tharp

KO | EN

gitlite — search

#javascript #python #hacktoberfest #react #ai #typescript #llm #go #golang #android #machine-learning #rust #deep-learning #linux

(★ 27)

An inverse kinematics solver for robots, optimized for Johnny-Five.

tharp 최신버젼 다운로드

최종 버전 다운로드 (.zip)

// repository documentation

Was this content helpful?

★ 0 (0 ratings)

# tharp

![Dancing Robots](https://raw.githubusercontent.com/dtex/tharp/master/assets/tharp-banner-color.png)

[![Join the chat at https://gitter.im/dtex/tharp](https://badges.gitter.im/Join%20Chat.svg)](https://gitter.im/dtex/tharp?utm_source=badge&utm_medium=badge&utm_campaign=pr-badge&utm_content=badge)

[![Build Status](https://travis-ci.org/dtex/tharp.svg)](https://travis-ci.org/dtex/tharp)

Tharp is an inverse kinematics solver and robot manager designed to work with Johnny-Five. It makes the hard things easy. Check out this [video](http://www.youtube.com/watch?v=gabm8QdO29Q) highlighting Tharp's  performance.

### Installation
````bash
npm install tharp
````

### Documentation
Tharp documentation can be found in the [wiki](https://github.com/dtex/tharp/wiki).

### Example
````js
// This is a simple excerpt, illustrating the configuration
// of robot with two legs
var five = require("johnny-five"),
  tharp = require("tharp");

var board = new five.Board().on("ready", function() {

/* === Begin robot configuration === */

// Tharp.Chain() wraps our actuators and adds properties
  // that define the kinematic system. The "chainType" property defines
  // the joint/link configuration.
  var leftLeg = new tharp.Chain({
    constructor: five.Servos,
    chainType: "ZYY",
    origin: [4.25, 0.15, 2.875],
    links: [ 2.6, 7.6125, 10.4],
    actuators: [
      {pin:40, offset: 24, startAt: 0, range: [0, 90] },
      {pin:39, offset: 87, startAt: 78, range: [-80, 78] },
      {pin:38, offset: 165, invert: true, startAt: -140, range: [-160, -10] }
    ]
  });

var rightLeg = new tharp.Chain({
    constructor: five.Servos,
    chainType: "ZYY",
    origin: [-4.25, 0.15, 2.875],
    links: [ 2.6, 7.6125, 10.4],
    actuators: [
      {pin:27, offset: -31, startAt: 180, range: [90, 180] },
      {pin:26, offset: -77, startAt: 102, range: [110, 260] },
      {pin:25, offset: -176, invert: true, startAt: 320, range: [180, 340]}
    ]
  });

// Robot() wraps our chains, gives us a place to orient the
  // robot chassis and ensures that all chains can be rendered
  // before rendering the entire robot movement
  var robot = new tharp.Robot({
    chains: [rightLeg, leftLeg]
  });

/* === End robot configuration === */

// Now we can orient the chassis
  robot.orientation({ pitch: 0.1, roll: -0.08, yaw: -0.13 });
  robot.offset([ 1, -1, -0.2 ]);

// And position our end effectors
  rightLegChain.solve({position: [8.25, 2.5, -5.0]});
  leftLegChain.solve({position: [-8.25, -2.25, -5.0]});

// Move everything
  robot.render();

});

````
### Breaking Changes
* 1.0.0 Swapped Y and Z axes to better match best practices. Renamed "CoxaY-FemurZ-TibiaZ" chain type to "ZYY".
* 2.0.0 Changes ```segments``` to an array since part names are arbitrary. One person's "coxa" is another person's "hip" and then another person's "shoulder".
* 3.0.0 Changes ```segments``` to ```links``` to reflect the proper name.

tharp

tharp 최신버젼 다운로드

오늘의 추천 프로젝트

Was this content helpful?

Recent Feedback

tharp

tharp 최신버젼 다운로드

오늘의 추천 프로젝트

Was this content helpful?

Recent Feedback

Download README