Can you find certain joint locations?

Phylliade / ikpy

IKPy, an Universal Inverse Kinematics library

http://phylliade.github.io/ikpy

Apache License 2.0

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Can you find certain joint locations? #68

Closed AhmetMericOzcan closed 4 years ago

AhmetMericOzcan commented 4 years ago

I know that this library can find end effector position, with F.K. However I would like to know whether you can find certain joint position and orientation in space?

Ex. I have a 6 DOF robot, I would like to find position of 3rd joint in space.

Phylliade commented 4 years ago

Yep, and it's easy! Just put the full_kinematics attribute to True in Chain.forward_kinematics (cf https://github.com/Phylliade/ikpy/blob/master/src/ikpy/chain.py#L48)

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