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rpiRobotics / rpi_general_robotics_toolbox_py

Robotics Python toolbox containing mathematical functions and utilities
https://general-robotics-toolbox.readthedocs.io/
BSD 3-Clause "New" or "Revised" License
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Add tesseract kinematics support #16

Closed johnwason closed 2 years ago

johnwason commented 2 years ago

Adds the tesseract.py module to general_robotics_toolbox. This module contains the TesseractRobot class that can convert a Robot structure to a Tesseract environment that has accelerated kinematics functions. Supported functions include fwdkin(), invkin(), and jacobian(). Supported inverse kinematics algorithms include KDLInvKinChainLMA, KDLInvKinChainNR, OPWInvKin, and URInvKin. OPWInvKin is the solver for standard 6 axis industrial robots with spherical wrists.

Run

python -m pip install tesseract-robotics

to install Tesseract support.