Hello sir , i am actually try to do FK and IK visualisation for robot whose urdf , i have .
The question is like this:
“Let displacement of Joins(j1,j2,j3,j4) and Tool
offset(x,y,z,rx,ry,rz) be as inputs, and get outputs
of Position and Orientation (x,y,z,rx,ry,rz) about
Tool Center Point(TCP) and each joint.”
This is the process , I am planning to follow.
->generate a custom IK plugin for given urdf using IK fast and add it to move it.
->Customize the moveit using moveit setup assistant and the given urdf
planning use these command
group_variable_values = -1.5 group.set_joint_value_target(group_variable_values) #set joint values group.plan() to #perform planning # print group.get_current_pose()#To give the end-effector position.
#set end effector pose pose_target.orientation.w = 1.0 pose_target.position.x = 0.96 pose_target.position.y = 0 pose_target.position.z = 1.18 group.set_pose_target(pose_target) group.plan() to #perform planning # print group.get_current_joint_values()#To give the joint values
I would like to know what is tool offset , kinematics calculation usually involves relation between joints and end-effector pose right ?