ikpy 示例程序调整

github 工程

Phylliade/ikpy: An Inverse Kinematics library aiming performance and modularity (github.com)

ikpy/Quickstart.ipynb at master · Phylliade/ikpy (github.com)

 

调整增加第一行和第25行，然后将该py文件放到tests目录下运行！

 

 

 

运行差的包，用如下命令安装

 

pip3 install ikpy

pip3 install 'ikpy[plot]'

pip3 install numpy

pip3 install matplotlib

 

 

 

#! /usr/bin/python3.6

import ikpy.chain
import numpy as np
import ikpy.utils.plot as plot_utils

my_chain = ikpy.chain.Chain.from_urdf_file("../resources/poppy_ergo.URDF")

target_position = [ 0.1, -0.2, 0.1]

print("The angles of each joints are : ", my_chain.inverse_kinematics(target_position))

real_frame = my_chain.forward_kinematics(my_chain.inverse_kinematics(target_position))
print("Computed position vector : %s, original position vector : %s" % (real_frame[:3, 3], target_position))

# Optional: support for 3D plotting in the NB
# If there is a matplotlib error, uncomment the next line, and comment the line below it.
#%matplotlib inline
#%matplotlib widget
import matplotlib.pyplot as plt
fig, ax = plot_utils.init_3d_figure()
my_chain.plot(my_chain.inverse_kinematics(target_position), ax, target=target_position)
plt.xlim(-0.1, 0.1)
plt.ylim(-0.1, 0.1)
plt.show()