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Robotview: Robot visualization tool for orocos kdl
License: GNU General Public License v3.0
This project forked from arcoslab/roboview
Robotview: Robot visualization tool for orocos kdl
License: GNU General Public License v3.0
RoboView <http://www9.in.tum.de/~kleinehe/roboview.html> is a kinematic chain viewer based on the Orocos KDL <http://orocos.org/kdl> library. You use can use it to display kinematic chains and test the forward and inverse kinematics using KDL. It was written by Jonathan Kleinehellefort for the Technische Universität München. INSTALLING ========== You will need Python 2.4, PyGTK <http://www.pygtk.org/>, KDL with Python bindings <http://orocos.org/kdl> and VTK with Python bindings <http://www.vtk.org/> in order to run RoboView. You can (but do not have to) install RoboView using distutils (you may need root permissions for that): python setup.py install --prefix=/usr/local See ``python setup.py --help'' for more information. some packages you MAY need: apt-get install python-vtk python-pyvtk python-gtk2-dev python-gtkglext1 RUNNING ======= To run RoboView, call it with an Python file describing a kinematic chain: roboview robodef.py Where robodef.py looks something like this (see KDL documentation for details): --- from PyKDL import * from math import pi segments = [ Segment(Joint(Joint.RotZ), Frame(Rotation.RotX(pi/2), Vector(0, -.045, .225))), Segment(Joint(Joint.RotZ), Frame(Rotation.RotY(-pi/2), Vector(0, 0, .215))), Segment(Joint(Joint.RotZ), Frame(Rotation.RotY(pi/2), Vector(.135, 0, 0))), Segment(Joint(Joint.RotZ), Frame(Rotation.RotY(-pi/2), Vector(0, 0, .175))), Segment(Joint(Joint.RotZ), Frame(Rotation.RotY(pi/2), Vector(.1, 0, 0))), Segment(Joint(Joint.TransZ), Frame(Rotation.RotY(pi/2), Vector(.1, 0, 0))), Segment(Joint(Joint.RotZ), Frame(Rotation.RotZ(pi/2), Vector(0, 0, .165)))] --- USER INPUT ========== Left-button drag on background rotate camera Middle-button drag on background move camera Button drag on joint change joint value Left-button drag on end effector rotate end effector (tries to do inverse kinematics) Middle-button drag on end effector translate end effector (tries to do inverse kinematics) Key R reset camera Key Q quit
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