josh_jhu Posted March 1, 2017 Share Posted March 1, 2017 Hello, Is it possible to access Sawyer's Jacobian matrix? I noticed these resources available for obtaining Baxter's Jacobian http://sdk.rethinkrobotics.com/wiki/Baxter_PyKDL Is it also possible to use KDL with Sawyer? -Josh Quote Link to comment Share on other sites More sharing options...
Ian McMahon Posted March 1, 2017 Share Posted March 1, 2017 Hi Josh, We don't directly supply Sawyer's Jacobian, but it is possible to use tools to calculate it using Sawyers URDF. The KDL library is compatible with all URDF's so you should be able to use it with Sawyer. However, Baxter_PyKDL was a hackathon project that Rethink does not actively support. Feel free to use whatever you find there and tailor it to Sawyer and your needs. Best regards, ~ Ian 1 Quote Link to comment Share on other sites More sharing options...
KévinD Posted March 6, 2017 Share Posted March 6, 2017 Hi Josh, Did you consider using MoveIt ? Check the moveit tutorials, they provide useful tool to get the jacobian matrix and is pretty easy to use. Kévin Quote Link to comment Share on other sites More sharing options...
FrederikEbert Posted February 3, 2018 Share Posted February 3, 2018 Hi, is there an officially supported way to obtain Jacobians for Sawyer by now? Using MoveIt seems to be a little bit of an overkill. Thanks! Frederik 1 Quote Link to comment Share on other sites More sharing options...
nselby Posted October 17, 2018 Share Posted October 17, 2018 I know this is super late, but here's something potentially useful. It's still in development, but I've been using this GitHub repository with decent success: https://github.com/rupumped/sawyer_pykdl/ Quote Link to comment Share on other sites More sharing options...
Recommended Posts
Join the conversation
You can post now and register later. If you have an account, sign in now to post with your account.