trouble with basic results

[lanius]

trouble with basic results

[lanius]

Could you show me the version of tinyik you use and all the source code? In my environment, it is version 1.2.0, and worked as follows (I assumed the size of the links to be [1, 0, 0]):

import numpy as np
import tinyik

arm = tinyik.Actuator(['z',[1, 0, 0], 'z',[1, 0, 0], 'z',[1, 0, 0]])
arm.ee = [1.5, 1.5, 0]
print('ee position', arm.ee)
# => ee position [1.50000001 1.49999999 0.        ]
print('joint angles', np.round(np.rad2deg(arm.angles)))
# => joint angles [-11.  57.  55.]

Tinyik has some tiny and naive solver which one of be used as default in older version. They are sensitive to initial angles and optimization parameters, so it may be easy to fail if you use it.

[frueter]

Hi, thanks for the reply.
I posted all my code and I don't know where to look up the version. I checked all the files in the package but there is no version string anywhere.
I gave it another go and now it works. I think I was one link short in my initial test.

[lanius]

I am glad that it worked well. You can find the version of a package with pip show command:

pip show tinyik

[frueter]

Ah thanks. Yes, it's 1.2.0.