petercorke / petercorke/robotics-toolbox-python
Inverse kinematics with a custom tool frame
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Description
Thank you for your work on this great software package!
I am working with the xarm6 urdf with no end-effector, and I would like to use a tool frame transform. For forward kinematics, I am using
Tool = sm.SE3.Tz(0.1)
ee = xarm.fkine(xarm.q, tool=Tool)
How do I include Tool in the ik solvers? Setting xarm.tool = Tool does not work, and there is no tool argument in the ik functions.
Contributor guide
First steps
- Read the whole issue, then the project's contributing guide.
- Comment on the issue to say you are picking it up — it saves two people doing the same work.
- Fork the repository and make your change on a branch.
- Open a pull request that references the issue number.
Research direction
Start by tracing the Python implementation of xarm.fkine and the IK functions mentioned in the report, comparing how the custom Tool transform is handled. Done means the same tool-frame transform can be supplied or applied when using the IK solvers, with behavior consistent with the forward-kinematics example.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Feature
- Difficulty
- 4/5
- Estimated time
- 3-5 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100