add joint angle editor demo

neka-nat · Nov 16, 2023 · cdb5306 · cdb5306
1 parent 1dac028
commit cdb5306
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Showing 4 changed files with 6 additions and 4 deletions.
diff --git a/README.md b/README.md
@@ -13,6 +13,8 @@ Simple kinematics body toolkit.
 * Support URDF, SDF and MJCF file.
 * Calculate FK, IK and jacobian.
 
+![joint_angle_editor](assets/joint_angle_editor.gif)
+
 ## Installation
 
 ```

diff --git a/assets/joint_angle_editor.gif b/assets/joint_angle_editor.gif
diff --git a/...s/mycobot/mycobot_with_camera_flange.urdf → examples/mycobot/mycobot.urdf b/...s/mycobot/mycobot_with_camera_flange.urdf → examples/mycobot/mycobot.urdf
@@ -227,13 +227,13 @@
     <parent link="joint6_flange"/>
     <child link="camera_flange"/>
     <!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>   -->
-    <origin xyz= "0 0 0.01" rpy = "1.579 0 0"/>  
+    <origin xyz= "0 0 0.01" rpy = "1.5708 0 -2.3562"/>  
   </joint>
 
-  <joint name="joint6output_to_pump_head" type="fixed">
+  <joint name="camera_flange_to_pump_head" type="fixed">
     <parent link="camera_flange"/>
     <child link="pump_head"/>
-    <origin xyz= "0 0 0.01" rpy = "0 0 0"/>  
+    <origin xyz= "0 0.016 0" rpy = "0 0 0"/>  
   </joint>
 
 </robot>

diff --git a/examples/mycobot_example.py b/examples/mycobot_example.py
@@ -1,7 +1,7 @@
 import numpy as np
 import kinpy as kp
 
-chain = kp.build_serial_chain_from_urdf(open("mycobot/mycobot_with_camera_flange.urdf").read(), "pump_head")
+chain = kp.build_serial_chain_from_urdf(open("mycobot/mycobot.urdf").read(), "joint6_flange")
 print(chain)
 
 print(chain.get_joint_parameter_names())