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adityadua24 / robopy

Robopy is a python port for Robotics Toolbox in Matlab created by Peter Corke
MIT License
220 stars 47 forks source link

Only Puma working? #30

Open Divvet opened 5 years ago

Divvet commented 5 years ago

Currently trying to make use of your code by testing the examples. All works fine for the Puma but when using the Orion or creating my own 6dof robot I get issues.

Essentially with the Orion or my 6DOF, I have to leave the DH parameters at 0 for the STL files to construct something that looks like a robot: image

The problem with this is when I rotate link 2 by 90 deg the link rotates about the wrong axis: image

With the correct DH parameters the default robot position looks like: image

Any help with this would be appreciated! Not sure if this project has gone stale or not :/

adityadua24 commented 5 years ago

Orion5 doesn't work anymore there is some issue with stl files i think

Divvet commented 5 years ago

Does that mean that Robopy is currently only fit to model the Puma560 as my examples are based of a custom model not the Orion5?