.1741, ..., -0.1822, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.995 ,  0.    ,  0.9801, ..., -0.4161,  0.    ,  0.    ],
          [-0.    , -0.0998, -0.    , ...,  0.    ,  0.0998,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ]]],


        [[[-0.    , -0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.995 ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.0998]],

         [[-0.0593, -0.    , -0.0661, ...,  0.0495, -0.    ,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         ...,

         [[ 0.1898,  0.    ,  0.2117, ..., -0.1586,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.    ,  0.1086, -0.    , ..., -0.    , -0.1086,  0.    ],
          [-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    , -0.2006,  0.    , ...,  0.    ,  0.2006,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.995 ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.0998]],

         [[ 0.4937,  0.    ,  0.5059, ...,  0.1372, -0.    ,  0.    ],
          [-0.    , -0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.072 , -0.    , -0.1741, ...,  0.1822,  0.    ,  0.    ],
          [ 0.    ,  0.995 ,  0.    , ..., -0.    , -0.995 ,  0.    ],
          [-0.0998, -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.    ,  0.0998,  0.    , ..., -0.    , -0.0998,  0.    ]]],


        [[[-0.    , -0.0444, -0.    , ...,  0.    ,  0.0444,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.9801],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.0593, -0.    , -0.0661, ...,  0.0495, -0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.1916,  0.    ,  0.2137, ..., -0.1601,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    , -0.0425, -0.    , ...,  0.    ,  0.0425,  0.    ],
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          [ 0.    , -0.0131,  0.    , ...,  0.    ,  0.0131,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.9363],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.2896]],

         ...,

         [[ 0.    , -0.1478,  0.    , ...,  0.    ,  0.1478,  0.    ],
          [ 0.118 ,  0.    ,  0.1316, ..., -0.0986, -0.    ,  0.    ],
          [-0.    , -0.0457, -0.    , ...,  0.    ,  0.0457,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.3976],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.123 ]],

         [[-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.    ,  0.2237, -0.    , ..., -0.    , -0.2237,  0.    ],
          [ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.1987],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    , -0.3903,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [ 0.1481,  0.    ,  0.3158, ..., -0.1335, -0.    ,  0.    ],
          [-0.    , -0.052 ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.9801,  0.    ,  0.9363, ..., -0.3976,  0.    ,  0.    ],
          [-0.    , -0.    , -0.    , ..., -0.    , -0.1987,  0.    ],
          [-0.    ,  0.    ,  0.2896, ..., -0.123 ,  0.    ,  0.    ]]],


        ...,


        [[[ 0.    , -0.1547,  0.    , ...,  0.    ,  0.1547,  0.    ],
          [ 0.0648,  0.    ,  0.0723, ..., -0.0542, -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.4161],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ]],

         [[ 0.1898,  0.    ,  0.2117, ..., -0.1586,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ..., -0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    , -0.1478,  0.    , ...,  0.    ,  0.1478,  0.    ],
          [ 0.118 ,  0.    ,  0.1316, ..., -0.0986, -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.3976],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.123 ]],

         ...,

         [[-0.    ,  0.05  , -0.    , ...,  0.    , -0.05  ,  0.    ],
          [-0.2006, -0.    , -0.2237, ...,  0.1676,  0.    ,  0.    ],
          [ 0.    ,  0.1464,  0.    , ..., -0.    , -0.1464,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.1345],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.3938]],

         [[ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.1676,  0.    , ...,  0.    ,  0.1676,  0.    ],
          [-0.    ,  0.    , -0.    , ...,  0.    , -0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.9093],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.    ,  0.173 , -0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.0989, -0.    , -0.0624, ..., -0.0709,  0.    ,  0.    ],
          [ 0.    , -0.0501,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [-0.4161, -0.    , -0.3976, ...,  0.1345,  0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    ,  0.9093, -0.    ],
          [ 0.    , -0.    , -0.123 , ...,  0.3938, -0.    , -0.    ]]],


        [[[-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
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         ...,

         [[ 0.    , -0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    , -0.1676,  0.    , ...,  0.    ,  0.1676,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

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          [-0.    ,  0.    , -0.    , ..., -0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.995 ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    , -0.0998]],

         [[-0.5217, -0.    , -0.5282, ..., -0.1205,  0.    ,  0.    ],
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          [ 0.3508,  0.    ,  0.3966, ..., -0.3489, -0.    ,  0.    ],
          [ 0.    , -0.995 ,  0.    , ...,  0.    ,  0.995 ,  0.    ],
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          [ 0.    , -0.0998,  0.    , ..., -0.    ,  0.0998,  0.    ]]],


        [[[-0.    ,  0.0801, -0.    , ..., -0.    , -0.108 ,  0.    ],
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          [ 0.    , -0.    , -0.294 , ...,  0.9416, -0.    ,  0.0993]],

         [[ 0.02  ,  0.    ,  0.0223, ..., -0.0167, -0.    ,  0.    ],
          [ 0.    ,  0.0309,  0.    , ...,  0.    ,  0.2104,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[-0.    ,  0.0908,  0.    , ..., -0.    , -0.1064,  0.    ],
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          [ 0.    , -0.0406,  0.    , ...,  0.    ,  0.1966,  0.    ],
          [-0.0295,  0.    ,  0.    , ..., -0.0807, -0.    ,  0.9752],
          [ 0.    ,  0.1987,  0.    , ..., -0.    , -0.1987, -0.    ],
          [ 0.294 , -0.    ,  0.    , ...,  0.8045,  0.    ,  0.0978]],

         ...,

         [[-0.    , -0.0716, -0.    , ..., -0.    ,  0.0452,  0.    ],
          [-0.5236, -0.    , -0.535 , ..., -0.0709, -0.    ,  0.    ],
          [ 0.    ,  0.3469,  0.    , ...,  0.    , -0.0835,  0.    ],
          [ 0.0945, -0.    ,  0.0807, ...,  0.    ,  0.    , -0.4141],
          [-0.    , -0.9093,  0.    , ...,  0.    ,  0.9093,  0.    ],
          [-0.9416, -0.    , -0.8045, ...,  0.    , -0.    , -0.0415]],

         [[-0.02  , -0.    , -0.0223, ...,  0.0167, -0.    ,  0.    ],
          [-0.    , -0.0309, -0.    , ..., -0.    , -0.2104,  0.    ],
          [ 0.1996,  0.    ,  0.2226, ..., -0.1667, -0.    ,  0.    ],
          [-0.    ,  0.    ,  0.    , ..., -0.    ,  0.    , -0.    ],
          [-0.0998,  0.    ,  0.1987, ..., -0.9093,  0.    ,  0.    ],
          [ 0.    ,  0.    , -0.    , ...,  0.    ,  0.    , -0.    ]],

         [[-0.    ,  0.3996, -0.    , ...,  0.    , -0.    ,  0.    ],
          [-0.2006, -0.    , -0.2237, ...,  0.1676,  0.    ,  0.    ],
          [ 0.    ,  0.0401,  0.    , ..., -0.    , -0.    ,  0.    ],
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          [ 0.    ,  0.    ,  0.    , ..., -0.    ,  0.    ,  0.    ],
          [-0.0993, -0.    , -0.0978, ...,  0.0415,  0.    ,  0.    ]]]],



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         ...,

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         ...,

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         ...,

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
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        ...,


        [[[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
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         ...,

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         ...,

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]]],


        [[[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         ...,

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]],

         [[ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ],
          [ 0.    ,  0.    ,  0.    , ...,  0.    ,  0.    ,  0.    ]]]]])

References

J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part I: Kinematics, Velocity, and Applications.” arXiv preprint arXiv:2207.01796 (2022).
J. Haviland, and P. Corke. “Manipulator Differential Kinematics Part II: Acceleration and Advanced Applications.” arXiv preprint arXiv:2207.01794 (2022).

pay(W, q=None, J=None, frame=1)

Generalised joint force/torque due to a payload wrench

tau = pay(W, J) Returns the generalised joint force/torques due to a payload wrench W applied to the end-effector. Where the manipulator Jacobian is J (6xn), and n is the number of robot joints.

tau = pay(W, q, frame) as above but the Jacobian is calculated at pose q in the frame given by frame which is 0 for base frame, 1 for end-effector frame.

Uses the formula tau = J’W, where W is a wrench vector applied at the end effector, W = [Fx Fy Fz Mx My Mz]’.

Trajectory operation:: In the case q is nxm or J is 6xnxm then tau is nxm where each row is the generalised force/torque at the pose given by corresponding row of q.

Parameters:

W (Union[ndarray, List[float], Tuple[float], Set[float]]) – A wrench vector applied at the end effector, W = [Fx Fy Fz Mx My Mz]
q (Optional[ndarray]) – Joint coordinates
J (Optional[ndarray]) – The manipulator Jacobian (Optional, if not supplied will use the q value).
frame (int) – The frame in which to torques are expressed in when J is not supplied. 0 means base frame of the robot, 1 means end- effector frame

Returns:

Joint forces/torques due to w

Return type:

t

Notes

Wrench vector and Jacobian must be from the same reference
frame.
Tool transforms are taken into consideration when frame=1.
Must have a constant wrench - no trajectory support for this
yet.

paycap(w, tauR, frame=1, q=None)

Static payload capacity of a robot

wmax, joint = paycap(q, w, f, tauR) returns the maximum permissible payload wrench wmax (6) applied at the end-effector, and the index of the joint (zero indexed) which hits its force/torque limit at that wrench. q (n) is the manipulator pose, w the payload wrench (6), f the wrench reference frame and tauR (nx2) is a matrix of joint forces/torques (first col is maximum, second col minimum).

Trajectory operation:

In the case q is nxm then wmax is Mx6 and J is Mx1 where the rows are the results at the pose given by corresponding row of q.

Parameters:

w (ndarray) – The payload wrench
tauR (ndarray) – Joint torque matrix minimum and maximums
frame (int) – The frame in which to torques are expressed in when J is not supplied. ‘base’ means base frame of the robot, ‘ee’ means end-effector frame
q (Union[ndarray, List[float], Tuple[float], Set[float], None]) – Joint coordinates

Returns:

The maximum permissible payload wrench

Return type:

ndarray(6)

Notes

Wrench vector and Jacobian must be from the same reference frame
Tool transforms are taken into consideration for frame=1.

payload(m, p=array([0.0, 0.0, 0.0]))

Add a payload to the end-effector

payload(m, p) adds payload mass adds a payload with point mass m at position p in the end-effector coordinate frame.

payload(m) adds payload mass adds a payload with point mass m at in the end-effector coordinate frame.

payload(0) removes added payload.

Parameters:

m (float) – mass (kg)
p – position in end-effector frame

perturb(p=0.1)

Perturb robot parameters

rp = perturb(p) is a new robot object in which the dynamic parameters (link mass and inertia) have been perturbed. The perturbation is multiplicative so that values are multiplied by random numbers in the interval (1-p) to (1+p). The name string of the perturbed robot is prefixed by ‘P/’.

Useful for investigating the robustness of various model-based control schemes. For example to vary parameters in the range +/- 10 percent is: r2 = puma.perturb(0.1)

Parameters:: p – The percent (+/-) to be perturbed. Default 10%
Returns:: A copy of the robot with dynamic parameters perturbed
Return type:: DHRobot

plot(q, backend=None, block=False, dt=0.05, limits=None, vellipse=False, fellipse=False, fig=None, movie=None, loop=False, **kwargs)

Graphical display and animation

robot.plot(q, 'pyplot') displays a graphical view of a robot based on the kinematic model and the joint configuration q. This is a stick figure polyline which joins the origins of the link coordinate frames. The plot will autoscale with an aspect ratio of 1.

If q (m,n) representing a joint-space trajectory it will create an animation with a pause of dt seconds between each frame.

q: The joint configuration of the robot.

backend: The graphical backend to use, currently ‘swift’ and ‘pyplot’ are implemented. Defaults to ‘swift’ of a Robot and ‘pyplot` for a DHRobot

block: Block operation of the code and keep the figure open

dt: if q is a trajectory, this describes the delay in seconds between frames

limits: Custom view limits for the plot. If not supplied will autoscale, [x1, x2, y1, y2, z1, z2] (this option is for ‘pyplot’ only)

vellipse: (Plot Option) Plot the velocity ellipse at the end-effector (this option is for ‘pyplot’ only)

fellipse: (Plot Option) Plot the force ellipse at the end-effector (this option is for ‘pyplot’ only)

fig: (Plot Option) The figure label to plot in (this option is for ‘pyplot’ only)

movie: (Plot Option) The filename to save the movie to (this option is for ‘pyplot’ only)

loop: (Plot Option) Loop the movie (this option is for ‘pyplot’ only)

jointaxes: (Plot Option) Plot an arrow indicating the axes in which the joint revolves around(revolute joint) or translates along (prosmatic joint) (this option is for ‘pyplot’ only)

eeframe: (Plot Option) Plot the end-effector coordinate frame at the location of the end-effector. Uses three arrows, red, green and blue to indicate the x, y, and z-axes. (this option is for ‘pyplot’ only)

shadow: (Plot Option) Plot a shadow of the robot in the x-y plane. (this option is for ‘pyplot’ only)

name: (Plot Option) Plot the name of the robot near its base (this option is for ‘pyplot’ only)

Returns:: A reference to the environment object which controls the figure
Return type:: env

Notes

By default this method will block until the figure is dismissed.
To avoid this set block=False.
For PyPlot, the polyline joins the origins of the link frames,
but for some Denavit-Hartenberg models those frames may not actually be on the robot, ie. the lines to not neccessarily represent the links of the robot.

See also

teach()

plot_ellipse(ellipse, block=True, limits=None, jointaxes=True, eeframe=True, shadow=True, name=True)

Plot the an ellipsoid

robot.plot_ellipse(ellipsoid) displays the ellipsoid.

ellipse: the ellipsoid to plot

block: Block operation of the code and keep the figure open

limits: Custom view limits for the plot. If not supplied will autoscale, [x1, x2, y1, y2, z1, z2]

jointaxes: (Plot Option) Plot an arrow indicating the axes in which the joint revolves around(revolute joint) or translates along (prosmatic joint)

eeframe: (Plot Option) Plot the end-effector coordinate frame at the location of the end-effector. Uses three arrows, red, green and blue to indicate the x, y, and z-axes.

shadow: (Plot Option) Plot a shadow of the robot in the x-y plane

name: (Plot Option) Plot the name of the robot near its base

Returns:: A reference to the PyPlot object which controls the matplotlib figure
Return type:: env

plot_fellipse(q, block=True, fellipse=None, limits=None, opt='trans', centre=[0, 0, 0], jointaxes=True, eeframe=True, shadow=True, name=True)

Plot the force ellipsoid for manipulator

robot.plot_fellipse(q) displays the velocity ellipsoid for the robot at pose q. The plot will autoscale with an aspect ratio of 1.

robot.plot_fellipse(vellipse) specifies a custon ellipse to plot.

q: The joint configuration of the robot

block: Block operation of the code and keep the figure open

fellipse: the vellocity ellipsoid to plot

limits: Custom view limits for the plot. If not supplied will autoscale, [x1, x2, y1, y2, z1, z2]

opt: ‘trans’ or ‘rot’ will plot either the translational or rotational force ellipsoid

centre: The coordinates to plot the fellipse [x, y, z] or “ee” to plot at the end-effector location

jointaxes: (Plot Option) Plot an arrow indicating the axes in which the joint revolves around(revolute joint) or translates along (prosmatic joint)

eeframe: (Plot Option) Plot the end-effector coordinate frame at the location of the end-effector. Uses three arrows, red, green and blue to indicate the x, y, and z-axes.

shadow: (Plot Option) Plot a shadow of the robot in the x-y plane

name: (Plot Option) Plot the name of the robot near its base

Raises:: ValueError – q or fellipse must be supplied
Returns:: A reference to the PyPlot object which controls the matplotlib figure
Return type:: env

Notes

By default the ellipsoid related to translational motion is
drawn. Use opt='rot' to draw the rotational velocity ellipsoid.
By default the ellipsoid is drawn at the origin. The option
centre allows its origin to set to set to the specified 3-vector, or the string “ee” ensures it is drawn at the end-effector position.

plot_vellipse(q, block=True, vellipse=None, limits=None, opt='trans', centre=[0, 0, 0], jointaxes=True, eeframe=True, shadow=True, name=True)

Plot the velocity ellipsoid for manipulator

robot.plot_vellipse(q) displays the velocity ellipsoid for the robot at pose q. The plot will autoscale with an aspect ratio of 1.

robot.plot_vellipse(vellipse) specifies a custon ellipse to plot.

block: Block operation of the code and keep the figure open
q: The joint configuration of the robot
vellipse: the vellocity ellipsoid to plot
limits: Custom view limits for the plot. If not supplied will autoscale, [x1, x2, y1, y2, z1, z2]
opt: ‘trans’ or ‘rot’ will plot either the translational or rotational velocity ellipsoid
centre: The coordinates to plot the vellipse [x, y, z] or “ee” to plot at the end-effector location
jointaxes: (Plot Option) Plot an arrow indicating the axes in which the joint revolves around(revolute joint) or translates along (prosmatic joint)
eeframe: (Plot Option) Plot the end-effector coordinate frame at the location of the end-effector. Uses three arrows, red, green and blue to indicate the x, y, and z-axes.
shadow: (Plot Option) Plot a shadow of the robot in the x-y plane
name: (Plot Option) Plot the name of the robot near its base

Raises:: ValueError – q or fellipse must be supplied
Returns:: A reference to the PyPlot object which controls the matplotlib figure
Return type:: env

Notes

By default the ellipsoid related to translational motion is
drawn. Use opt='rot' to draw the rotational velocity ellipsoid.
By default the ellipsoid is drawn at the origin. The option
centre allows its origin to set to set to the specified 3-vector, or the string “ee” ensures it is drawn at the end-effector position.

property prismaticjoints: List[bool]

Revolute joints as bool array

Returns:: array of joint type, True if prismatic
Return type:: prismaticjoints

Examples

Notes

Fixed joints, that maintain a constant link relative pose, are not included.

See also

Link.isprismatic(), revolutejoints()

property q: ndarray

Get/set robot joint configuration

robot.q is the robot joint configuration
robot.q = ... checks and sets the joint configuration

Parameters:: q – the new robot joint configuration
Returns:: robot joint configuration
Return type:: q

property qd: ndarray

Get/set robot joint velocity

robot.qd is the robot joint velocity
robot.qd = ... checks and sets the joint velocity

Returns:: robot joint velocity
Return type:: qd

property qdd: ndarray

Get/set robot joint acceleration

robot.qdd is the robot joint acceleration
robot.qdd = ... checks and sets the robot joint acceleration

Returns:: robot joint acceleration
Return type:: qdd

property qlim: ndarray

Joint limits

Limits are extracted from the link objects. If joints limits are not set for:

a revolute joint [-𝜋. 𝜋] is returned
a prismatic joint an exception is raised

qlim: An array of joints limits (2, n)

Raises:: ValueError – unset limits for a prismatic joint
Returns:: Array of joint limit values
Return type:: qlim

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot.qlim
array([[-2.7925, -1.9199, -2.3562, -4.6426, -1.7453, -4.6426],
       [ 2.7925,  1.9199,  2.3562,  4.6426,  1.7453,  4.6426]])

random_q()

Return a random joint configuration

The value for each joint is uniform randomly distributed between the limits set for the robot.

Note

The joint limit for all joints must be set.

Returns:: Random joint configuration :rtype: ndarray(n)
Return type:: q

See also

Robot.qlim(), Link.qlim()

property revolutejoints: List[bool]

Revolute joints as bool array

Returns:: array of joint type, True if revolute
Return type:: revolutejoints

Examples

Notes

Fixed joints, that maintain a constant link relative pose, are not included.

See also

Link.isrevolute(), prismaticjoints()

property scene_children: List[SceneNode]: Returns the child nodes of this object

property scene_parent: Type[SceneNode]: Returns the parent node of this object

showgraph(display_graph=True, **kwargs)

Display a link transform graph in browser

robot.showgraph() displays a graph of the robot’s link frames and the ETS between them. It uses GraphViz dot.

The nodes are:

Base is shown as a grey square. This is the world frame origin, but can be changed using the base attribute of the robot.
Link frames are indicated by circles
ETS transforms are indicated by rounded boxes

The edges are:

an arrow if jtype is False or the joint is fixed
an arrow with a round head if jtype is True and the joint is revolute
an arrow with a box head if jtype is True and the joint is prismatic

Edge labels or nodes in blue have a fixed transformation to the preceding link.

Parameters:

display_graph (bool) – Open the graph in a browser if True. Otherwise will return the file path
etsbox – Put the link ETS in a box, otherwise an edge label
jtype – Arrowhead to node indicates revolute or prismatic type
static – Show static joints in blue and bold

Return type:

Optional[str]

Examples

>>> import roboticstoolbox as rtb
>>> panda = rtb.models.URDF.Panda()
>>> panda.showgraph()

See also

dotfile()

property structure: str

Return the joint structure string

A string with one letter per joint: R for a revolute joint, and P for a prismatic joint.

Returns:: joint configuration string
Return type:: structure

Examples

>>> import roboticstoolbox as rtb
>>> puma = rtb.models.DH.Puma560()
>>> puma.structure
'RRRRRR'
>>> stanford = rtb.models.DH.Stanford()
>>> stanford.structure
'RRPRRR'

Notes

Fixed joints, that maintain a constant link relative pose, are not included. len(self.structure) == self.n.

property symbolic: bool

teach(q, block=True, limits=None, vellipse=False, fellipse=False, backend=None)

Graphical teach pendant

robot.teach(q) creates a matplotlib plot which allows the user to “drive” a graphical robot using a graphical slider panel. The robot’s inital joint configuration is q. The plot will autoscale with an aspect ratio of 1.

robot.teach() as above except the robot’s stored value of q is used.

q: The joint configuration of the robot (Optional, if not supplied will use the stored q values).
block: Block operation of the code and keep the figure open
limits: Custom view limits for the plot. If not supplied will autoscale, [x1, x2, y1, y2, z1, z2]
vellipse: (Plot Option) Plot the velocity ellipse at the end-effector (this option is for ‘pyplot’ only)
fellipse: (Plot Option) Plot the force ellipse at the end-effector (this option is for ‘pyplot’ only)

Returns:: A reference to the PyPlot object which controls the matplotlib figure
Return type:: env

Notes

Program execution is blocked until the teach window is
dismissed. If block=False the method is non-blocking but you need to poll the window manager to ensure that the window remains responsive.
The slider limits are derived from the joint limit properties.
If not set then: - For revolute joints they are assumed to be [-pi, +pi] - For prismatic joint they are assumed unknown and an error

occurs.

todegrees(q)

Convert joint angles to degrees

Parameters:

q – The joint configuration of the robot

Return type:

ndarray

Returns:

q – a vector of joint coordinates in degrees and metres
robot.todegrees(q) converts joint coordinates q to degrees
taking into account whether elements of q correspond to revolute
or prismatic joints, ie. prismatic joint values are not converted.
If q is a matrix, with one column per joint, the conversion is
performed columnwise.

Examples

>>> import roboticstoolbox as rtb
>>> from math import pi
>>> stanford = rtb.models.DH.Stanford()
>>> stanford.todegrees([pi/4, pi/8, 2, -pi/4, pi/6, pi/3])
array([ 45. ,  22.5,   2. , -45. ,  30. ,  60. ])

property tool: SE3

Get/set robot tool transform

robot.tool is the robot tool transform as an SE3 object
robot._tool is the robot tool transform as a numpy array
robot.tool = ... checks and sets the robot tool transform

Parameters:: tool – the new robot tool transform (as an SE(3))
Returns:: robot tool transform
Return type:: tool

toradians(q)

Convert joint angles to radians

robot.toradians(q) converts joint coordinates q to radians taking into account whether elements of q correspond to revolute or prismatic joints, ie. prismatic joint values are not converted.

If q is a matrix, with one column per joint, the conversion is performed columnwise.

Parameters:: q – The joint configuration of the robot
Returns:: a vector of joint coordinates in radians and metres
Return type:: q

Examples

>>> import roboticstoolbox as rtb
>>> stanford = rtb.models.DH.Stanford()
>>> stanford.toradians([10, 20, 2, 30, 40, 50])
array([0.1745, 0.3491, 2.    , 0.5236, 0.6981, 0.8727])

property urdf_filepath: str

property urdf_string: str

vellipse(q, opt='trans', unit='rad', centre=[0, 0, 0], scale=0.1)

Create a velocity ellipsoid object for plotting with PyPlot

robot.vellipse(q) creates a force ellipsoid for the robot at pose q. The ellipsoid is centered at the origin.

q: The joint configuration of the robot.

opt: ‘trans’ or ‘rot’ will plot either the translational or rotational force ellipsoid

unit: ‘rad’ or ‘deg’ will plot the ellipsoid in radians or degrees

centre: The centre of the ellipsoid, either ‘ee’ for the end-effector or a 3-vector [x, y, z] in the world frame

scale: The scale factor for the ellipsoid

Returns:: An EllipsePlot object
Return type:: env

Notes

By default the ellipsoid related to translational motion is
drawn. Use opt='rot' to draw the rotational velocity ellipsoid.
By default the ellipsoid is drawn at the origin. The option
centre allows its origin to set to set to the specified 3-vector, or the string “ee” ensures it is drawn at the end-effector position.

vision_collision_damper(shape, camera=None, camera_n=0, q=None, di=0.3, ds=0.05, xi=1.0, end=None, start=None, collision_list=None)

Compute a vision collision constrain for QP motion control

Formulates an inequality contraint which, when optimised for will make it impossible for the robot to run into a line of sight. See examples/fetch_vision.py for use case

camera: The camera link, either as a robotic link or SE3 pose

camera_n: Degrees of freedom of the camera link

ds: The minimum distance in which a joint is allowed to approach the collision object shape

di: The influence distance in which the velocity damper becomes active

xi: The gain for the velocity damper

end: The end link of the robot to consider

start: The start link of the robot to consider

collision_list: A list of shapes to consider for collision

Returns:

Ain – A (6,) vector inequality contraint for an optisator
Bin – b (6,) vector inequality contraint for an optisator

DHLink

The DHRobot is defined by a list of DHLink subclass objects.

Inheritance diagram of roboticstoolbox.RevoluteDH, roboticstoolbox.PrismaticDH, roboticstoolbox.RevoluteMDH, roboticstoolbox.PrismaticMDH

class roboticstoolbox.robot.DHLink(d=0.0, alpha=0.0, theta=0.0, a=0.0, sigma=0, mdh=False, offset=0, flip=False, qlim=None, **kwargs)[source]

Bases: Link

A link superclass for all robots defined using Denavit-Hartenberg notation. A Link object holds all information related to a robot joint and link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters.

Parameters:

theta (float) – kinematic: joint angle
d (float) – kinematic - link offset
alpha (float) – kinematic - link twist
a (float) – kinematic - link length
sigma (int) – kinematic - 0 if revolute, 1 if prismatic
mdh (int) – kinematic - 0 if standard D&H, else 1
offset (float) – kinematic - joint variable offset
qlim (ndarray(2,)) – joint variable limits [min, max]
flip (bool) – joint moves in opposite direction
m (float) – dynamic - link mass
r (ndarray(3,)) – dynamic - position of COM with respect to link frame
I (ndarray) – dynamic - inertia of link with respect to COM
Jm (float) – dynamic - motor inertia
B (float, or ndarray(2,)) – dynamic - motor viscous friction: B=B⁺=B⁻, [B⁺, B⁻]
Tc (ndarray(2,)) – dynamic - motor Coulomb friction [Tc⁺, Tc⁻]
G (float) – dynamic - gear ratio

References:

Robotics, Vision & Control, P. Corke, Springer 2023, Chap 7.

property isjoint: bool

Test if link has joint :return: test if link has a joint :rtype: bool The ETS for each ELink comprises a constant part (possible the identity) followed by an optional joint variable transform. This property returns the whether the .. runblock:: pycon

>>> from roboticstoolbox import models
>>> robot = models.URDF.Panda()
>>> robot[1].isjoint  # link with joint
>>> robot[8].isjoint  # static link

property theta

Get/set joint angle

link.theta is the joint angle

return:

joint angle

rtype:

float
link.theta = ... checks and sets the joint angle

property d

Get/set link offset

link.d is the link offset

return:

link offset

rtype:

float
link.d = ... checks and sets the link offset

property a

Get/set link length

link.a is the link length

return:

link length

rtype:

float
link.a = ... checks and sets the link length

property alpha

Get/set link twist

link.d is the link twist

return:

link twist

rtype:

float
link.d = ... checks and sets the link twist

property sigma

Get/set joint type

link.sigma is the joint type

return:

joint type

rtype:

int
link.sigma = ... checks and sets the joint type

The joint type is 0 for a revolute joint, and 1 for a prismatic joint.

Seealso:: isrevolute(), isprismatic()

property B: float

Get/set motor viscous friction

link.B is the motor viscous friction
link.B = ... checks and sets the motor viscous friction

Returns:: motor viscous friction
Return type:: B

Notes

Referred to the motor side of the gearbox.
Viscous friction is the same for positive and negative motion.

property G: float

Get/set gear ratio

link.G is the transmission gear ratio
link.G = ... checks and sets the gear ratio

Returns:: gear ratio
Return type:: G

Notes

The ratio of motor motion : link motion
The gear ratio can be negative, see also the flip attribute.

See also

flip()

property I: ndarray

Get/set link inertia

Link inertia is a symmetric 3x3 matrix describing the inertia with respect to a frame with its origin at the centre of mass, and with axes parallel to those of the link frame.

link.I is the link inertia
link.I = ... checks and sets the link inertia

Returns:: link inertia
Return type:: I

Synopsis

The inertia matrix is

$\begin{bmatrix} I_{xx} & I_{xy} & I_{xz} \\ I_{xy} & I_{yy} & I_{yz} \\I_{xz} & I_{yz} & I_{zz} \end{bmatrix}$

and can be specified as either:

a 3 ⨉ 3 symmetric matrix
a 3-vector $(I_{xx}, I_{yy}, I_{zz})$
a 6-vector $(I_{xx}, I_{yy}, I_{zz}, I_{xy}, I_{yz}, I_{xz})$

Notes

Referred to the link side of the gearbox.

property Jm: float

Get/set motor inertia

link.Jm is the motor inertia
link.Jm = ... checks and sets the motor inertia

Returns:: motor inertia
Return type:: Jm

Notes

Referred to the motor side of the gearbox.

property Tc: ndarray

Get/set motor Coulomb friction

link.Tc is the motor Coulomb friction
link.Tc = ... checks and sets the motor Coulomb friction. If a scalar is given the value is set to [T, -T], if a 2-vector it is assumed to be in the order [Tc⁺, Tc⁻]

Coulomb friction is a non-linear friction effect defined by two parameters such that

\[\begin{split}\tau = \left\{ \begin{array}{ll} \tau_C^+ & \mbox{if $\dot{q} > 0$} \\ \tau_C^- & \mbox{if $\dot{q} < 0$} \end{array} \right.\end{split}\]

Returns:: motor Coulomb friction
Return type:: Tc

Notes

Referred to the motor side of the gearbox.
$\tau_C^+$ must be $> 0$, and $\tau_C^-$ must
be $< 0$.

property Ts: Optional[ndarray]

Constant part of link ETS

The ETS for each Link comprises a constant part (possible the identity) followed by an optional joint variable transform. This property returns the constant part. If no constant part is given, this returns an identity matrix.

Returns:: constant part of link transform
Return type:: Ts

Examples

>>> from roboticstoolbox import Link, ET
>>> link = Link( ET.tz(0.333) * ET.Rx(90, 'deg') * ET.Rz() )
>>> link.Ts
array([[ 1.   ,  0.   ,  0.   ,  0.   ],
       [ 0.   ,  0.   , -1.   ,  0.   ],
       [ 0.   ,  1.   ,  0.   ,  0.333],
       [ 0.   ,  0.   ,  0.   ,  1.   ]])
>>> link = Link( ET.Rz() )
>>> link.Ts

attach(object)

attach_to(object)

property children: Optional[List[Link]]

List of child links

The list will be empty for a end-effector link

Returns:: child links
Return type:: children

closest_point(shape, inf_dist=1.0, skip=False)

Finds the closest point to a shape

closest_point(shape, inf_dist) returns the minimum euclidean distance between this link and shape, provided it is less than inf_dist. It will also return the points on self and shape in the world frame which connect the line of length distance between the shapes. If the distance is negative then the shapes are collided.

:param : :type : param shape: The shape to compare distance to :param : the shape :type : param inf_dist: The minimum distance within which to consider :param : :type : param skip: Skip setting all shape transforms

Return type:

Tuple[Optional[int], Optional[ndarray], Optional[ndarray]]

Returns:

d – d is the distance between the shapes
p1 – the points in the world frame on the link shape. The points returned are [x, y, z].
p2 – the points in the world frame the shape. The points returned are [x, y, z].

collided(shape, skip=False)

Checks for collision with a shape

iscollided(shape) checks if this link and shape have collided

Parameters:

shape (Shape) – The shape to compare distance to
skip (bool) – Skip setting all shape transforms

Returns:

True if shapes have collided

Return type:

iscollided

property collision: SceneGroup

Get/set joint collision geometry

The collision geometries are what is used to check for collisions.

link.collision is the list of the collision geometries which
represent the collidable shape of the link. :return: the collision geometries :rtype: list of Shape
link.collision = ... checks and sets the collision geometry
link.collision.append(...) add collision geometry

copy()

Copy of link object

link.copy() is a new Link subclass instance with a copy of all the parameters.

Returns:: copy of link object
Return type:: link

dyn(indent=0)

Inertial properties of link as a string

link.dyn() is a string representation the inertial properties of the link object in a multi-line format. The properties shown are mass, centre of mass, inertia, friction, gear ratio and motor properties.

Parameters:: indent – indent each line by this many spaces

:param : :type : type indent: int :param : :type : return: The string representation of the link dynamics :param : :type : rtype: string

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> print(robot.links[2])        # kinematic parameters
RevoluteDH:   θ=q,  d=0.15005,  a=0.0203,  ⍺=-1.5707963267948966
>>> print(robot.links[2].dyn())  # dynamic parameters
m     =       4.8 
r     =     -0.02   -0.014     0.07 
        |    0.066        0        0 | 
I     = |        0    0.086        0 | 
        |        0        0    0.013 | 
Jm    =    0.0002 
B     =    0.0014 
Tc    =      0.13(+)     -0.1(-) 
G     =       -54 
qlim  =      -2.4 to      2.4

See also

dyntable()

property ets: ETS

Get/set link ets

link.ets is the link ets
link.ets = ... checks and sets the link ets

Parameters:: ets – the new link ets
Returns:: the current link ets
Return type:: ets

friction(qd, coulomb=True)

Compute joint friction

friction(qd) is the joint friction force/torque for joint velocity qd. The friction model includes:

Viscous friction which is a linear function of velocity.
Coulomb friction which is proportional to sign(qd).

\[\begin{split}\tau = G^2 B \dot{q} + |G| \left\{ \begin{array}{ll} \tau_C^+ & \mbox{if $\dot{q} > 0$} \\ \tau_C^- & \mbox{if $\dot{q} < 0$} \end{array} \right.\end{split}\]

Parameters:

qd (float) – The joint velocity
coulomb (bool) – include Coulomb friction

Returns:

the friction force/torque

Return type:

tau

Notes

The friction value should be added to the motor output torque to
determine the nett torque. It has a negative value when qd > 0.
The returned friction value is referred to the output of the
gearbox.
The friction parameters in the Link object are referred to the
motor.
Motor viscous friction is scaled up by $G^2$.
Motor Coulomb friction is scaled up by math:G.
The appropriate Coulomb friction value to use in the
non-symmetric case depends on the sign of the joint velocity, not the motor velocity.
Coulomb friction is zero for zero joint velocity, stiction is
not modeled.
The absolute value of the gear ratio is used. Negative gear
ratios are tricky: the Puma560 robot has negative gear ratio for joints 1 and 3.

property geometry: SceneGroup

Get/set joint visual geometry

link.geometry is the list of the visual geometries which
represent the shape of the link :return: the visual geometries :rtype: list of Shape
link.geometry = ... checks and sets the geometry
link.geometry.append(...) add geometry

property hasdynamics: bool

Link has dynamic parameters (Link superclass)

Link has some assigned (non-default) dynamic parameters. These could have been assigned:

at constructor time, eg. m=1.2
by invoking a setter method, eg. link.m = 1.2

Returns:: Link has dynamic parameters
Return type:: hasdynamics

Examples

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> robot[1].hasdynamics
True

iscollided(shape, skip=False)

Checks for collision with a shape

iscollided(shape) checks if this link and shape have collided

Parameters:

shape (Shape) – The shape to compare distance to
skip (bool) – Skip setting all shape transforms

Returns:

True if shapes have collided

Return type:

iscollided

property isflip: bool

Get/set joint flip

link.flip is the joint flip status
link.flip = ... checks and sets the joint flip status

Joint flip defines the direction of motion of the joint.

flip = False is conventional motion direction:

revolute motion is a positive rotation about the z-axis

prismatic motion is a positive translation along the z-axis

flip = True is the opposite motion direction:

revolute motion is a negative rotation about the z-axis

prismatic motion is a negative translation along the z-axis

Returns:: joint flip
Return type:: isflip

islimit(q)

Checks if joint exceeds limit

link.islimit(q) is True if q exceeds the joint limits defined by link.

Parameters:: q (float) – joint coordinate
Returns:: True if joint is exceeded
Return type:: islimit

Notes

If no limits are set always return False.

See also

qlim()

property jindex: Union[None, int]

Get/set joint index

link.jindex is the joint index
link.jindex = ... checks and sets the joint index

For a serial-link manipulator the joints are numbered starting at zero and increasing sequentially toward the end-effector. For branched mechanisms this is not so straightforward. The link’s jindex property specifies the index of its joint variable within a vector of joint coordinates.

Returns:: joint index
Return type:: jindex

Notes

jindex values must be a sequence of integers starting
at zero.

property m: float

Get/set link mass

link.m is the link mass
link.m = ... checks and sets the link mass

Returns:: link mass
Return type:: m

property mdh

Get/set kinematic convention

link.mdh is the kinematic convention

return:

kinematic convention

rtype:

bool
link.mdh = ... checks and sets the kinematic convention

The kinematic convention is True for modified Denavit-Hartenberg notation (eg. Craig’s textbook) and False for Denavit-Hartenberg notation (eg. Siciliano, Spong, Paul textbooks).

property name: str

Get/set link name

link.name is the link name
link.name = ... checks and sets the link name

Returns:: link name
Return type:: name

property nchildren: int

Number of child links

Will be zero for an end-effector link

Returns:: number of child links
Return type:: nchildren

nofriction(coulomb=True, viscous=False)

Clone link without friction

link.nofriction() is a copy of the link instance with the same parameters except, the Coulomb and/or viscous friction parameters are set to zero.

Parameters:

coulomb (bool) – if True, will set the Coulomb friction to 0
viscous (bool) – if True, will set the viscous friction to 0

Notes

For simulation it can be useful to remove Couloumb friction
which can cause problems for numerical integration.

property parent: Optional[Self]

Parent link

This is a reference to the links parent in the kinematic chain

Returns:: Link’s parent
Return type:: parent

Examples

>>> from roboticstoolbox import models
>>> robot = models.URDF.Panda()
>>> robot[0].parent  # base link has no parent
>>> robot[1].parent  # second link's parent
Link(name = "panda_link0")

property parent_name: Optional[str]

Parent link name

Returns:: Link’s parent name
Return type:: parent_name

property qlim: Optional[ndarray]

Get/set joint limits

link.qlim is the joint limits
link.qlim = ... checks and sets the joint limits

Returns:: joint limits
Return type:: qlim

Notes

The limits are not widely enforced within the toolbox.
If no joint limits are specified the value is None

See also

islimit()

property r: ndarray

Get/set link centre of mass

The link centre of mass is a 3-vector defined with respect to the link frame.

link.r is the link centre of mass
link.r = ... checks and sets the link centre of mass

Returns:: link centre of mass
Return type:: r

property robot: Optional[BaseRobot]

Get forward reference to the robot which owns this link

link.robot is the robot reference
link.robot = ... checks and sets the robot reference

Returns:: The robot object
Return type:: robot

property scene_children: List[SceneNode]: Returns the child nodes of this object

property scene_parent: Type[SceneNode]: Returns the parent node of this object

property v

Variable part of link ETS

The ETS for each Link comprises a constant part (possible the identity) followed by an optional joint variable transform. This property returns the latter.

Returns:: joint variable transform
Return type:: v

Examples

property offset

Get/set joint variable offset

link.offset is the joint variable offset

Returns:: joint variable offset
Return type:: float

link.offset = ... checks and sets the joint variable offset

The offset is added to the joint angle before forward kinematics, and subtracted after inverse kinematics. It is used to define the joint configuration for zero joint coordinates.

A(q)[source]

Link transform matrix

Parameters:: q (float) – Joint coordinate
Return T:: SE(3) link homogeneous transformation
Rtype T:: SE3 instance
Return type:: SE3

A(q) is an SE3 instance representing the SE(3) homogeneous transformation matrix corresponding to the link’s joint variable q which is either the Denavit-Hartenberg parameter $\theta_j$ (revolute) or $d_j$ (prismatic).

This is the relative pose of the current link frame with respect to the previous link frame.

For details of the computation see the documentation for the subclasses, click on the right side of the class boxes below.

Note

For a revolute joint the theta parameter of the link is ignored, and q used instead.
For a prismatic joint the d parameter of the link is ignored, and q used instead.
The joint offset parameter is added to q before computation of the transformation matrix.
The computation is different for standard and modified Denavit-Hartenberg parameters.

Seealso:: RevoluteDH, PrismaticDH, RevoluteMDH, PrismaticMDH

property isrevolute

Checks if the joint is of revolute type

Returns:: Ture if is revolute
Return type:: bool
Seealso:: sigma()

property isprismatic

Checks if the joint is of prismatic type

Returns:: Ture if is prismatic
Return type:: bool
Seealso:: sigma()

Revolute - standard DH

class roboticstoolbox.robot.DHLink.RevoluteDH(d=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs)[source]

Bases: DHLink

Class for revolute links using standard DH convention :type d: :param d: kinematic - link offset :type d: float :type alpha: :param alpha: kinematic - link twist :type alpha: float :type a: :param a: kinematic - link length :type a: float :type offset: :param offset: kinematic - joint variable offset :type offset: float :type qlim: :param qlim: joint variable limits [min, max] :type qlim: float ndarray(1,2) :type flip: :param flip: joint moves in opposite direction :type flip: bool :param m: dynamic - link mass :type m: float :param r: dynamic - position of COM with respect to link frame :type r: float ndarray(3) :param I: dynamic - inertia of link with respect to COM :type I: ndarray :param Jm: dynamic - motor inertia :type Jm: float :param B: dynamic - motor viscous friction: B=B⁺=B⁻, [B⁺, B⁻] :type B: float, or ndarray(2,) :param Tc: dynamic - motor Coulomb friction [Tc⁺, Tc⁻] :type Tc: ndarray(2,) :param G: dynamic - gear ratio :type G: float

A subclass of the DHLink class for a revolute joint that holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters. The link transform is $\underbrace{\mathbf{T}_{rz}(q_i)}_{\mbox{variable}} \cdot \mathbf{T}_{tz}(d_i) \cdot \mathbf{T}_{tx}(a_i) \cdot \mathbf{T}_{rx}(\alpha_i)$ where $q_i$ is the joint variable. :references:

Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 7.

Seealso:: PrismaticDH(), DHLink(), RevoluteMDH()

Prismatic - standard DH

class roboticstoolbox.robot.DHLink.PrismaticDH(theta=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs)[source]

Bases: DHLink

Class for prismatic link using standard DH convention :type theta: :param theta: kinematic: joint angle :type theta: float :param d: kinematic - link offset :type d: float :type alpha: :param alpha: kinematic - link twist :type alpha: float :type a: :param a: kinematic - link length :type a: float :type offset: :param offset: kinematic - joint variable offset :type offset: float :type qlim: :param qlim: joint variable limits [min, max] :type qlim: float ndarray(1,2) :type flip: :param flip: joint moves in opposite direction :type flip: bool :param m: dynamic - link mass :type m: float :param r: dynamic - position of COM with respect to link frame :type r: float ndarray(3) :param I: dynamic - inertia of link with respect to COM :type I: ndarray :param Jm: dynamic - motor inertia :type Jm: float :param B: dynamic - motor viscous friction: B=B⁺=B⁻, [B⁺, B⁻] :type B: float, or ndarray(2,) :param Tc: dynamic - motor Coulomb friction [Tc⁺, Tc⁻] :type Tc: ndarray(2,) :param G: dynamic - gear ratio :type G: float A subclass of the DHLink class for a prismatic joint that holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters. The link transform is $\mathbf{T}_{rz}(\theta_i) \cdot \underbrace{\mathbf{T}_{tz}(q_i)}_{\mbox{variable}} \cdot \mathbf{T}_{tx}(a_i) \cdot \mathbf{T}_{rx}(\alpha_i)$ where $q_i$ is the joint variable. :references:

Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 7.

Seealso:: RevoluteDH(), DHLink(), PrismaticMDH()

Revolute - modified DH

class roboticstoolbox.robot.DHLink.RevoluteMDH(d=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs)[source]

Bases: DHLink

Class for revolute links using modified DH convention

Parameters:

d (float) – kinematic - link offset
alpha (float) – kinematic - link twist
a (float) – kinematic - link length
offset (float) – kinematic - joint variable offset
qlim (float ndarray(1,2)) – joint variable limits [min, max]
flip (bool) – joint moves in opposite direction
m (float) – dynamic - link mass
r (float ndarray(3)) – dynamic - position of COM with respect to link frame
I (ndarray) – dynamic - inertia of link with respect to COM
Jm (float) – dynamic - motor inertia
B (float, or ndarray(2,)) – dynamic - motor viscous friction: B=B⁺=B⁻, [B⁺, B⁻]
Tc (ndarray(2,)) – dynamic - motor Coulomb friction [Tc⁺, Tc⁻]
G (float) – dynamic - gear ratio

A subclass of the DHLink class for a revolute joint that holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters.

The link transform is

$\mathbf{T}_{tx}(a_{i-1}) \cdot \mathbf{T}_{rx}(\alpha_{i-1}) \cdot \underbrace{\mathbf{T}_{rz}(q_i)}_{\mbox{variable}} \cdot \mathbf{T}_{tz}(d_i)$

where $q_i$ is the joint variable.

References:

Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 7.

Seealso:

PrismaticMDH(), DHLink(), RevoluteDH()

Prismatic - modified DH

class roboticstoolbox.robot.DHLink.PrismaticMDH(theta=0.0, a=0.0, alpha=0.0, offset=0.0, qlim=None, flip=False, **kwargs)[source]

Bases: DHLink

Class for prismatic link using modified DH convention

Parameters:

theta (float) – kinematic: joint angle
d (float) – kinematic - link offset
alpha (float) – kinematic - link twist
a (float) – kinematic - link length
offset (float) – kinematic - joint variable offset
qlim (float ndarray(1,2)) – joint variable limits [min, max]
flip (bool) – joint moves in opposite direction
m (float) – dynamic - link mass
r (float ndarray(3)) – dynamic - position of COM with respect to link frame
I (ndarray) – dynamic - inertia of link with respect to COM
Jm (float) – dynamic - motor inertia
B (float, or ndarray(2,)) – dynamic - motor viscous friction: B=B⁺=B⁻, [B⁺, B⁻]
Tc (ndarray(2,)) – dynamic - motor Coulomb friction [Tc⁺, Tc⁻]
G (float) – dynamic - gear ratio

A subclass of the DHLink class for a prismatic joint that holds all information related to a robot link such as kinematics parameters, rigid-body inertial parameters, motor and transmission parameters.

The link transform is

$\mathbf{T}_{tx}(a_{i-1}) \cdot \mathbf{T}_{rx}(\alpha_{i-1}) \cdot \mathbf{T}_{rz}(\theta_i) \cdot \underbrace{\mathbf{T}_{tz}(q_i)}_{\mbox{variable}}$

where $q_i$ is the joint variable.

References:

Robotics, Vision & Control in Python, 3e, P. Corke, Springer 2023, Chap 7.

Seealso:

RevoluteMDH(), DHLink(), PrismaticDH()

Models

A number of models are defined in terms of Denavit-Hartenberg parameters, either standard or modified. They can be listed by:

class roboticstoolbox.models.DH.Panda[source]

Bases: DHRobot

A class representing the Panda robot arm.

Panda() is a class which models a Franka-Emika Panda robot and describes its kinematic characteristics using modified DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Panda()
>>> print(robot)
DHRobot: Panda (by Franka Emika), 7 joints (RRRRRRR), dynamics, geometry, modified DH parameters
┌────────┬────────┬─────┬───────┬─────────┬────────┐
│ aⱼ₋₁   │  ⍺ⱼ₋₁  │ θⱼ  │  dⱼ   │   q⁻    │   q⁺   │
├────────┼────────┼─────┼───────┼─────────┼────────┤
│    0.0 │   0.0° │  q1 │ 0.333 │ -166.0° │ 166.0° │
│    0.0 │ -90.0° │  q2 │   0.0 │ -101.0° │ 101.0° │
│    0.0 │  90.0° │  q3 │ 0.316 │ -166.0° │ 166.0° │
│ 0.0825 │  90.0° │  q4 │   0.0 │ -176.0° │  -4.0° │
│-0.0825 │ -90.0° │  q5 │ 0.384 │ -166.0° │ 166.0° │
│    0.0 │  90.0° │  q6 │   0.0 │   -1.0° │ 215.0° │
│  0.088 │  90.0° │  q7 │ 0.107 │ -166.0° │ 166.0° │
└────────┴────────┴─────┴───────┴─────────┴────────┘

┌─────┬───────────────────────────────────────┐
│tool │ t = 0, 0, 0.1; rpy/xyz = -45°, 0°, 0° │
└─────┴───────────────────────────────────────┘

┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
│name │ q0  │ q1     │ q2  │ q3    │ q4  │ q5    │ q6   │
├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
│  qr │  0° │ -17.2° │  0° │ -126° │  0° │  115° │  45° │
│  qz │  0° │  0°    │  0° │  0°   │  0° │  0°   │  0°  │
└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘

Note

SI units of metres are used.
The model includes a tool offset.

References:

https://frankaemika.github.io/docs/control_parameters.html

Code author: Samuel Drew

Code author: Peter Corke

class roboticstoolbox.models.DH.Puma560(symbolic=False)[source]

Bases: DHRobot

Class that models a Puma 560 manipulator

Parameters:: symbolic (bool) – use symbolic constants

Puma560() is an object which models a Unimation Puma560 robot and describes its kinematic and dynamic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> print(robot)
DHRobot: Puma 560 (by Unimation), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters
┌────┬────────┬────────┬────────┬─────────┬────────┐
│θⱼ  │   dⱼ   │   aⱼ   │   ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼────────┼────────┼────────┼─────────┼────────┤
│ q1 │ 0.6718 │      0 │  90.0° │ -160.0° │ 160.0° │
│ q2 │      0 │ 0.4318 │   0.0° │ -110.0° │ 110.0° │
│ q3 │   0.15 │ 0.0203 │ -90.0° │ -135.0° │ 135.0° │
│ q4 │ 0.4318 │      0 │  90.0° │ -266.0° │ 266.0° │
│ q5 │      0 │      0 │ -90.0° │ -100.0° │ 100.0° │
│ q6 │      0 │      0 │   0.0° │ -266.0° │ 266.0° │
└────┴────────┴────────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐
│name │ q0  │ q1   │ q2    │ q3  │ q4   │ q5  │
├─────┼─────┼──────┼───────┼─────┼──────┼─────┤
│  qr │  0° │  90° │ -90°  │  0° │  0°  │  0° │
│  qz │  0° │  0°  │  0°   │  0° │  0°  │  0° │
│  qn │  0° │  45° │  180° │  0° │  45° │  0° │
│  qs │  0° │  0°  │ -90°  │  0° │  0°  │  0° │
└─────┴─────┴──────┴───────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration
qr, vertical ‘READY’ configuration
qs, arm is stretched out in the x-direction
qn, arm is at a nominal non-singular configuration

Note

SI units are used.
The model includes armature inertia and gear ratios.
The value of m1 is given as 0 here. Armstrong found no value for it and it does not appear in the equation for tau1 after the substituion is made to inertia about link frame rather than COG frame.
Gravity load torque is the motor torque necessary to keep the joint static, and is thus -ve of the gravity caused torque.

Warning

Compared to the MATLAB version of the Toolbox this model includes the pedestal, making the z-coordinates 26 inches larger.

References:

“A search for consensus among model parameters reported for the PUMA 560 robot”, P. Corke and B. Armstrong-Helouvry, Proc. IEEE Int. Conf. Robotics and Automation, (San Diego), pp. 1608-1613, May 1994. (for kinematic and dynamic parameters)
“A combined optimization method for solving the inverse kinematics problem”, Wang & Chen, IEEE Trans. RA 7(4) 1991 pp 489-. (for joint angle limits)
https://github.com/4rtur1t0/ARTE/blob/master/robots/UNIMATE/puma560/parameters.m

Code author: Peter Corke

ikine_a(T, config='lun')[source]

Analytic inverse kinematic solution

Parameters:

T (SE3) – end-effector pose
config (str, optional) – arm configuration, defaults to “lun”

Returns:

joint angle vector in radians

Return type:

ndarray(6)

robot.ikine_a(T, config) is the joint angle vector which achieves the end-effector pose T`. The configuration string selects the specific solution and is a sting comprising the following letters:

Letter	Meaning
l	Choose the left-handed configuration
r	Choose the right-handed configuration
u	Choose the elbow up configuration
d	Choose the elbow down configuration
n	Choose the wrist not-flipped configuration
f	Choose the wrist flipped configuration

Reference:

Inverse kinematics for a PUMA 560, Paul and Zhang, The International Journal of Robotics Research, Vol. 5, No. 2, Summer 1986, p. 32-44

Author:

based on MATLAB code by Robert Biro with Gary Von McMurray, GTRI/ATRP/IIMB, Georgia Institute of Technology, 2/13/95

class roboticstoolbox.models.DH.Stanford[source]

Bases: DHRobot

Class that models a Stanford arm manipulator

Stanford() is a class which models a Unimation Puma560 robot and describes its kinematic and dynamic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Stanford()
>>> print(robot)
DHRobot: Stanford arm (by Victor Scheinman), 6 joints (RRPRRR), dynamics, standard DH parameters
┌───────┬───────┬────────┬────────┬─────────────────────┬────────┐
│  θⱼ   │  dⱼ   │   aⱼ   │   ⍺ⱼ   │         q⁻          │   q⁺   │
├───────┼───────┼────────┼────────┼─────────────────────┼────────┤
│ q1    │ 0.412 │      0 │ -90.0° │             -170.0° │ 170.0° │
│ q2    │ 0.154 │      0 │  90.0° │             -170.0° │ 170.0° │
│-90.0° │    q3 │ 0.0203 │   0.0° │ 0.30479999999999996 │   1.27 │
│ q4    │     0 │      0 │ -90.0° │             -170.0° │ 170.0° │
│ q5    │     0 │      0 │  90.0° │              -90.0° │  90.0° │
│ q6    │     0 │      0 │   0.0° │             -170.0° │ 170.0° │
└───────┴───────┴────────┴────────┴─────────────────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬─────┬────┬─────┬─────┬─────┐
│name │ q0  │ q1  │ q2 │ q3  │ q4  │ q5  │
├─────┼─────┼─────┼────┼─────┼─────┼─────┤
│  qr │  0° │  0° │  0 │  0° │  0° │  0° │
│  qz │  0° │  0° │  0 │  0° │  0° │  0° │
└─────┴─────┴─────┴────┴─────┴─────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration

Note

SI units are used.
Gear ratios not currently known, though reflected armature inertia is known, so gear ratios are set to 1.

References:

Kinematic data from “Modelling, Trajectory calculation and Servoing of a computer controlled arm”. Stanford AIM-177. Figure 2.3
Dynamic data from “Robot manipulators: mathematics, programming and control” Paul 1981, Tables 6.5, 6.6
Dobrotin & Scheinman, “Design of a computer controlled manipulator for robot research”, IJCAI, 1973.

Code author: Peter Corke

class roboticstoolbox.models.DH.Ball(N=10)[source]

Bases: DHRobot

Class that models a ball manipulator

Parameters:

N (int, optional) – number of links, defaults to 10
symbolic (bool, optional) – [description], defaults to False

The ball robot is an abstract robot with an arbitrary number of joints. At zero joint angles it is straight along the x-axis, and as the joint angles are increased (equally) it wraps up into a 3D ball shape.

Ball() is an object which describes the kinematic characteristics of a ball robot using standard DH conventions.
Ball(N) as above, but models a robot with N joints.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Ball()
>>> print(robot)
DHRobot: ball, 10 joints (RRRRRRRRRR), dynamics, standard DH parameters
┌─────┬────┬─────┬───────┐
│ θⱼ  │ dⱼ │ aⱼ  │  ⍺ⱼ   │
├─────┼────┼─────┼───────┤
│ q1  │  0 │ 0.1 │ 90.0° │
│ q2  │  0 │ 0.1 │ 90.0° │
│ q3  │  0 │ 0.1 │ 90.0° │
│ q4  │  0 │ 0.1 │ 90.0° │
│ q5  │  0 │ 0.1 │ 90.0° │
│ q6  │  0 │ 0.1 │ 90.0° │
│ q7  │  0 │ 0.1 │ 90.0° │
│ q8  │  0 │ 0.1 │ 90.0° │
│ q9  │  0 │ 0.1 │ 90.0° │
│ q10 │  0 │ 0.1 │ 90.0° │
└─────┴────┴─────┴───────┘

┌─┬──┐
└─┴──┘

┌─────┬────────┬────────┬────────┬────────┬────────┬────────┬────────┬────────┬────────┬────────┐
│name │ q0     │ q1     │ q2     │ q3     │ q4     │ q5     │ q6     │ q7     │ q8     │ q9     │
├─────┼────────┼────────┼────────┼────────┼────────┼────────┼────────┼────────┼────────┼────────┤
│  qr │  57.3° │  57.3° │ -38.2° │  57.3° │  57.3° │ -38.2° │ -38.2° │  57.3° │ -38.2° │  57.3° │
│  qz │  0°    │  0°    │  0°    │  0°    │  0°    │  0°    │  0°    │  0°    │  0°    │  0°    │
└─────┴────────┴────────┴────────┴────────┴────────┴────────┴────────┴────────┴────────┴────────┘

Defined joint configurations are:

qz, zero joint angles

q1, ball shaped configuration

References:

“A divide and conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid body dynamics, Part 2”, Int. J. Robotics Research, 18(9), pp 876-892.

Seealso:

Hyper(), Ball()

Code author: Peter Corke

class roboticstoolbox.models.DH.Coil(N=10, symbolic=False)[source]

Bases: DHRobot

Create model of a coil manipulator

Parameters:

N (int, optional) – number of links, defaults to 10
symbolic (bool, optional) – [description], defaults to False

The coil robot is an abstract robot with an arbitrary number of joints that folds into a helix shape. At zero joint angles it is straight along the x-axis, and as the joint angles are increased (equally) it wraps up into a 3D helix shape.

Coil() is an object which describes the kinematic characteristics of a coil robot using standard DH conventions.
Coil(N) as above, but models a robot with N joints.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Coil()
>>> print(robot)
DHRobot: Coil10, 10 joints (RRRRRRRRRR), dynamics, standard DH parameters
┌─────┬────┬─────┬───────┐
│ θⱼ  │ dⱼ │ aⱼ  │  ⍺ⱼ   │
├─────┼────┼─────┼───────┤
│ q1  │  0 │ 0.1 │ 90.0° │
│ q2  │  0 │ 0.1 │ 90.0° │
│ q3  │  0 │ 0.1 │ 90.0° │
│ q4  │  0 │ 0.1 │ 90.0° │
│ q5  │  0 │ 0.1 │ 90.0° │
│ q6  │  0 │ 0.1 │ 90.0° │
│ q7  │  0 │ 0.1 │ 90.0° │
│ q8  │  0 │ 0.1 │ 90.0° │
│ q9  │  0 │ 0.1 │ 90.0° │
│ q10 │  0 │ 0.1 │ 90.0° │
└─────┴────┴─────┴───────┘

┌─┬──┐
└─┴──┘

┌─────┬───────┬───────┬───────┬───────┬───────┬───────┬───────┬───────┬───────┬───────┐
│name │ q0    │ q1    │ q2    │ q3    │ q4    │ q5    │ q6    │ q7    │ q8    │ q9    │
├─────┼───────┼───────┼───────┼───────┼───────┼───────┼───────┼───────┼───────┼───────┤
│  qr │  180° │  180° │  180° │  180° │  180° │  180° │  180° │  180° │  180° │  180° │
│  qz │  0°   │  0°   │  0°   │  0°   │  0°   │  0°   │  0°   │  0°   │  0°   │  0°   │
└─────┴───────┴───────┴───────┴───────┴───────┴───────┴───────┴───────┴───────┴───────┘

Defined joint configurations are:

qz, zero joint angle configuration

References:

“A divide and conquer articulated-body algorithm for parallel O(log(n)) calculation of rigid body dynamics, Part 2”, Int. J. Robotics Research, 18(9), pp 876-892.

Seealso:

Hyper(), Ball()

Code author: Peter Corke

class roboticstoolbox.models.DH.Hyper(N=10, a=None, symbolic=False)[source]

Bases: DHRobot

Create model of a hyper redundant planar manipulator

Parameters:

N (int, optional) – number of links, defaults to 10
a (int or symbolic, optional) – link length, defaults total 1/N giving a reach of 1
symbolic (bool, optional) – [description], defaults to False

Hyper() is an object which describes the kinematics of a serial link manipulator with 10 joints which moves in the xy-plane, using standard DH conventions. At zero angles it forms a straight line along the x-axis.
Hyper(N) as above, but models a robot with N joints.

IndexError: too many indices for array: array is 0-dimensional, but 1 were indexed

Defined joint configurations are:

qz, zero joint angle configuration

References:

“A divide and conquer articulated-body algorithm for parallel O(log(n))

calculation of rigid body dynamics, Part 2”, Int. J. Robotics Research, 18(9), pp 876-892.

Seealso:

Coil(), Ball()

Code author: Peter Corke

class roboticstoolbox.models.DH.Hyper3d(N=10, a=None, symbolic=False)[source]

Bases: DHRobot

Create model of a hyper redundant manipulator

Parameters:

N (int, optional) – number of links, defaults to 10
a (int or symbolic, optional) – link length, defaults total 1/N giving a reach of 1
symbolic (bool, optional) – [description], defaults to False

Hyper3d() is an object which describes the kinematics of a serial link manipulator with 10 joints which moves in the xy-plane, using standard DH conventions. At zero angles it forms a straight line along the x-axis.
Hyper3d(N) as above, but models a robot with N joints.

IndexError: too many indices for array: array is 0-dimensional, but 1 were indexed

Defined joint configurations are:

qz, zero joint angle configuration

References:

“A divide and conquer articulated-body algorithm for parallel O(log(n))

calculation of rigid body dynamics, Part 2”, Int. J. Robotics Research, 18(9), pp 876-892.

Seealso:

Coil(), Ball()

Code author: Peter Corke

class roboticstoolbox.models.DH.Cobra600[source]

Bases: DHRobot

Class that models a Adept Cobra 600 SCARA manipulator

Cobra600() is a class which models an Adept Cobra 600 SCARA robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Cobra600()
>>> print(robot)
DHRobot: Cobra600 (by Omron), 4 joints (RRPR), dynamics, standard DH parameters
┌─────┬───────┬───────┬────────┬─────────┬────────┐
│ θⱼ  │  dⱼ   │  aⱼ   │   ⍺ⱼ   │   q⁻    │   q⁺   │
├─────┼───────┼───────┼────────┼─────────┼────────┤
│ q1  │ 0.387 │ 0.325 │   0.0° │  -50.0° │  50.0° │
│ q2  │     0 │ 0.275 │ 180.0° │  -88.0° │  88.0° │
│0.0° │    q3 │     0 │   0.0° │     0.0 │   0.21 │
│ q4  │     0 │     0 │   0.0° │ -180.0° │ 180.0° │
└─────┴───────┴───────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬─────┬────┬─────┐
│name │ q0  │ q1  │ q2 │ q3  │
├─────┼─────┼─────┼────┼─────┤
│  qz │  0° │  0° │  0 │  0° │
│  qr │  0° │  0° │  0 │  0° │
└─────┴─────┴─────┴────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration

Note

SI units are used.
Robot has only 4 DoF.

Code author: Peter Corke

class roboticstoolbox.models.DH.IRB140[source]

Bases: DHRobot

Class that models an ABB IRB140 manipulator

IRB140() is a class which models a Unimation Puma560 robot and describes its kinematic and dynamic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.IRB140()
>>> print(robot)
DHRobot: IRB 140 (by ABB), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters
┌────┬───────┬──────┬────────┬─────────┬────────┐
│θⱼ  │  dⱼ   │  aⱼ  │   ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼───────┼──────┼────────┼─────────┼────────┤
│ q1 │ 0.352 │ 0.07 │ -90.0° │ -180.0° │ 180.0° │
│ q2 │     0 │ 0.36 │   0.0° │ -100.0° │ 100.0° │
│ q3 │     0 │    0 │ -90.0° │ -220.0° │  60.0° │
│ q4 │  0.38 │    0 │  90.0° │ -200.0° │ 200.0° │
│ q5 │     0 │    0 │ -90.0° │ -120.0° │ 120.0° │
│ q6 │ 0.065 │    0 │   0.0° │ -400.0° │ 400.0° │
└────┴───────┴──────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬──────┬───────┬─────┬──────┬──────┐
│name │ q0  │ q1   │ q2    │ q3  │ q4   │ q5   │
├─────┼─────┼──────┼───────┼─────┼──────┼──────┤
│  qr │  0° │ -90° │  90°  │  0° │  90° │ -90° │
│  qz │  0° │  0°  │  0°   │  0° │  0°  │  0°  │
│  qd │  0° │ -90° │  180° │  0° │  0°  │ -90° │
└─────┴─────┴──────┴───────┴─────┴──────┴──────┘

Defined joint configurations are:

qz, zero joint angle configuration

qr, vertical ‘READY’ configuration

qd, lower arm horizontal as per data sheet

Note

SI units of metres are used.

References:

“IRB 140 data sheet”, ABB Robotics.
“Utilizing the Functional Work Space Evaluation Tool for Assessing a System Design and Reconfiguration Alternatives” A. Djuric and R. J. Urbanic
https://github.com/4rtur1t0/ARTE/blob/master/robots/ABB/IRB140/parameters.m

Code author: Peter Corke

class roboticstoolbox.models.DH.KR5[source]

Bases: DHRobot

Class that models a Kuka KR5 manipulator

KR5() is a class which models a Kuka KR5 robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.KR5()
>>> print(robot)
DHRobot: KR5 (by KUKA), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters
┌────┬────────┬──────┬────────┬─────────┬────────┐
│θⱼ  │   dⱼ   │  aⱼ  │   ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼────────┼──────┼────────┼─────────┼────────┤
│ q1 │    0.4 │ 0.18 │ -90.0° │ -155.0° │ 155.0° │
│ q2 │      0 │  0.6 │   0.0° │ -180.0° │  65.0° │
│ q3 │      0 │ 0.12 │  90.0° │  -15.0° │ 158.0° │
│ q4 │  -0.62 │    0 │ -90.0° │ -350.0° │ 350.0° │
│ q5 │      0 │    0 │  90.0° │ -130.0° │ 130.0° │
│ q6 │ -0.115 │    0 │ 180.0° │ -350.0° │ 350.0° │
└────┴────────┴──────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬──────┬──────┬──────┬──────┬──────┬──────┐
│name │ q0   │ q1   │ q2   │ q3   │ q4   │ q5   │
├─────┼──────┼──────┼──────┼──────┼──────┼──────┤
│  qr │  45° │  60° │  45° │  30° │  45° │  30° │
│  qz │  0°  │  0°  │  0°  │  0°  │  0°  │  0°  │
│ qk1 │  45° │  60° │  45° │  30° │  45° │  30° │
│ qk2 │  45° │  60° │  30° │  60° │  45° │  30° │
│ qk3 │  30° │  60° │  30° │  60° │  30° │  60° │
└─────┴──────┴──────┴──────┴──────┴──────┴──────┘

Defined joint configurations are:

qk1, nominal working position 1

qk2, nominal working position 2

qk3, nominal working position 3

Note

SI units of metres are used.
Includes an 11.5cm tool in the z-direction

References:

https://github.com/4rtur1t0/ARTE/blob/master/robots/KUKA/KR5_arc/parameters.m

Code author: Gautam Sinha, Indian Institute of Technology, Kanpur (original MATLAB version)

Code author: Samuel Drew

Code author: Peter Corke

class roboticstoolbox.models.DH.Orion5(base=None)[source]

Bases: DHRobot

Class that models a RAWR robotics Orion5 manipulator

Orion5() is a class which models a RAWR Robotics Orion5 robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Orion5()
>>> print(robot)
DHRobot: Orion 5 (by RAWR Robotics), 4 joints (RRRR), dynamics, standard DH parameters
┌────┬───────┬─────────┬───────┬─────────┬────────┐
│θⱼ  │  dⱼ   │   aⱼ    │  ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼───────┼─────────┼───────┼─────────┼────────┤
│ q1 │ 0.053 │       0 │ 90.0° │ -180.0° │ 180.0° │
│ q2 │     0 │  0.1704 │  0.0° │   10.0° │ 122.5° │
│ q3 │     0 │ -0.1363 │  0.0° │   20.0° │ 340.0° │
│ q4 │     0 │   0.126 │  0.0° │   45.0° │ 315.0° │
└────┴───────┴─────────┴───────┴─────────┴────────┘

┌─────┬────────────────────────────────────┐
│base │ None                               │
│tool │ t = 0, 0, 0; rpy/xyz = 0°, 90°, 0° │
└─────┴────────────────────────────────────┘

┌─────┬─────┬──────┬───────┬───────┐
│name │ q0  │ q1   │ q2    │ q3    │
├─────┼─────┼──────┼───────┼───────┤
│  qr │  0° │  0°  │  180° │  90°  │
│  qz │  0° │  0°  │  0°   │  0°   │
│  qv │  0° │  90° │  180° │  180° │
│  qh │  0° │  0°  │  180° │  90°  │
└─────┴─────┴──────┴───────┴───────┘

Defined joint configurations are:

qz, zero angles, all folded up

qv, stretched out vertically

qh, arm horizontal, hand down

Note

SI units of metres are used.
Robot has only 4 DoF.

References:

https://rawrobotics.com.au/orion5
https://drive.google.com/file/d/0B6_9_-ZgiRdTNkVqMEkxN2RSc2c/view

Code author: Aditya Dua

Code author: Peter Corke

class roboticstoolbox.models.DH.Planar3[source]

Bases: DHRobot

Class that models a planar 3-link robot

Planar2() is a class which models a 3-link planar robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Planar3()
>>> print(robot)
DHRobot: Planar 3 link, 3 joints (RRR), dynamics, standard DH parameters
┌────┬────┬────┬──────┐
│θⱼ  │ dⱼ │ aⱼ │  ⍺ⱼ  │
├────┼────┼────┼──────┤
│ q1 │  0 │  1 │ 0.0° │
│ q2 │  0 │  1 │ 0.0° │
│ q3 │  0 │  1 │ 0.0° │
└────┴────┴────┴──────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬─────┬─────┐
│name │ q0  │ q1  │ q2  │
├─────┼─────┼─────┼─────┤
│  qr │  0° │  0° │  0° │
│  qz │  0° │  0° │  0° │
└─────┴─────┴─────┴─────┘

Defined joint configurations are:

qz, zero angles, all folded up

Note

Robot has only 3 DoF.

Code author: Peter Corke

class roboticstoolbox.models.DH.Planar2(symbolic=False)[source]

Bases: DHRobot

Class that models a planar 2-link robot

Planar2() is a class which models a 2-link planar robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Planar2()
>>> print(robot)
DHRobot: Planar 2 link, 2 joints (RR), dynamics, standard DH parameters
┌────┬────┬────┬──────┐
│θⱼ  │ dⱼ │ aⱼ │  ⍺ⱼ  │
├────┼────┼────┼──────┤
│ q1 │  0 │  1 │ 0.0° │
│ q2 │  0 │  1 │ 0.0° │
└────┴────┴────┴──────┘

┌─┬──┐
└─┴──┘

┌─────┬──────┬──────┐
│name │ q0   │ q1   │
├─────┼──────┼──────┤
│  qr │  0°  │  90° │
│  qz │  0°  │  0°  │
│  q1 │  0°  │  90° │
│  q2 │  90° │ -90° │
└─────┴──────┴──────┘

Defined joint configurations are:

qz, zero angles, all folded up

q1, links are horizontal and vertical respectively

q2, links are vertical and horizontal respectively

Note

Robot has only 2 DoF.

Code author: Peter Corke

class roboticstoolbox.models.DH.LWR4[source]

Bases: DHRobot

Class that models a LWR-IV manipulator

LWR4() is a class which models a Kuka LWR-IV robot and describes its kinematic characteristics using standard DH conventions.

IndexError: too many indices for array: array is 0-dimensional, but 1 were indexed

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration
qr, vertical ‘READY’ configuration
qs, arm is stretched out in the X direction
qn, arm is at a nominal non-singular configuration

Note

SI units are used.

References:

http://www.diag.uniroma1.it/~deluca/rob1_en/09_Exercise_DH_KukaLWR4.pdf

Code author: Peter Corke

class roboticstoolbox.models.DH.UR3(symbolic=False)[source]

Bases: DHRobot

Class that models a Universal Robotics UR3 manipulator

Parameters:: symbolic (bool) – use symbolic constants

UR3() is an object which models a Unimation Puma560 robot and describes its kinematic and dynamic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.UR3()
>>> print(robot)
DHRobot: UR3 (by Universal Robotics), 6 joints (RRRRRR), dynamics, standard DH parameters
┌────┬─────────┬─────────┬────────┐
│θⱼ  │   dⱼ    │   aⱼ    │   ⍺ⱼ   │
├────┼─────────┼─────────┼────────┤
│ q1 │  0.1519 │       0 │  90.0° │
│ q2 │       0 │ -0.2437 │   0.0° │
│ q3 │       0 │ -0.2132 │   0.0° │
│ q4 │  0.1124 │       0 │  90.0° │
│ q5 │ 0.08535 │       0 │ -90.0° │
│ q6 │  0.0819 │       0 │   0.0° │
└────┴─────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬───────┬─────┬─────┬─────┬──────┬─────┐
│name │ q0    │ q1  │ q2  │ q3  │ q4   │ q5  │
├─────┼───────┼─────┼─────┼─────┼──────┼─────┤
│  qr │  180° │  0° │  0° │  0° │  90° │  0° │
│  qz │  0°   │  0° │  0° │  0° │  0°  │  0° │
└─────┴───────┴─────┴─────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration
qr, arm horizontal along x-axis

Note

SI units are used.

References:

Parameters for calculations of kinematics and dynamics

Sealso:

UR5(), UR10()

Code author: Peter Corke

class roboticstoolbox.models.DH.UR5(symbolic=False)[source]

Bases: DHRobot

Class that models a Universal Robotics UR5 manipulator

Parameters:: symbolic (bool) – use symbolic constants

UR5() is an object which models a Unimation Puma560 robot and describes its kinematic and dynamic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.UR5()
>>> print(robot)
DHRobot: UR5 (by Universal Robotics), 6 joints (RRRRRR), dynamics, standard DH parameters
┌────┬─────────┬─────────┬────────┐
│θⱼ  │   dⱼ    │   aⱼ    │   ⍺ⱼ   │
├────┼─────────┼─────────┼────────┤
│ q1 │ 0.08946 │       0 │  90.0° │
│ q2 │       0 │  -0.425 │   0.0° │
│ q3 │       0 │ -0.3922 │   0.0° │
│ q4 │  0.1091 │       0 │  90.0° │
│ q5 │ 0.09465 │       0 │ -90.0° │
│ q6 │  0.0823 │       0 │   0.0° │
└────┴─────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬───────┬─────┬─────┬─────┬──────┬─────┐
│name │ q0    │ q1  │ q2  │ q3  │ q4   │ q5  │
├─────┼───────┼─────┼─────┼─────┼──────┼─────┤
│  qr │  180° │  0° │  0° │  0° │  90° │  0° │
│  qz │  0°   │  0° │  0° │  0° │  0°  │  0° │
└─────┴───────┴─────┴─────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration
qr, arm horizontal along x-axis

Note

SI units are used.

References:

Parameters for calculations of kinematics and dynamics

Sealso:

UR4(), UR10()

Code author: Peter Corke

class roboticstoolbox.models.DH.UR10(symbolic=False)[source]

Bases: DHRobot

Class that models a Universal Robotics UR10 manipulator

Parameters:: symbolic (bool) – use symbolic constants

UR10() is an object which models a Unimation Puma560 robot and describes its kinematic and dynamic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.UR10()
>>> print(robot)
DHRobot: UR10 (by Universal Robotics), 6 joints (RRRRRR), dynamics, standard DH parameters
┌────┬────────┬─────────┬────────┐
│θⱼ  │   dⱼ   │   aⱼ    │   ⍺ⱼ   │
├────┼────────┼─────────┼────────┤
│ q1 │ 0.1273 │       0 │  90.0° │
│ q2 │      0 │  -0.612 │   0.0° │
│ q3 │      0 │ -0.5723 │   0.0° │
│ q4 │ 0.1639 │       0 │  90.0° │
│ q5 │ 0.1157 │       0 │ -90.0° │
│ q6 │ 0.0922 │       0 │   0.0° │
└────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬───────┬─────┬─────┬─────┬──────┬─────┐
│name │ q0    │ q1  │ q2  │ q3  │ q4   │ q5  │
├─────┼───────┼─────┼─────┼─────┼──────┼─────┤
│  qr │  180° │  0° │  0° │  0° │  90° │  0° │
│  qz │  0°   │  0° │  0° │  0° │  0°  │  0° │
└─────┴───────┴─────┴─────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration
qr, arm horizontal along x-axis

Note

SI units are used.

References:

Parameters for calculations of kinematics and dynamics

Sealso:

UR3(), UR5()

Code author: Peter Corke

class roboticstoolbox.models.DH.Sawyer(symbolic=False)[source]

Bases: DHRobot

Class that models a Sawyer manipulator

Parameters:: symbolic (bool) – use symbolic constants

Sawyer() is an object which models a Rethink Sawyer robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Sawyer()
>>> print(robot)
DHRobot: Sawyer (by Rethink Robotics), 7 joints (RRRRRRR), dynamics, standard DH parameters
┌────┬────────┬───────┬────────┐
│θⱼ  │   dⱼ   │  aⱼ   │   ⍺ⱼ   │
├────┼────────┼───────┼────────┤
│ q1 │  0.317 │ 0.081 │ -90.0° │
│ q2 │ 0.1925 │     0 │ -90.0° │
│ q3 │    0.4 │     0 │ -90.0° │
│ q4 │ 0.1685 │     0 │ -90.0° │
│ q5 │    0.4 │     0 │ -90.0° │
│ q6 │ 0.1363 │     0 │ -90.0° │
│ q7 │ 0.1338 │     0 │   0.0° │
└────┴────────┴───────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬─────┬─────┬─────┬─────┬─────┬─────┐
│name │ q0  │ q1  │ q2  │ q3  │ q4  │ q5  │ q6  │
├─────┼─────┼─────┼─────┼─────┼─────┼─────┼─────┤
│  qr │  0° │  0° │  0° │  0° │  0° │  0° │  0° │
│  qz │  0° │  0° │  0° │  0° │  0° │  0° │  0° │
└─────┴─────┴─────┴─────┴─────┴─────┴─────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration

References:: -Layeghi, Daniel. “Dynamic and Kinematic Modelling of the Sawyer Arm ” Google Sites, 20 Nov. 2017

Note

SI units of metres are used.

class roboticstoolbox.models.DH.Mico(symbolic=False)[source]

Bases: DHRobot

Class that models a Kinova Mico manipulator

Parameters:: symbolic (bool) – use symbolic constants

Mico() is an object which models a Kinova Mico robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> print(robot)
DHRobot: Puma 560 (by Unimation), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters
┌────┬────────┬────────┬────────┬─────────┬────────┐
│θⱼ  │   dⱼ   │   aⱼ   │   ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼────────┼────────┼────────┼─────────┼────────┤
│ q1 │ 0.6718 │      0 │  90.0° │ -160.0° │ 160.0° │
│ q2 │      0 │ 0.4318 │   0.0° │ -110.0° │ 110.0° │
│ q3 │   0.15 │ 0.0203 │ -90.0° │ -135.0° │ 135.0° │
│ q4 │ 0.4318 │      0 │  90.0° │ -266.0° │ 266.0° │
│ q5 │      0 │      0 │ -90.0° │ -100.0° │ 100.0° │
│ q6 │      0 │      0 │   0.0° │ -266.0° │ 266.0° │
└────┴────────┴────────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐
│name │ q0  │ q1   │ q2    │ q3  │ q4   │ q5  │
├─────┼─────┼──────┼───────┼─────┼──────┼─────┤
│  qr │  0° │  90° │ -90°  │  0° │  0°  │  0° │
│  qz │  0° │  0°  │  0°   │  0° │  0°  │  0° │
│  qn │  0° │  45° │  180° │  0° │  45° │  0° │
│  qs │  0° │  0°  │ -90°  │  0° │  0°  │  0° │
└─────┴─────┴──────┴───────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration
qr, vertical ‘READY’ configuration
qs, arm is stretched out in the x-direction
qn, arm is at a nominal non-singular configuration

Note

SI units are used.

References:

“DH Parameters of Mico” Version 1.0.8, July 25, 2013.

Seealso:

Mico()

class roboticstoolbox.models.DH.Jaco(symbolic=False)[source]

Bases: DHRobot

Class that models a Kinova Jaco manipulator

Parameters:: symbolic (bool) – use symbolic constants

Jaco() is an object which models a Kinova Jaco robot and describes its kinematic characteristics using standard DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> print(robot)
DHRobot: Puma 560 (by Unimation), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters
┌────┬────────┬────────┬────────┬─────────┬────────┐
│θⱼ  │   dⱼ   │   aⱼ   │   ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼────────┼────────┼────────┼─────────┼────────┤
│ q1 │ 0.6718 │      0 │  90.0° │ -160.0° │ 160.0° │
│ q2 │      0 │ 0.4318 │   0.0° │ -110.0° │ 110.0° │
│ q3 │   0.15 │ 0.0203 │ -90.0° │ -135.0° │ 135.0° │
│ q4 │ 0.4318 │      0 │  90.0° │ -266.0° │ 266.0° │
│ q5 │      0 │      0 │ -90.0° │ -100.0° │ 100.0° │
│ q6 │      0 │      0 │   0.0° │ -266.0° │ 266.0° │
└────┴────────┴────────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐
│name │ q0  │ q1   │ q2    │ q3  │ q4   │ q5  │
├─────┼─────┼──────┼───────┼─────┼──────┼─────┤
│  qr │  0° │  90° │ -90°  │  0° │  0°  │  0° │
│  qz │  0° │  0°  │  0°   │  0° │  0°  │  0° │
│  qn │  0° │  45° │  180° │  0° │  45° │  0° │
│  qs │  0° │  0°  │ -90°  │  0° │  0°  │  0° │
└─────┴─────┴──────┴───────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration
qr, vertical ‘READY’ configuration
qs, arm is stretched out in the x-direction
qn, arm is at a nominal non-singular configuration

Note

SI units are used.

References:

“DH Parameters of Jaco” Version 1.0.8, July 25, 2013.

Seealso:

Mico()

class roboticstoolbox.models.DH.Baxter(arm='left')[source]

Bases: DHRobot

Class that models a Baxter manipulator

Parameters:: symbolic (bool) – use symbolic constants

Baxter() is an object which models the left arm of the two 7-joint arms of a Rethink Robotics Baxter robot using standard DH conventions.

Baxter(which) as above but models the specified arm and which is either ‘left’ or ‘right’.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Baxter()
>>> print(robot)
DHRobot: Baxter-left (by Rethink Robotics), 7 joints (RRRRRRR), dynamics, standard DH parameters
┌──────────┬───────┬───────┬────────┐
│   θⱼ     │  dⱼ   │  aⱼ   │   ⍺ⱼ   │
├──────────┼───────┼───────┼────────┤
│ q1       │  0.27 │ 0.069 │ -90.0° │
│ q2 + 90° │     0 │     0 │  90.0° │
│ q3       │ 0.364 │ 0.069 │ -90.0° │
│ q4       │     0 │     0 │  90.0° │
│ q5       │ 0.374 │  0.01 │ -90.0° │
│ q6       │     0 │     0 │  90.0° │
│ q7       │  0.28 │     0 │   0.0° │
└──────────┴───────┴───────┴────────┘

┌─────┬──────┐
│base │ None │
└─────┴──────┘

┌─────┬─────┬──────┬──────┬─────┬──────┬─────┬─────┐
│name │ q0  │ q1   │ q2   │ q3  │ q4   │ q5  │ q6  │
├─────┼─────┼──────┼──────┼─────┼──────┼─────┼─────┤
│  qr │  0° │ -90° │ -90° │  0° │  0°  │  0° │  0° │
│  qz │  0° │  0°  │  0°  │  0° │  0°  │  0° │  0° │
│  qs │  0° │  0°  │ -90° │  0° │  0°  │  0° │  0° │
│  qn │  0° │  45° │  90° │  0° │  45° │  0° │  0° │
└─────┴─────┴──────┴──────┴─────┴──────┴─────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration
qr, vertical ‘READY’ configuration
qs, arm is stretched out in the X direction
qd, lower arm horizontal as per data sheet

Note

SI units are used.

Warning

The base transform is set to reflect the pose of the arm’s shoulder with respect to the base. Changing the base attribute of the arm will overwrite this, IT DOES NOT CHANGE THE POSE OF BAXTER’s base. Instead do baxter.base = newbase * baxter.base.

References:

“Kinematics Modeling and Experimental Verification of Baxter Robot” Z. Ju, C. Yang, H. Ma, Chinese Control Conf, 2015.

Code author: Peter Corke

class roboticstoolbox.models.DH.TwoLink(symbolic=False)[source]

Bases: DHRobot

Class that models a 2-link robot moving in the vertical plane

Parameters:: symbolic (bool) – use symbolic constants

TwoLink() is a class which models a 2-link planar robot and describes its kinematic and dynamic characteristics using standard DH conventions. of a simple planar 2-link mechanism moving in the xz-plane, it experiences gravity loading. All mass is concentrated at the joints.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.TwoLink()
>>> print(robot)
DHRobot: 2 link, 2 joints (RR), dynamics, standard DH parameters
┌────┬────┬────┬──────┐
│θⱼ  │ dⱼ │ aⱼ │  ⍺ⱼ  │
├────┼────┼────┼──────┤
│ q1 │  0 │  1 │ 0.0° │
│ q2 │  0 │  1 │ 0.0° │
└────┴────┴────┴──────┘

┌─────┬──────┐
│base │ None │
└─────┴──────┘

┌─────┬──────┬──────┐
│name │ q0   │ q1   │
├─────┼──────┼──────┤
│  qr │  30° │ -30° │
│  qz │  0°  │  0°  │
│  q1 │  0°  │  90° │
│  q2 │  90° │ -90° │
│  qn │  30° │ -30° │
└─────┴──────┴──────┘

The parameters values depend on the symbolic parameter

Parameters	Numeric values	Symbolic values
link lengths	1, 1	a1, a2
link masses	1, 1	m1, m2
link CoMs in the link frame x-direction	-0.5, -0.5	c1, c2
gravitational acceleration	9.8	g

Defined joint configurations are:

qz, zero angles, all folded up

q1, links are horizontal and vertical respectively

q2, links are vertical and horizontal respectively

qn, nominal working configuration

Note

Robot has only 2 DoF.
Motor inertia is 0.
Link inertias are 0.
Viscous and Coulomb friction is 0.

Reference:: Based on Fig 3-6 (p73) of Spong and Vidyasagar (1st edition).

Code author: Peter Corke

class roboticstoolbox.models.DH.P8[source]

Bases: DHRobot

Class that models a Puma robot on an XY base

P8() is an object which models an 8-axis robot comprising a Puma 560 robot on an XY base. Joints 0 and 1 are the base, joints 2-7 are the robot arm.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.Puma560()
>>> print(robot)
DHRobot: Puma 560 (by Unimation), 6 joints (RRRRRR), dynamics, geometry, standard DH parameters
┌────┬────────┬────────┬────────┬─────────┬────────┐
│θⱼ  │   dⱼ   │   aⱼ   │   ⍺ⱼ   │   q⁻    │   q⁺   │
├────┼────────┼────────┼────────┼─────────┼────────┤
│ q1 │ 0.6718 │      0 │  90.0° │ -160.0° │ 160.0° │
│ q2 │      0 │ 0.4318 │   0.0° │ -110.0° │ 110.0° │
│ q3 │   0.15 │ 0.0203 │ -90.0° │ -135.0° │ 135.0° │
│ q4 │ 0.4318 │      0 │  90.0° │ -266.0° │ 266.0° │
│ q5 │      0 │      0 │ -90.0° │ -100.0° │ 100.0° │
│ q6 │      0 │      0 │   0.0° │ -266.0° │ 266.0° │
└────┴────────┴────────┴────────┴─────────┴────────┘

┌─┬──┐
└─┴──┘

┌─────┬─────┬──────┬───────┬─────┬──────┬─────┐
│name │ q0  │ q1   │ q2    │ q3  │ q4   │ q5  │
├─────┼─────┼──────┼───────┼─────┼──────┼─────┤
│  qr │  0° │  90° │ -90°  │  0° │  0°  │  0° │
│  qz │  0° │  0°  │  0°   │  0° │  0°  │  0° │
│  qn │  0° │  45° │  180° │  0° │  45° │  0° │
│  qs │  0° │  0°  │ -90°  │  0° │  0°  │  0° │
└─────┴─────┴──────┴───────┴─────┴──────┴─────┘

Defined joint configurations are:

qz, zero joint angle configuration, ‘L’ shaped configuration

Note

SI units are used.

Code author: Peter Corke

Seealso:: models.DH.Puma560()

class roboticstoolbox.models.DH.AL5D(symbolic=False)[source]

Bases: DHRobot

Class that models a Lynxmotion AL5D manipulator

Parameters:: symbolic (bool) – use symbolic constants

AL5D() is an object which models a Lynxmotion AL5D robot and describes its kinematic and dynamic characteristics using modified DH conventions.

>>> import roboticstoolbox as rtb
>>> robot = rtb.models.DH.AL5D()
>>> print(robot)
DHRobot: AL5D (by Lynxmotion), 3 joints (RRR), dynamics, modified DH parameters
┌────────┬────────┬─────────────┬──────────┬────────┬───────┐
│ aⱼ₋₁   │  ⍺ⱼ₋₁  │     θⱼ      │    dⱼ    │   q⁻   │  q⁺   │
├────────┼────────┼─────────────┼──────────┼────────┼───────┤
│      0 │ 180.0° │    q1 + 90° │ -0.06858 │ -90.0° │ 90.0° │
│  0.002 │  90.0° │   q2 + 180° │        0 │ -90.0° │ 90.0° │
│0.14679 │ 180.0° │  q3 - 2.45° │        0 │ -90.0° │ 90.0° │
└────────┴────────┴─────────────┴──────────┴────────┴───────┘

┌─────┬───────────────────────────────────────┐
│tool │ t = 0.077, 0, 0; rpy/xyz = 0°, 0°, 0° │
└─────┴───────────────────────────────────────┘

┌─────┬──────┬──────┬──────┐
│name │ q0   │ q1   │ q2   │
├─────┼──────┼──────┼──────┤
│home │  90° │  90° │  90° │
└─────┴──────┴──────┴──────┘

Defined joint configurations are:

qz, zero joint angle configuration

Note

SI units are used.

References:

‘Reference of the robot <http://www.lynxmotion.com/c-130-al5d.aspx>’_

Code author: Tassos Natsakis