18 lines
491 B
Python
18 lines
491 B
Python
import roboticstoolbox as rtb
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import spatialmath as sm
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robot = rtb.ERobot.URDF('/BA/workspace/src/painting_robot_control/painting_robot_control/painting_robot.urdf')
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robot1 = rtb.ERobot.URDF('/BA/ur10e.urdf')
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"""print(robot)
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print(T)
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sol = robot.ik_LM(T)
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print(sol[1])"""
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print(robot1.n)
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'''T = sm.SE3(0.2,0.2,0.0)*sm.SE3.Rz(0.5)
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#T = robot.fkine([-2,-0.5])
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print(T)
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sol = robot.ik_LM(T, mask = [1,0,0,0,0,1], joint_limits = False)
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print(sol[1])
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print(sol[0])
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print(robot.fkine(sol[0]))''' |