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Inverse Kinematics with Robot Arm

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Inverse Kinematics with Robot Arm

Bruno Guerra
Hello, my name is Bruno.

I am new in OpenRAVE, and after a long time to set it up at Ubuntu 14.04 (first time downloading from git and compiling) I being able to work with it now.

However, the fun part starts now, I need to make a program that uses the OpenRAVE IK, however I need a bit of help in my first step

My goal at the moment is to draw a robot arm (just three points, hand, elbow and shoulder), it does not need to be fancy nor anything, just three pints connected, and then make the hand move. I need to create the arm in the code, i.e. I cannot load the robot from a xml file (as I said, nothing needs to be fancy, just 3 points (2 lines). This is my first step, however I am struggling to figure out how to do it, since I did not found a lot of resource to study related to OpenRAVE.

I would appreciate any kind of help or tips, really, any tips and sources to study are welcome!

Thank you guys!
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Re: Inverse Kinematics with Robot Arm

Duesentrieb66
did you see this?
http://openrave.programmingvision.com/wiki/index.php/Main_Page

here is everything you need:
http://openrave.programmingvision.com/wiki/index.php/Format:XML


On 08/04/2015 07:10 AM, Bruno Guerra wrote:

> Hello, my name is Bruno.
>
> I am new in OpenRAVE, and after a long time to set it up at Ubuntu 14.04
> (first time downloading from git and compiling) I being able to work with it
> now.
>
> However, the fun part starts now, I need to make a program that uses the
> OpenRAVE IK, however I need a bit of help in my first step
>
> My goal at the moment is to draw a robot arm (just three points, hand, elbow
> and shoulder), it does not need to be fancy nor anything, just three pints
> connected, and then make the hand move. I need to create the arm in the
> code, i.e. I cannot load the robot from a xml file (as I said, nothing needs
> to be fancy, just 3 points (2 lines). This is my first step, however I am
> struggling to figure out how to do it, since I did not found a lot of
> resource to study related to OpenRAVE.
>
> I would appreciate any kind of help or tips, really, any tips and sources to
> study are welcome!
>
> Thank you guys!
>
>
>
> --
> View this message in context: http://openrave-users-list.185357.n3.nabble.com/Inverse-Kinematics-with-Robot-Arm-tp4027546.html
> Sent from the OpenRAVE Users List mailing list archive at Nabble.com.
>
> ------------------------------------------------------------------------------
> _______________________________________________
> Openrave-users mailing list
> [hidden email]
> https://lists.sourceforge.net/lists/listinfo/openrave-users


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Re: Inverse Kinematics with Robot Arm

Bruno Guerra
I see this Duesentrie, the problem is that I wish I could not use .xml files, I just need to put joints directly in the code.
I do not want to use robots, I just need to use the Inverse Kinematics, you see?

Anyone has any other ideia?

Thankss
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Re: Inverse Kinematics with Robot Arm

Rosen Diankov
Administrator
take a look at this openravepy (python) example on how to create two links and attach a joint to them:

http://openrave.org/docs/latest_stable/tutorials/openravepy_examples/#creating-custom-kinematics-body

you can extend this to 3 links and 2 joints. however the IK is so simple that it doesn't make sense to use ikfast

good luck,

2015-08-07 10:10 GMT+09:00 Bruno Guerra <[hidden email]>:
I see this Duesentrie, the problem is that I wish I could not use .xml files,
I just need to put joints directly in the code.
I do not want to use robots, I just need to use the Inverse Kinematics, you
see?

Anyone has any other ideia?

Thankss



--
View this message in context: http://openrave-users-list.185357.n3.nabble.com/Inverse-Kinematics-with-Robot-Arm-tp4027546p4027552.html
Sent from the OpenRAVE Users List mailing list archive at Nabble.com.

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