42 lines
1.4 KiB
Markdown
42 lines
1.4 KiB
Markdown
### This repo is for inverse kinematics and verification
|
|
|
|
In this branch, the **integrated** inverse kinematics method is packed into one python class **rm75_kinematics** in ``rm75_kinematics.py``.
|
|
|
|
The user can call it as in `test1.py`, `test2.py`.
|
|
|
|
How to use
|
|
|
|
```aiignore
|
|
from rm75_kinematics import rm75_kinematics
|
|
robot_kine = rm75_kinematics(urdf_path='./urdf_rm75/RM75-SCI.urdf',
|
|
mesh_dir='./urdf_rm75',
|
|
tcps=["scissor_tcp", "camera_tcp"],
|
|
tools_in_ee=tools_in_ee,min_j=lb, max_j=ub)
|
|
```
|
|
|
|
Parameter definition:
|
|
|
|
- urdf_path: the robot description file, ending with `.urdf`.
|
|
- mesh_dir: the robot parts, ending with `.stl`.
|
|
- tcps: the tool central points defined in urdf file, if no, ignore it.
|
|
- tools_in_ee: the installation of different tools attached to the end-effector of the arm (jont7+link7).
|
|
|
|
|
|
### Current functions ###
|
|
|
|
1. `get_ik_result`
|
|
```aiignore
|
|
ret_ik, q = robot_kine.get_ik_result(target_position=[0.2, -0.2 , 0.5 ],
|
|
target_rpy=[0.2022060487764064, -0.0097962261845583, -0.6518417572686532],
|
|
initial_guess=[0.1] * 7, tool=tool_name)
|
|
```
|
|
|
|
2. `get_fk_result`
|
|
```aiignore
|
|
p = robot_kine.get_fk_result(joint_angles=q,tool=tool_name)
|
|
```
|
|
|
|
3. `get_self_collision`
|
|
```aiignore
|
|
self_collision_sts = robot_kine.get_self_collision(q)
|
|
``` |