Search Unity

  1. Welcome to the Unity Forums! Please take the time to read our Code of Conduct to familiarize yourself with the forum rules and how to post constructively.

URDF Importer - FK & IK Scripts

Discussion in 'Robotics' started by mcevoy-andy, Sep 21, 2022.

  1. mcevoy-andy

    mcevoy-andy

    Joined:
    Feb 3, 2015
    Posts:
    13
    Are these scripts functional and used anywhere?

    Why doesn't `FKRobot.FK()` calculate & return `endEffectorRotation`?

    Could someone explain what `IKRobot.CalcualteDifferential()` is doing? It seems the intent is to calculate the `ds_i / dTheta_i` components of the Jacobian but only the linear velocity components are calculated? It seems this is only a wip?
     
    mcevoy-andy, Sep 21, 2022
    #1

  2. LaurieUnity

    LaurieUnity

    Unity Technologies

    Joined:
    Oct 23, 2020
    Posts:
    77
    LaurieUnity, Sep 21, 2022
    #2

  3. mcevoy-andy

    mcevoy-andy

    Joined:
    Feb 3, 2015
    Posts:
    13
    According to the link you posted and what I see in the code, it seems you have to put the DH parameters in manually if you want to use FK?

    Does the importer not create a model of the robot it can use in FK calculations?
     
    mcevoy-andy, Sep 22, 2022
    #3

  4. JoergHofmann74

    JoergHofmann74

    Joined:
    Oct 31, 2017
    Posts:
    11
    Hi
    could you please tell a little bit more about the ik-solver project and if possible share valid link as I am interested in ik solver of robots.

     
    JoergHofmann74, Jan 12, 2023
    #4

  5. CloudyVR

    CloudyVR

    Joined:
    Mar 26, 2017
    Posts:
    683
    CloudyVR, May 29, 2023
    #5