yifanzhu95

yifanzhu95 ·

When solving for IK, you can set the joints you want to solve for by setting the parameter activeDofs in ik.solve(). The joints that are not in the list of activeDofs will be frozen.

I am now able to load and save a trajectory with no issues but the same error is still present when I close the UI with Ok/Cancel. However, no error shown when I close the UI using the close box.

Hi Kris,

Here is my testing code for both a SE3Trajectory and a RobotTrajectory. I am able to run and see the resource UI and modify the trajectory, but when I try to close the UI, or save/load a trajectory, I am getting errors, an...

Thanks for the detailed reply, and I have one follow-up question. It seems like that the B matrix should be the one from the robot with only active joints, since the B matrices do differ when there are fixed joints. I just want to confirm this.

Hi Kris,

I am trying to get the joint accelerations of a robot from joint torques using "robot.accelFromTorques(torques)". I have 2 questions:

1. The accelerations at the fixed joints are nonzero. What do these accelerations mean? Can I just dro...

Yes. It is working on URDFs with joints now. Thanks for the help. Also, for other users, it seems like that if you pip installed Klamp't, you won't be able to load robot geometries in .stl format.

Best,
Yifan Zhu

Here is the code:

<?xml version="1.0"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For m...

Hi Prof. Hauser,

Klampt version: 0.8.2 complied from source, with assimp.I am testing a simple URDF file with only one link, attached here:. However, I am getting this error when opening it using RobotTest: . Do you know what could be wrong? Best, Yifan Z...

Problem resolved: I posted the questions initially because the bounding boxes displayed in the RobotTest app are not aligned with some of the links' axes. After taking a closer look at the issue, I realized that the validity of collision detection is not...

How should I set the bounding box of a robot link manually? The bounding box generated automatically by Klamp't can sometimes be undesirable.