No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. 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 |
|
|
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-devel |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
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 |
|
|
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 | master |
| Last Updated | 2021-06-02 |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| trac_ik | bitbucket-traclabs-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
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. 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 |
|
|
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 | master |
| Last Updated | 2021-06-02 |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| trac_ik | bitbucket-traclabs-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 |
|
|
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 | master |
| Last Updated | 2021-06-02 |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| trac_ik | bitbucket-traclabs-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 |
|
|
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 | master |
| Last Updated | 2021-06-02 |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| trac_ik | bitbucket-traclabs-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
No version for distro hydro. 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 |
|
|
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 | master |
| Last Updated | 2021-06-02 |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| trac_ik | bitbucket-traclabs-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 |
|
|
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 | master |
| Last Updated | 2021-06-02 |
| 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)
You can also check and modify the joint limits:
#!/usr/bin/env python
from trac_ik_python.trac_ik import IK
ik_solver = IK("torso_lift_link",
"r_wrist_roll_link")
lower_bound, upper_bound = ik_solver.get_joint_limits()
# lower_bound: (-2.1353981494903564, -0.35359999537467957, -3.75, -2.121299982070923, -3.4028234663852886e+38, -2.0, -3.4028234663852886e+38)
# upper_bound: (0.5646018385887146, 1.2963000535964966, 0.6499999761581421, -0.15000000596046448, 3.4028234663852886e+38, -0.10000000149011612, 3.4028234663852886e+38)
ik_solver.set_joint_limits([0.0]* ik_solver.number_of_joints, upper_bound)
Extra notes
Given that the Python wrapper is made using SWIG it could be extended to other languages.
You'll get extra output when instantiating the class that comes from C++:
[ WARN] [1486091331.089974163]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
When finishing the program you'll also get this error (which is OK apparently):
terminate called after throwing an instance of 'boost::exception_detail::clone_impl<boost::exception_detail::error_info_injector<boost::lock_error> >'
what(): boost: mutex lock failed in pthread_mutex_lock: Invalid argument
Aborted (core dumped)
And as a final note I didn't simplify even more letting Pose/PoseStamped messages as input, or transforming using TF coordinate frames, adding forward kinematics, etc. to keep it simple.
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
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | rospy | |
| 1 | trac_ik_lib | |
| 1 | tf_conversions | |
| 1 | catkin | |
| 1 | tf |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| trac_ik | bitbucket-traclabs-trac_ik |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.