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krishauser / Klampt

Kris' Locomotion and Manipulation Planning Toolkit
BSD 3-Clause "New" or "Revised" License
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Is it possible to get TCP position if manipulator joint values are known? #138

Closed qwasko1212 closed 2 years ago

qwasko1212 commented 2 years ago

I need to convert robot joint rotations to Cartesian coordinates of the TCP.

Example: joints: [val, val, val, val, val, val] → Cartesian coordinates: [x, y, z, roll, pitch, yaw]

The idea of this task is to compare real robot position with expected output. Real joints positions are read directly from the robot. I have tried different methods, but none of them lead me to the proper result. Is it possible to perform this conversion using Python klampt?

krishauser commented 2 years ago

Reposting to gitq: https://gitq.com/krishauser/Klampt/topics/38/is-it-possible-to-get-tcp-position-if-manipulator-joint-values-are-known-repost-from-git-issues