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I would like to implement python code with inverse kinematics

asked 2018-07-02 05:17:58 -0500

NLBUURMAN gravatar image


I am using a CrustCrawler Smart arm, and I would like to feed new coordinates to it via inverse Kinematics in Python, since it is used in our environment. Trac_ik has been used before here, but I can't find anyone to speak about this on how this works, is there anyone who can?

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answered 2018-07-02 19:12:29 -0500

Geoff gravatar image

The trak_ik repository has documentation about how the Python API works. It also states that the Python API is just a SWIG wrapper around the C API so you could look at the documentation for that, too (although there doesn't seem to be much). Finally, trac_ik claims to be a drop-in replacement for the KDL solver, so look at the KDL API documentation to see how that works. The wiki page for trac_ik says that these are the only differences:

TRAC-IK has a very similar API to KDL's IK solver calls, except that the user passes a maximum time instead of a maximum number of search iterations. Additionally, TRAC-IK allows for error tolerances to be set independently for each Cartesian dimension (x, y, z, roll, pitch & yaw).

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thanks! I'll have a look at that :)

NLBUURMAN gravatar image NLBUURMAN  ( 2018-07-10 04:24:28 -0500 )edit

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Asked: 2018-07-02 05:17:58 -0500

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Last updated: Jul 02 '18