So, IKPY is surprisingly not as robust a library as I would have imagined, and its quite poorly documented. After struggling for a few days trying to get it to work with TIAGO Steel, here are some things that helped.
- So, IKPY is actually a bit outdated. Optionally, I'd recommend installing a fork of IKPY by user Alters-Mit which fixes some issues with prismatic joints, which the TIAGO Steel contains. More info here. Phylliade/ikpy#96
- To install this fork of ikpy, run
pip install git+https://github.com/alters-mit/ikpy.git#egg=ikpyin your console. - I'm not sure if this helped, but it seemed to. If you don't have problems, do this optionally.
- Finally, put the following at the top of your controller file-
-
from ikpy.chain import Chain from ikpy.link import OriginLink, URDFLink
- To install this fork of ikpy, run