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Niryo robot - Calculation of inverse kinematis #102
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This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
Hello @MADONOKOUKI, the issue is unfortunately on the IKPy side, but on the overall difficulty of the task regarding the configuration of your robot. The overall solution is on the user side: to try IK on simpler target positions, or providing a starting position to your chain, that will help your IK computation. I'm marking this issue as "robot-related": don't hesitate to give me some updates of you solve your problem! |
Hi, I try to conduct to draw a straight line by calculating inverse kinematics with niryo one robot.
input position (x : 0.073, y : 0.001, z : 0.168)
input orientation (roll : 0.029, yaw: 1.407, pitch: 0.204)
Answer of joints 1 ~ 6 axis : [ -0.007, 0.129, -1.360, 0.189, -0.183, -0.360]
I use blow's model.urdf code.
Then, calculate inverse kinematics using these code lines.
Do you know any solution to solve this problem?
I think the calculation of inverse kinematics is bad.
The first line is correct, although the second line is wrong.
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