Python Kinematics

A Python Kinematics behavior allows you to define the forward and/or inverse kinematics of a Robot Controller for a robot using a script written in Python programming language.

Properties

Name	Description
Name	Defines the name of the kinematics.
Script	Defines the script used for defining the properties of a kinematics object.

Editor

In order to access the script editor:

In the Component Graph panel, Component Node Tree, find the Python Kinematics behavior you want to edit, and then double-click that behavior.

The script editor is the same one used for a Python Script.

The initial content of the editor contains a code snippet used for defining the properties of a kinematics object that corresponds to a robot and its controller:

from vcPythonKinematics import *
import vcMatrix
import vcVector
from math import *

# Define the amount of joints and their names
JOINT_COUNT = 0
JOINT_NAMES = []

# Init kinematic object information
def OnInitKinObject( kinobj ):
  pass

# Returns the amount of joints this kinematics handles
def OnGetJointCount():
  return 0

# Returns the indexed joint names
def OnGetJointName(index):
  return JOINT_NAMES[index]

# Constraints kinematic solutions to show only valid choices
def OnConstrainParams(kinobj):
  return True

# Relaxes kinematics solutions to show all choices
def OnRelaxParams(kinobj):
  return True

# Returns Kinematic chain target (matrix) value based on joint values
def OnForward(kinobj):
  return True

# Returns Kinematic chain joint values based on the target (matrix)
def OnInverse(kinobj):
  return True