Benoît LdL

Benoit-LdL ·

Hi,
Is there any documentation regarding the possible modifications of the C-space, but especially regarding adding constraints to the C-space? In the image below you mention this without referring to anything.

Kind regards,

Benoît Lagasse

Hi,
Is there any documentation regarding the possible modifications of the C-space, but especially regarding adding constraints to the C-space? In the image below you mention this without referring to anything.

Kind regards,

Benoît Lagasse

IK is your best bet. If you want to keep the end effector position constant between the start and end, you can do it as follows

from klampt import ik
from klampt.math import vectorops

tool_center_point = [0,0,0]  #whatever you want here
local_axis = [1...

Ah, the planning_test.py has a bunch of flags at the top of the file to test more complex version of the motion planning functions, and these were set to 1 in the committed version. They should be set to 0. If you git pull, the most recent planning_tes...

When trying to set up a simple motion planner I always get this error:
RuntimeError: St...even when the start config (qinit) = default robot config (all zeros)So I tried the demo "planning_test.py" found in the Python3/demos directory but got the same error.

Hi,

Is the CLOSED_LOOP_TEST functionality of the planning_test.py script working correctly or is it also still being developed? If it is in fact not finished, is there any other way to setup a motion planner with multiple constraints?

The p...

Hi,
Thanks a lot for the clarification! I will pull the latest version and check that out! Regarding the wizard, it's good to know that it is not done yet, so I don't have to scratch my head about that problem anymore.

Kind regards,

Benoît

coming back to the RobotTest program showing collision lines on the robot arm, I tried the ur5.rob file from the library and here you can also see red lines.

• Are those red lines (first image) indicating that there are collisions or are there on...

Hi,Is there any documentation that explains how the planning_test script works?I can´t seen to figure out what the "editing plan config" windows do and what the point is of the "editing IK solved configs" windows...I did edit the code as you aske...

Hi,I have build the klampt lib from source and used the RobotTest app as you mentioned and I do see the collisions. But I'm not able to get the self colliding links as you mentioned. I tried with a URDF file and with a ROB file but both don't give me a...

When trying to set up a simple motion planner I always get this error:
RuntimeError: St...even when the start config (qinit) = default robot config (all zeros)So I tried the demo "planning_test.py" found in the Python3/demos directory but got the same error.

Hi,
I'm trying to setup the robotplanning wizard to setup / debug a motion planner. When initializing the wizard it throws the following error:

Traceback (most recent call last): File "/home/benoit/Desktop/motion-planner/klampt_env/./test_motion_planni...

Hi,
I'm working on a project with a workpiece positioner robot like the one you can see here.

I have a coordinate in the local coordinate system of the robot together with a vector showing the orientation of that coordinate.My goal is to rotate...

Hi,
I'm working on a project with a workpiece positioner robot like the one you can see here.

I have a coordinate in the local coordinate system of the robot together with a vector showing the orientation of that coordinate.My goal is to rotate...

Hi,
In my setup I have a robot arm where the end effector is always at a set angle. to achieve this I created an IK objective that looks like this:

obj2 = ik.objective(robotlink,R=so3.from_axis_angle(([0,1,0],(toolAngle*(math.pi/180)))),t=t)   # [0,1,0] ...

Hi,
I'm trying to setup the robotplanning wizard to setup / debug a motion planner. When initializing the wizard it throws the following error:

Traceback (most recent call last): File "/home/benoit/Desktop/motion-planner/klampt_env/./test_motion_planni...