How do I control the Arm
Last updated
Last updated
Copyright (c) Brandeis University
The InterbotixPincherX100 can rotate, move up and down, and extend. To get the arm to go to a specific point in space given (x, y, z) coordinates, the x and y compenents must be converted to polar coordinates.
Moving the arm to point (x, y), top-down view
Since the arm can move out/back and up/down to specific points without conversion, consider only a top-down view of the arm (x-y axis). To get the rotation and extension of the arm at a specific point, consider the triangle shown above. For rotation θ: $θ=atan(x/y)$. For extension r: $r=y/cos(θ)$. The up-down movement of the arm remains the same as the given z coordinate.
The arm can be moved to the desired point using set_ee_cartesian_trajectory. In this method, the extension and motion up/down is relative so the current extension and vertical position of the arm must be known as current_r and current_z.
