Phylliade / ikpy

IKPy, an Universal Inverse Kinematics library

http://phylliade.github.io/ikpy

Apache License 2.0

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Add support for prismatic joint #109

Closed Phylliade closed 3 years ago

Phylliade commented 3 years ago

Add full support for prismatic joints:

type="prismatic" in URDF
forward kinematics
bounds
prismatic joints axes are plotted in dotted lines, where revolute joints are plotted in solid lines

Fixes #96 #104

Ex on URDF provided by https://github.com/AhmetMericOzcan. The prismatic joint is the dotted one:

Figure 6(1)

When sliding the prismatic joint, we see it moving: Figure 5(1)

Additional features

Support for arbitrary joint types in the URDF
Fixed a bug in URDF parsing where fixed joints could be considered as revolute
Support for customizable optimization algorithms. Fixes #108

Thanks to https://github.com/Klausstaler and https://github.com/AhmetMericOzcan for the support and resources!