IK_qp/README.md

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

1. 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)

2. get_fk_result

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

3. get_self_collision

self_collision_sts = robot_kine.get_self_collision(q)