py-flex-assembly

PyBullet-Based Simulation Environment for the Flexible Assembly Robotics Scenario

Motion Planning

Based on:

• https://pypi.org/project/pybullet-planning/
• https://github.com/yijiangh/pybullet_planning_tutorials

pip3 install pybullet-planning
pip3 install termcolor

Inverse Kinematics:

• https://www.youtube.com/watch?v=lZjsAiewqaE

ATI Sensor

• Diameter: 77,0 mm

• Height: 36,0 mm

• Weight: 283,0 g

• All dimensions contain the adapterplate.

• 3D Model: https://www.ati-ia.com/products/ft/ft_models.aspx?id=Gamma