test_articulation_ik

1. Basic Functionality

• Utilizes the native IK (Inverse Kinematics) algorithm to move and rotate the robotic arm.

2. Implementation Process

2.1 Initialize the Environment

env = RFUniverseBaseEnv(scene_file="ArticulationIK.json")

• Import the scene from a pre-configured ArticulationIK.json file.

2.2 Invoke the IK Algorithm to Move the Robotic Arm

for id in ids:
    current_robot = env.GetAttr(id)
    current_robot.IKTargetDoMove(position=[0, 0, -0.5], duration=0.1, relative=True)
    env.step()
    while not current_robot.data["move_done"]:
        env.step()
    current_robot.IKTargetDoMove(position=[0, -0.5, 0], duration=0.1, relative=True)
    env.step()
    while not current_robot.data["move_done"]:
        env.step()
    current_robot.IKTargetDoMove(position=[0, 0.5, 0.5], duration=0.1, relative=True)
    current_robot.IKTargetDoRotateQuaternion(
        quaternion=utility.UnityEularToQuaternion([90, 0, 0]),
        duration=30,
        relative=True,
    )
    env.step()
    while not current_robot.data["move_done"] or not current_robot.data["rotate_done"]:
        env.step()

• Parameters in IKTargetDoMove:

  • position: The target position for the movement.

  • duration: The duration from the current position to the target position.

  • relative: true indicates the movement is relative to the current position, false indicates an absolute position in world coordinates.

• Parameters in IKTargetDoRotateQuaternion:

  • quaternion: The quaternion representing the rotation.

  • duration: The duration from the current orientation to the target orientation.

  • relative: true indicates the rotation is relative to the current orientation, false indicates an absolute orientation in world coordinates.

This tutorial segment demonstrates how to utilize the native IK capabilities of the pyrfuniverse simulation platform for precise control over the movements and rotations of a robotic arm.