ROS IndexNo version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | kilted |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro ardent showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro bouncy showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro crystal showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro eloquent showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro dashing showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro foxy showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.7 (2025-05-20)
- drop requirement for obsolete c++ standard to support compiling on newer systems with log4cxx requiring c++17 (#39)
- Contributors: v4hn
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.7 (2025-05-20)
- drop requirement for obsolete c++ standard to support compiling on newer systems with log4cxx requiring c++17 (#39)
- Contributors: v4hn
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.7 (2025-05-20)
- drop requirement for obsolete c++ standard to support compiling on newer systems with log4cxx requiring c++17 (#39)
- Contributors: v4hn
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
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|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.6 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2024-04-12 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.7 (2025-05-20)
- drop requirement for obsolete c++ standard to support compiling on newer systems with log4cxx requiring c++17 (#39)
- Contributors: v4hn
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.7 (2025-05-20)
- drop requirement for obsolete c++ standard to support compiling on newer systems with log4cxx requiring c++17 (#39)
- Contributors: v4hn
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik_python at Robotics Stack Exchange
|
|
trac_ik_python package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The trac_ik_python package contains a python wrapper using SWIG
for trac_ik_lib
Additional Links
No additional links.
Maintainers
- Sam Pfeiffer
- TRACLabs Robotics
Authors
- Sam Pfeiffer
trac_ik_python
Python wrapper for TRAC IK library using SWIG to generate the bindings. Please send any questions to Sam Pfeiffer
Example usage
Upload a robot to the param server:
roslaunch pr2_description upload_pr2.launch
Now you can get IK’s:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3, # X, Y, Z
0.0, 0.0, 0.0, 1.0) # QX, QY, QZ, QW
# Returns:
# (0.537242808640495,
# 0.04673341230604478,
# -0.053508394352190486,
# -1.5099959208163785,
# 2.6007509004432596,
# -1.506431092603137,
# -3.040949079090651)
You can also play with the bounds of the IK call:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
seed_state = [0.0] * ik_solver.number_of_joints
ik_solver.get_ik(seed_state,
0.45, 0.1, 0.3,
0.0, 0.0, 0.0, 1.0,
0.01, 0.01, 0.01, # X, Y, Z bounds
0.1, 0.1, 0.1) # Rotation X, Y, Z bounds
)
# Returns:
# (0.5646018385887146,
# 0.04759637706046231,
# 0.026629718805901908,
# -1.5106828886580062,
# 2.5541685245726535,
# -1.4663448384900402,
# -3.104163452483634)
The coordinate frame of the given poses must be in the base frame, you can check the links/joints being used:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
ik_solver.base_link
# 'torso_lift_link'
ik_solver.tip_link
# 'r_wrist_roll_link'
ik_solver.joint_names
# ('r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint')
ik_solver.link_names
# ('r_shoulder_pan_link', 'r_shoulder_lift_link', 'r_upper_arm_roll_link', 'r_upper_arm_link', 'r_elbow_flex_link', 'r_forearm_roll_link', 'r_forearm_link', 'r_wrist_flex_link', 'r_wrist_roll_link')
You can also initialize the IK from a string containing the URDF (by default it takes it from the /robot_description parameter in the param server):
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
# Get your URDF from somewhere
urdf_str = rospy.get_param('/robot_description')
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link",
urdf_string=urdf_str)
File truncated at 100 lines see the full file
CHANGELOG
Changelog for package trac_ik_python
1.6.7 (2025-05-20)
- drop requirement for obsolete c++ standard to support compiling on newer systems with log4cxx requiring c++17 (#39)
- Contributors: v4hn
1.6.6 (2021-05-05)
- propagated nlopt deps to sat packages
- Contributors: Stephen Hart
1.6.4 (2021-04-29)
- added nlopt depends to traciklib cmake
- Contributors: Stephen Hart
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.