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+--- Thread: SolveIK not working with TOOL (/Thread-SolveIK-not-working-with-TOOL)
SolveIK not working with TOOL-edon-03-20-2020
I need to get the target joints of movement without moving the robot on simulation.
I can use the finction SolveIK like this:
new_robot_joints = robot.SolveIK(joints, tool=tool)
print("--->",new_robot_joints.tolist())
But when I try to get the joints with a tool I get error:
toolWeld = RDK.Item('KH-TOURCH')
print("XXX-->",toolWeld.Pose())
new_robot_joints = robot.SolveIK(joints, tool=tool)
print("--->",new_robot_joints.tolist())
This is the error:
Traceback (most recent call last):
File "D:\work\Design\Welding-Robot\Modular-Structures\kehui_simulation.py", line 468, in
new_robot_joints = robot.SolveIK(pose=joints, tool=tool)
File "C:\RoboDK\Python\robolink\robolink.py", line 4606, in SolveIK
pose = pose*invH(tool)
File "C:\RoboDK\Python\robolink\robodk.py", line 353, in invH
return matrix.invH()
AttributeError: 'Item' object has no attribute 'invH'
追求ion:
1/ Is there other a way to get the joints with tool?
2/ why I get this error although the tool is corret
RE: SolveIK not working with TOOL-Albert-03-20-2020
The tool you provide to the SolveIK function should be a pose (a 4x4 matrix as an object of type Mat).
Example:
Code:
new_robot_joints = robot.SolveIK(pose=robot.Pose(), joints=robot.Joints(), tool=robot.PoseTool(), frame=frame.PoseFrame())
RE: SolveIK not working with TOOL-edon-03-21-2020
Thanks, it is working perfect.