Open guri-dominic opened 1 month ago
I found a solution:
import roboticstoolbox as rbt
import spatialmath as sm
ets_tool_transform = rbt.ET.tz(0.1)
x6 = # (type = rtb.Robot), from URDF file
ets = x6.ets()
# ets = x6.ets().copy() # could be better?
ets.insert(ets_tool_transform)
# Usage:
ets.fkine(q)
ets.ik_GN(T) # T \in sm.SE3
I don't know if this is a bug, but using x6.fkine(..)
, x6.ik_GN(..)
, x6.ik_GN(..)
, etc. does not produce the same results as calling ets
functions, even though updating ets
also updates x6.ets()
.
Thank you for your work on this great software package!
I am working with the xarm6 urdf with no end-effector, and I would like to use a tool frame transform. For forward kinematics, I am using
How do I include
Tool
in the ik solvers? Settingxarm.tool = Tool
does not work, and there is notool
argument in the ik functions.