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cambel / ur_ikfast

Python IKFast library for Universal Robots
MIT License
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can not get same rotation matrixs in ros #2

Closed sunnymints closed 3 years ago

sunnymints commented 3 years ago

Thank you for your work. we want to use your code to creat the solutions for ur5. But we get different solutions when we calculate the rotation matrixs between from ROS and your code. for examp,we get the rotation matrixs from quaternion in ros: [ 9.44e-05 1 9.762e-05 -1.0915e-01 -1.56e-04 9.76e-05 -9.999e-01 6.04687e-01 -1 9.440e-05 1.5637e-04 4.318e-01 ]

but your code from jiont angle is : rotation matrixs: [ 1 9.746e-05 -9.446e-5 -1.0915e-01 9.76e-05 -9.999e-01 1.56e-04 6.04687e-01

We can see the two rotation matrixs have same position information，but the rotation part seem to be in other coordinate system

cambel commented 3 years ago

@sunnymints Hi, I see, first I would like to know which link are you considering as your end-effector as UR robots have two ee_link and tool0. I think I used the tool0 so that is why we may have a different orientation but the same position.

sunnymints commented 3 years ago

@sunnymints Hi, I see, first I would like to know which link are you considering as your end-effector as UR robots have to ee_link and tool0. I think I used the tool0 so that is why we may have a different orientation but the same position.

thanks for your answer. you are true!

thes0796 commented 3 years ago

How can I run this file ?

cambel commented 3 years ago

@thes0796 see the examples: