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32 lines
1002 B
Python
32 lines
1002 B
Python
"""
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Forward Kinematics for an n-link arm in 3D
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Author: Takayuki Murooka (takayuki5168)
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"""
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import math
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from NLinkArm3d import NLinkArm
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import random
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def random_val(min_val, max_val):
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return min_val + random.random() * (max_val - min_val)
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if __name__ == "__main__":
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print("Start solving Forward Kinematics 10 times")
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# init NLinkArm with Denavit-Hartenberg parameters of PR2
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n_link_arm = NLinkArm([[0., -math.pi / 2, .1, 0.],
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[math.pi / 2, math.pi / 2, 0., 0.],
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[0., -math.pi / 2, 0., .4],
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[0., math.pi / 2, 0., 0.],
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[0., -math.pi / 2, 0., .321],
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[0., math.pi / 2, 0., 0.],
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[0., 0., 0., 0.]])
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# execute FK 10 times
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for i in range(10):
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n_link_arm.set_joint_angles(
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[random_val(-1, 1) for j in range(len(n_link_arm.link_list))])
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ee_pose = n_link_arm.forward_kinematics(plot=True)
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