Hello everyone! Thanks Daniel for sharing this great tool! I'm a student and new to robotics. We are using two ABB IRB 4600_40_255. I have rewritten your C# code in Python, because me and our group are more familiar with the language. Everything works fine, except that I can only use two of the possible eight axis configurations. I isolated the error in the code line 167 of the inverse kinematic solver. "ElbowPlane.ClosestParameter(ElbowPt, out elbowx, out elbowy);" As an equivalent function in Rhino Common I used "bool,elbowx,elbowy = ElbowPlane.ClosestParameter(ElbowPt)". Input Paramters are matching. Though for some reason the returned values are different in Rhino Common than in C#? Does anyone know why or how I could rewrite this part of the C# code in Python?
Never mind. I found it in line 187, "Plane TempPlane = ElbowPlane;". In Rhino Common this has to be "TempPlane = Rhino.Geometry.Plane(ElbowPlane)"not"TempPlane = ElbowPlane" otherwise ElbowPlane gets transformed in the loop. sry for that!
rob
Hello. anyone, help please swap the two limbs of the lobster,
Oct 24, 2015
Matthias
Hello everyone! Thanks Daniel for sharing this great tool! I'm a student and new to robotics. We are using two ABB IRB 4600_40_255. I have rewritten your C# code in Python, because me and our group are more familiar with the language. Everything works fine, except that I can only use two of the possible eight axis configurations. I isolated the error in the code line 167 of the inverse kinematic solver. "ElbowPlane.ClosestParameter(ElbowPt, out elbowx, out elbowy);" As an equivalent function in Rhino Common I used "bool,elbowx,elbowy = ElbowPlane.ClosestParameter(ElbowPt)". Input Paramters are matching. Though for some reason the returned values are different in Rhino Common than in C#? Does anyone know why or how I could rewrite this part of the C# code in Python?
Thxs, Matthias
Apr 29, 2016
Matthias
Never mind. I found it in line 187, "Plane TempPlane = ElbowPlane;". In Rhino Common this has to be "TempPlane = Rhino.Geometry.Plane(ElbowPlane)" not "TempPlane = ElbowPlane" otherwise ElbowPlane gets transformed in the loop. sry for that!
Apr 29, 2016