petercorke / petercorke/robotics-toolbox-python
fkine and ik_lm work wrong for fetch robot?
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Description
I want to calculate param of fetch robot using rt party.
My test code is below,it is very simple and the same method work right on panda robot:
import roboticstoolbox as rtb
import numpy as np
robot = rtb.models.Fetch()
init_q=np.array([0,0,0,0, -0.3, 0, -2.2, 0, 2, 0.7854])
start_pos = robot.fkine(init_q)
print("start_pos:\n",start_pos)
q_ik=robot.ik_LM(start_pos,q0=init_q)
print("q_ik:\n",q_ik)
end_pos = robot.fkine(q_ik[0])
print("end_pos:\n",end_pos)``
The picture of result like this
Obviously,the result is wrong.
I dont find the reason. Can anyone help me?
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Research direction
Start by running the supplied Fetch example and compare the printed start_pos and end_pos transforms. Read the Fetch model entry point and the fkine and ik_LM implementations, then inspect how the 10-element init_q is interpreted. Done means inverse kinematics returns a configuration whose fkine result matches start_pos, as it does for the Panda example.
Written by the indexing model from the issue text.
Assessment
- Tech stack
- python
- Domain
- robotics
- Issue type
- Bug
- Difficulty
- 3/5
- Estimated time
- 1-2 days
- Activity status
- Stale
- Clarity
- Mostly clear
- Newbie friendliness
- 35/100