Hi MyrobotLab,
I think your video and repository are amazing. I have tried using the same code for inverse kinematics with a UR3, and I would appreciate your help understanding how to modify your code to work with a calibration.config file for one UR3. Here are the calibration parameters I’m working with: delta_theta = [ 9.14361764983717684e-08, 0.178461025123001604, 6.68283349819805572, -0.578116982609792496, 6.11299818305960363e-06, -5.03926212855332345e-07]
delta_a = [ -0.000243788991999517813, 0.00381165418642351317, 0.034503078453104935, 0.000107694612896758047, -0.000198736633205663144, 0]
delta_d = [ 9.225352853908797e-05, 12.0620003757611567, 17.6719025641737275, -29.7339960369544869, -2.8164617795367608e-05, 0.000217420471082099831]
delta_alpha = [ 0.00115615746589403656, 0.0035851898103369975, 0.00392132336586574568, 0.000406668888106365145, -0.00201170396009153762, 0]
joint_checksum = [ 0xb3241580, 0xb10112f1, 0x290cac88, 0xa8d3f155, 0xa8b7e9eb, 0xa8dbbfa3]
calibration_status = 2 # 0 == notInitialized / 1 == notLinearised / 2 == Linearised
joint_raw_offset = [ 3.74346184730529785, 3.72768282890319824, -3.14294099807739258, 2.35027170181274414, 2.38107919692993164, 2.36286687850952148]
joint_selftest_data_crc = [ 0x72b4809f, 0x70928096, 0x68c38696, 0x68bd867b, 0x689f8651, 0x68c4866d]
file_save_count = 1
Hi MyrobotLab,
I think your video and repository are amazing. I have tried using the same code for inverse kinematics with a UR3, and I would appreciate your help understanding how to modify your code to work with a calibration.config file for one UR3. Here are the calibration parameters I’m working with: delta_theta = [ 9.14361764983717684e-08, 0.178461025123001604, 6.68283349819805572, -0.578116982609792496, 6.11299818305960363e-06, -5.03926212855332345e-07]
delta_a = [ -0.000243788991999517813, 0.00381165418642351317, 0.034503078453104935, 0.000107694612896758047, -0.000198736633205663144, 0]
delta_d = [ 9.225352853908797e-05, 12.0620003757611567, 17.6719025641737275, -29.7339960369544869, -2.8164617795367608e-05, 0.000217420471082099831]
delta_alpha = [ 0.00115615746589403656, 0.0035851898103369975, 0.00392132336586574568, 0.000406668888106365145, -0.00201170396009153762, 0]
joint_checksum = [ 0xb3241580, 0xb10112f1, 0x290cac88, 0xa8d3f155, 0xa8b7e9eb, 0xa8dbbfa3]
calibration_status = 2 # 0 == notInitialized / 1 == notLinearised / 2 == Linearised
joint_raw_offset = [ 3.74346184730529785, 3.72768282890319824, -3.14294099807739258, 2.35027170181274414, 2.38107919692993164, 2.36286687850952148]
joint_selftest_data_crc = [ 0x72b4809f, 0x70928096, 0x68c38696, 0x68bd867b, 0x689f8651, 0x68c4866d]
file_save_count = 1