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doc:pycram:ik [2021/07/01 10:47] – created jdech | doc:pycram:ik [2021/07/01 12:24] (current) – jdech | ||
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In PyCRAM we use the KDL inverse kinematics solver to compute the joint positions for a respective chain of joints. | In PyCRAM we use the KDL inverse kinematics solver to compute the joint positions for a respective chain of joints. | ||
- | ==== IK in PyCRAM ==== | + | ===== IK in PyCRAM |
In PyCRAM everything related to inverse kinematics is located in the ik.py. Mainly this is the ' | In PyCRAM everything related to inverse kinematics is located in the ik.py. Mainly this is the ' | ||
- | === request_ik === | + | ==== request_ik |
The request ik method takes 5 parameter which can be seen along with a description in the table below: | The request ik method takes 5 parameter which can be seen along with a description in the table below: | ||
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**Important** The target_pose_and_rotation has to be in the coordinate frame of the root_link. | **Important** The target_pose_and_rotation has to be in the coordinate frame of the root_link. | ||
+ | |||
+ | ==== _make_request_msg ==== | ||
+ | This is an method for internal use, it creates a ROS message of type PositionIKRequest. | ||
+ | This method takes the same parameter as request_ik which can be seen above. | ||
+ | |||
+ | ==== _get_position_for_all_joints ==== | ||
+ | This method is for internal use only, it takes a robot object and returns a list of two list which contains the names off all joints and the poses of these joints. | ||
+ | ^ Parameter ^ Description ^ Type ^ | ||
+ | | robot | The object representing a loaded robot | BulletWorld.Object | | ||
+ | |||
+ | ==== _get_positions_for_joints ==== | ||
+ | This method is similar to _get_positions_for_all_joints but this method returns a list of joint positions for a given list of joint names. | ||
+ | ^ Parameter ^ Description ^ Type ^ | ||
+ | | robot | The object representing a robot for which the joint positions should be found. | BulletWorld.Object| | ||
+ | | joints | A list of joint names for which the positions should be found. | list| |