Constraint the position of the 7th axis in some cases

Official Python bindings with a focus on reinforcement learning and robotics.
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thibdx
Posts: 3
Joined: Thu Apr 07, 2022 2:14 pm

Constraint the position of the 7th axis in some cases

Post by thibdx »

Hi,

We have a 7 axis robot. In some specific cases, we want to constraint it's position in some specific cases.

Is there a programmatic way (out of the the URDF) to say: "the 7th axe shall be fixed for this computation of the inverse cinematic".

Something like (pseudo code):

Code: Select all

def compute_inverse_cinematic(case,position):
    if case==2:
       joins[2] = np.pi/4
       fix_join(2)
     ...
Thanks
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