8000 update axes · Zyszu200/robotics-toolbox-python@ac9ebc7 · GitHub
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jhavljhavl
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update axes
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‎roboticstoolbox/examples/branched_robot.py

Lines changed: 8 additions & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -12,6 +12,8 @@
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env = swift.Swift()
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env.launch(realtime=True)
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env.set_camera_pose([1.4, 0, 0.7], [0, 0.0, 0.5])
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r = rtb.models.YuMi()
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env.add(r)
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@@ -44,8 +46,12 @@
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env.add(r_target_frame)
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l_frame = sg.Axes(0.1)
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r_frame = sg.Axes(0.1)
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l_frame = sg.Axes(0.1, pose=r.grippers[0].tool)
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r_frame = sg.Axes(0.1, pose=r.grippers[1].tool)
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l_frame.attach_to(r.grippers[0].links[0])
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r_frame.attach_to(r.grippers[1].links[0])
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env.add(l_frame)
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env.add(r_frame)
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@@ -69,9 +75,6 @@
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r.qd[la.jindices] = np.linalg.pinv(la.jacobe(r.q)) @ vl
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r.qd[ra.jindices] = np.linalg.pinv(ra.jacobe(r.q)) @ vr
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72-
l_frame.T = la.fkine(r.q)
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r_frame.T = ra.fkine(r.q)
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env.step(dt)
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env.hold()

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