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Phylliade / ikpy

IKPy, an Universal Inverse Kinematics library
http://phylliade.github.io/ikpy
Apache License 2.0
733 stars 153 forks source link

Support for modified DH #150

Closed AdvaitChandorkar07 closed 1 month ago

AdvaitChandorkar07 commented 4 months ago

The library was using classical as default added and had no support for modified Denavit–Hartenberg parameters (DH parameters) made modified dh as default(since its usage has increased nowdays) and also allowed the user to choose between the two.

AdvaitChandorkar07 commented 4 months ago

Hey team,

I've just submitted a pull request that introduces a couple of enhancements to our library's functionality.

Firstly, I've added a new boolean parameter called modified_dh to the DHLink class. This parameter allows users to choose whether to use the modified Denavit–Hartenberg (DH) parameters or the classical ones. Given the increased usage of the modified DH parameters nowadays, I thought it would be useful to make this an option for our users.

Secondly, I've updated the docstrings for the relevant methods (init and get_link_frame_matrix) to provide clear explanations of the new parameter and its effects. This should make it easier for users to understand and utilize this feature effectively.

I believe these changes will enhance the flexibility and usability of our library, especially for users who prefer working with the modified DH parameters. Please review the pull request and let me know if you have any feedback or suggestions for further improvements.

Looking forward to hearing your thoughts!

Best, Advait Chandorkar

Phylliade commented 2 months ago

Hello @AdvaitChandorkar07 ,

Thanks for your contribution!

Can you also add to your PR an example so we can test it, for example a chain in DH notation and a script to test it?