Baxter kinematics

In this notebook, we'll try IKPy on the baxter robot

You will get the following chains:

Let's begin!

Requirements

To get this notebook to work, you need to install IKPy, version >= 3.0

Also, if you want to use interactive 3D visualisation (highly recommended), you must use the widget matplotlib backend



In [1]:

    
# Some necessary imports
import numpy as np

from ikpy.chain import Chain
from ikpy.utils import plot

# Optional: support for 3D plotting in the NB
%matplotlib widget
# turn this off, if you don't need it

Robot import and setup



In [2]:

    
# First, let's import the baxter chains
baxter_left_arm_chain = Chain.from_json_file("../resources/baxter/baxter_left_arm.json")
baxter_right_arm_chain = Chain.from_json_file("../resources/baxter/baxter_right_arm.json")
baxter_pedestal_chain = Chain.from_json_file("../resources/baxter/baxter_pedestal.json")
baxter_head_chain = Chain.from_json_file("../resources/baxter/baxter_head.json")



In [3]:

    
from mpl_toolkits.mplot3d import Axes3D;
fig, ax = plot.init_3d_figure();
baxter_left_arm_chain.plot([0] * (len(baxter_left_arm_chain)), ax)
baxter_right_arm_chain.plot([0] * (len(baxter_right_arm_chain)), ax)
baxter_pedestal_chain.plot([0] * (2 + 2), ax)
baxter_head_chain.plot([0] * (4 + 2), ax)
ax.legend()









    





 
 










    



-9.014453723818406e-18
-8.431711296090291e-18
0.0
-2.4754159031479473e-19






    Out[3]:





<matplotlib.legend.Legend at 0x7f8f8b6f88e0>

Inverse kinematics



In [4]:

    
### Let's try some IK
fig, ax = plot.init_3d_figure();


target = [0.3, 0.5, 0.15]
target_orientation = [1, 0, 0]

frame_target = np.eye(4)
frame_target[:3, 3] = target

ik = baxter_left_arm_chain.inverse_kinematics_frame(frame_target)

baxter_left_arm_chain.plot(ik, ax, target=target)

baxter_right_arm_chain.plot([0] * (len(baxter_left_arm_chain)), ax)
baxter_pedestal_chain.plot([0] * (2 + 2), ax)
baxter_head_chain.plot([0] * (4 + 2), ax)
ax.legend()









    





 
 










    



-1.0733601507606494e-17
-8.431711296090291e-18
0.0
-2.4754159031479473e-19






    Out[4]:





<matplotlib.legend.Legend at 0x7f8f8b14f3d0>