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dvalenciar / robotic_arm_environment

Doosan robotic arm, simulation, control, visualization in Gazebo and ROS2 for Reinforcement Learning.
MIT License
172 stars 29 forks source link

Inverse Kinematics #2

Closed iftahnaf closed 1 year ago

iftahnaf commented 1 year ago

Hey @dvalenciar,

First of all, thanks for sharing this project, I followed your instructions and everything works great. I created a .devcontainer in VSCode, with all the necessary dependencies, and everything is running inside a container, I can contribute it if you are interested.

I want to use your setup for a simple simulation where the controller is moving the tip to a specific position - meaning I want to send [x, y, z] point to the controller (where [x, y, z] are in world coordinate). Is there any inverse kinematics calculation of this robot, which will give me the required joint positions?

dvalenciar commented 1 year ago

Hello @iftahnaf

Very sorry for my late late response. Glad to know you successfully installed and found this work interesting. I am always open to collaboration, and I plan to make this simulation more solid and robust for testing several RL algorithms. Since I created this to be used with AI algorithms, I do not have inverse kinematic or related calculation, even do it may be necessary for future comparations