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
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
get_ik_result
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)
get_fk_result
p = robot_kine.get_fk_result(joint_angles=q,tool=tool_name)
get_self_collision
self_collision_sts = robot_kine.get_self_collision(q)