Ukias

Ukias ·

I used the following code for forward kinematics (UR5 robot arm).

def forw(self,config):
    """
    :param config: (6,)-np.ndarray
    :return: R ((3,3)-ndarray), t ((3,)-ndarray)
    """
    config = np.hstack((config, np.zeros(11))).tolist()
    ...