From e43dd5b85a5601b5de8a3f4615e564c5e05e92ba Mon Sep 17 00:00:00 2001
From: Sylvain CALINON <sylvain.calinon@idiap.ch>
Date: Wed, 13 Mar 2024 12:43:57 +0100
Subject: [PATCH] example added
---
README.md | 3 ++-
python/{IK3D.py => IK_manipulator3D.py} | 6 +++---
2 files changed, 5 insertions(+), 4 deletions(-)
rename python/{IK3D.py => IK_manipulator3D.py} (98%)
diff --git a/README.md b/README.md
index eff7a89..9f8a7ee 100644
--- a/README.md
+++ b/README.md
@@ -16,6 +16,7 @@ The RCFS website also includes interactive exercises: [https://rcfs.ch](https://
| spline2D | Concatenated Bernstein basis functions with constraints to encode a signed distance function (2D inputs, 1D output) | ✅ | ✅ | | |
| spline2D_eikonal | Gauss-Newton optimization of an SDF encoded with concatenated cubic polysplines, by considering unit norm derivatives in the cost function | ✅ | ✅ | | |
| IK_manipulator | Inverse kinematics for a planar manipulator | ✅ | ✅ | ✅ | ✅ |
+| IK_manipulator3D | Inverse kinematics in a 3D workspace for a manipulator defined with DH Parameters (standard or modified) | | ✅ | | |
| IK_bimanual | Inverse kinematics with a planar bimanual robot | | ✅ | | |
| IK_nullspace | Inverse kinematics with nullspace projection (position and orientation tracking as primary or secondary tasks) | ✅ | ✅ | | |
| IK_num | Inverse kinematics with numerical computation for a planar manipulator | ✅ | ✅ | | |
@@ -34,7 +35,7 @@ The RCFS website also includes interactive exercises: [https://rcfs.ch](https://
| GPIS | Gaussian process implicit surfaces (GPIS) | | ✅ | | |
| iLQR_obstacle_GPIS | iLQR with obstacles represented as Gaussian process implicit surfaces (GPIS) | ✅ | ✅ | ✅ | |
| iLQR_manipulator | iLQR applied to a planar manipulator for a viapoints task (batch formulation) | ✅ | ✅ | ✅ | ✅ |
-| iLQR_manipulator3D | iLQR (batch formulation) applied to a Franka Emika manipulator for a viapoints task in a 3D workspace | ✅ | ✅ | | |
+| iLQR_manipulator3D | iLQR (batch formulation) in a 3D workspace applied to a Franka Emika manipulator for a viapoints task | ✅ | ✅ | | |
| iLQR_manipulator_initStateOptim | iLQR applied to a planar manipulator, where both an optimal controller and an optimal robot base location are estimated | ✅ | ✅ | | |
| iLQR_manipulator_recursive | iLQR applied to a planar manipulator for a viapoints task (recursive formulation to find a controller) | ✅ | ✅ | | |
| iLQR_manipulator_CoM | iLQR applied to a planar manipulator for a tracking problem involving the center of mass (CoM) and the end-effector (batch formulation) | ✅ | ✅ | | |
diff --git a/python/IK3D.py b/python/IK_manipulator3D.py
similarity index 98%
rename from python/IK3D.py
rename to python/IK_manipulator3D.py
index d82f27d..ce02746 100644
--- a/python/IK3D.py
+++ b/python/IK_manipulator3D.py
@@ -1,11 +1,11 @@
'''
-Inverse Kinematics computed on a 6DOF robot defined with DH Parameters (Standard or Modified)
+Inverse Kinematics in a 3D workspace for a manipulator defined with DH parameters (standard or modified)
-Copyright (c) 2024 Idiap Research Institute <https://www.idiap.ch/>
+Copyright (c) 2024 Idiap Research Institute <https://www.idiap.ch>
Written by Jérémy Maceiras <jeremy.maceiras@idiap.ch> and
Sylvain Calinon <https://calinon.ch>
-This file is part of RCFS <https://robotics-codes-from-scratch.github.io/>
+This file is part of RCFS <https://rcfs.ch>
License: MIT
'''
import copy
--
GitLab