Pleurobot end effector position

[nicolascolsoul]

Hello,
Thanks for the repo, it is fantastic what you have done here ! I come from UCL in Belgium and try to use Pyrobolearn for the first time for a course : the objective is to simulate just one leg of Pleurobot (imposed by our teacher) with a custom path.

It is very easy to compute the path we want and looking to the example of invert kinematics, we tried to make one leg following our path. But it isn't working very well !

Entire code is findable here : https://github.com/nicolascolsoul/biorobotics/blob/master/pleurobot_lmeca.py
But it looks very similar of the invert kinematics example except this line,
link_id = robot.get_end_effector_ids(end_effector=5)
To choose the right rear leg. But the end effector isn't following our curve and I don't understand.
Is the end effector (in Pleurobot model ?) the last joint or the output of the last joint ?

I want to the A point follow my path but it seems that it is the B point.

How can we achieve that ? I'm not very skilled in robotics/simulation so, if this question looks stupid, please tell me. Thank you so much.

[lrozo]

Hi Nicolas!

I am so sorry to answer just now, and I am not sure if you already solved your problem. I am not entirely familiar with the links definition and URDF of that robot in particular, but something that I usually do to know if my link names (or joints) are correct for any operation I need (such as Inv. kinematics) is to play with the example robot_with_sliders.py, where I import the robot I want, and check with the sliders which links/joints I am moving.

I hope this helps you find the right link to move!