oliver_lw Posted February 24, 2018 Share Posted February 24, 2018 Hello, How do we set the IK parameters to make Sawyer arm camera parallel to table surface(facing down)? Is there a way to keep Sawyer's arm camera(J5 joint?) horizontal to desk surface during the whole task? Can you provide some sample code to do that? Or, is there a way to configure IK to achieve that ? I tried roll =0.5*Pi pitch = 0.5*Pi, in this case the arm will be parallel to desk, but not the camera. Thanks, Wei Link to comment Share on other sites More sharing options...
Ian McMahon Posted February 28, 2018 Share Posted February 28, 2018 There are a couple ways to move the arm to have the camera facing down. One is to use the TF2 library, and move the arm until the right_hand_camera frame is pointing in the negative Z direction with respect to the base frame. See the screenshot below for an illustration, and the TF2 Wiki and Tutorials pages to gain an understanding of transforms and transform listeners. You can also use the IK solver to give you joint angles with respect to the right_hand_camera link. Follow the example code we provide in the intera_examples package, change the XYZ Position and Quaternion for your desired camera orientation with respect to the base link (likely negative Z direction again), and change the tip_name to be "right_hand_camera". Hope this helps! ~ Ian Link to comment Share on other sites More sharing options...
oliver_lw Posted March 15, 2018 Author Share Posted March 15, 2018 This definitely helps. Thanks a lot, Ian! Wei Link to comment Share on other sites More sharing options...
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