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fix scanning error (#339)

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This commit is contained in:
Atsushi Sakai
2020-06-08 21:43:37 +09:00
committed by GitHub
parent a36ddb4cff
commit fa1585d880
11 changed files with 476 additions and 381 deletions
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16
ArmNavigation/n_joint_arm_3d/random_forward_kinematics.py
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@@ -11,10 +11,9 @@ def random_val(min_val, max_val):
return min_val + random.random() * (max_val - min_val)
if __name__ == "__main__":
def main():
print("Start solving Forward Kinematics 10 times")
# init NLinkArm with Denavit-Hartenberg parameters of PR2
# init NLinkArm with Denavit-Hartenberg parameters of PR2
n_link_arm = NLinkArm([[0., -math.pi / 2, .1, 0.],
[math.pi / 2, math.pi / 2, 0., 0.],
[0., -math.pi / 2, 0., .4],
@@ -22,10 +21,13 @@ if __name__ == "__main__":
[0., -math.pi / 2, 0., .321],
[0., math.pi / 2, 0., 0.],
[0., 0., 0., 0.]])
# execute FK 10 times
for i in range(10):
for _ in range(10):
n_link_arm.set_joint_angles(
[random_val(-1, 1) for j in range(len(n_link_arm.link_list))])
[random_val(-1, 1) for _ in range(len(n_link_arm.link_list))])
ee_pose = n_link_arm.forward_kinematics(plot=True)
n_link_arm.forward_kinematics(plot=True)
if __name__ == "__main__":
main()

12
ArmNavigation/n_joint_arm_3d/random_inverse_kinematics.py
View File

@@ -11,10 +11,9 @@ def random_val(min_val, max_val):
return min_val + random.random() * (max_val - min_val)
if __name__ == "__main__":
def main():
print("Start solving Inverse Kinematics 10 times")
# init NLinkArm with Denavit-Hartenberg parameters of PR2
# init NLinkArm with Denavit-Hartenberg parameters of PR2
n_link_arm = NLinkArm([[0., -math.pi / 2, .1, 0.],
[math.pi / 2, math.pi / 2, 0., 0.],
[0., -math.pi / 2, 0., .4],
@@ -22,12 +21,15 @@ if __name__ == "__main__":
[0., -math.pi / 2, 0., .321],
[0., math.pi / 2, 0., 0.],
[0., 0., 0., 0.]])
# execute IK 10 times
for i in range(10):
for _ in range(10):
n_link_arm.inverse_kinematics([random_val(-0.5, 0.5),
random_val(-0.5, 0.5),
random_val(-0.5, 0.5),
random_val(-0.5, 0.5),
random_val(-0.5, 0.5),
random_val(-0.5, 0.5)], plot=True)
if __name__ == "__main__":
main()