Relaxed-IK requires generation of configuration files in order to make use of the planner. In this package, several configurations are stored than quickly allow one to get started using Relaxed-IK.
Robot configurations are stored as directories with a collision file, urdf, and setup file. In order to setup Relaxed-IK these files need to copied into the Relaxed-IK package.
Navigate to relaxed_ik/src/ then overwrite setup.py with one provided.
Then copy the collision file to relaxed_ik/src/RelaxedIK/Config/collision_files/
and copy the urdf to relaxed_ik/src/RelaxedIK/urdfs/.
Next generate your full configuration. When invoking load, change info_<robot>.yaml
for your robot being configured. Note, these instructions taken from the setup.py file,
refer to that file for further documentation.
roslaunch relaxed_ik generate_info_file.launch
roslaunch relaxed_ik load_info_file.launch info_file_name:=info_<robot>.yaml
Then preprocess according to your use case.
roslaunch relaxed_ik preprocessing_julia.launch
roslaunch relaxed_ik preprocessing_python.launch
You are now ready to use Relaxed-IK!
Rust requires configuration values in the start_here.py to be floating point. That is, integer values should be appended with .0.
- UR5
- UR3
- Mico
- Mico2
- Mico3