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Commit d1937a4d authored by Mathieu Reymond's avatar Mathieu Reymond
Browse files

merge planning

parent 942e4570
# Byte-compiled / optimized / DLL files
__pycache__/
*.py[cod]
*$py.class
# C extensions
*.so
# Distribution / packaging
.Python
env/
build/
develop-eggs/
dist/
downloads/
eggs/
.eggs/
lib/
lib64/
parts/
sdist/
var/
wheels/
*.egg-info/
.installed.cfg
*.egg
# PyInstaller
# Usually these files are written by a python script from a template
# before PyInstaller builds the exe, so as to inject date/other infos into it.
*.manifest
*.spec
# Installer logs
pip-log.txt
pip-delete-this-directory.txt
# Unit test / coverage reports
htmlcov/
.tox/
.coverage
.coverage.*
.cache
nosetests.xml
coverage.xml
*,cover
.hypothesis/
# Translations
*.mo
*.pot
# Django stuff:
*.log
local_settings.py
# Flask stuff:
instance/
.webassets-cache
# Scrapy stuff:
.scrapy
# Sphinx documentation
docs/_build/
# PyBuilder
target/
# Jupyter Notebook
.ipynb_checkpoints
# pyenv
.python-version
# celery beat schedule file
celerybeat-schedule
# SageMath parsed files
*.sage.py
# dotenv
.env
# virtualenv
.venv
venv/
ENV/
# Spyder project settings
.spyderproject
.spyproject
# Rope project settings
.ropeproject
# mkdocs documentation
/site
# mypy
.mypy_cache/
#!/usr/bin/python
# Copyright (c) 2013-2014, Rethink Robotics
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# 1. Redistributions of source code must retain the above copyright notice,
# this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
# 3. Neither the name of the Rethink Robotics nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
from baxter_pykdl import baxter_kinematics
def main():
rospy.init_node('baxter_kinematics')
print '*** Baxter PyKDL Kinematics ***\n'
kin = baxter_kinematics('right')
print '\n*** Baxter Description ***\n'
kin.print_robot_description()
print '\n*** Baxter KDL Chain ***\n'
kin.print_kdl_chain()
# FK Position
print '\n*** Baxter Position FK ***\n'
print kin.forward_position_kinematics()
# FK Velocity
# print '\n*** Baxter Velocity FK ***\n'
# kin.forward_velocity_kinematics()
# IK
print '\n*** Baxter Position IK ***\n'
pos = [0.582583, -0.180819, 0.216003]
rot = [0.03085, 0.9945, 0.0561, 0.0829]
print kin.inverse_kinematics(pos) # position, don't care orientation
print '\n*** Baxter Pose IK ***\n'
print kin.inverse_kinematics(pos, rot) # position & orientation
# Jacobian
print '\n*** Baxter Jacobian ***\n'
print kin.jacobian()
# Jacobian Transpose
print '\n*** Baxter Jacobian Tranpose***\n'
print kin.jacobian_transpose()
# Jacobian Pseudo-Inverse (Moore-Penrose)
print '\n*** Baxter Jacobian Pseudo-Inverse (Moore-Penrose)***\n'
print kin.jacobian_pseudo_inverse()
# Joint space mass matrix
print '\n*** Baxter Joint Inertia ***\n'
print kin.inertia()
# Cartesian space mass matrix
print '\n*** Baxter Cartesian Inertia ***\n'
print kin.cart_inertia()
if __name__ == "__main__":
main()
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