github 工程

Phylliade/ikpy: An Inverse Kinematics library aiming performance and modularity (github.com)

ikpy/Quickstart.ipynb at master · Phylliade/ikpy (github.com)

调整增加第一行和第25行，然后将该py文件放到tests目录下运行！

 1 #! /usr/bin/python3.6
 2 
 3 import ikpy.chain
 4 import numpy as np
 5 import ikpy.utils.plot as plot_utils
 6 
 7 my_chain = ikpy.chain.Chain.from_urdf_file("../resources/poppy_ergo.URDF")
 8 
 9 target_position = [ 0.1, -0.2, 0.1]
10 
11 print("The angles of each joints are : ", my_chain.inverse_kinematics(target_position))
12 
13 real_frame = my_chain.forward_kinematics(my_chain.inverse_kinematics(target_position))
14 print("Computed position vector : %s, original position vector : %s" % (real_frame[:3, 3], target_position))
15 
16 # Optional: support for 3D plotting in the NB
17 # If there is a matplotlib error, uncomment the next line, and comment the line below it.
18 #%matplotlib inline
19 #%matplotlib widget
20 import matplotlib.pyplot as plt
21 fig, ax = plot_utils.init_3d_figure()
22 my_chain.plot(my_chain.inverse_kinematics(target_position), ax, target=target_position)
23 plt.xlim(-0.1, 0.1)
24 plt.ylim(-0.1, 0.1)
25 plt.show()