###### tags: `Notes`

# 手臂URDF、IKPY範例
目前把手臂的末端設成夾爪的中心

## ipynb (jupyter notebook)

import ikpy
from ikpy.chain import Chain
from ikpy.link import OriginLink, URDFLink
import numpy as np
import ikpy.utils.plot as plot_utils
import matplotlib
from mpl_toolkits.mplot3d import Axes3D

ax = matplotlib.pyplot.figure().add_subplot(111, projection='3d')
"""
"""
axis_len = 1.4
ax.plot([0, axis_len], [0, 0],[0, 0], color='g', marker='^', linestyle='dashed', linewidth=2)
ax.plot([0, 0], [0, axis_len],[0, 0], color='c', marker='^', linestyle='dashed', linewidth=2)
ax.plot([0, 0], [0, 0],[0, axis_len], color='orange', marker='^', linestyle='dashed', linewidth=2)
ax.text(axis_len,0,0,'x')
ax.text(0,axis_len,0,'y')
ax.text(0,0,axis_len,'z')

my_chain = Chain.from_urdf_file("./panda.URDF")
my_chain.plot([0]*8, ax, [0]*3)
#my_chain.plot(my_chain.inverse_kinematics([0.5, 0.5, 0.5]), ax, [0.5, 0.5, 0.5])
#my_chain.plot(my_chain.inverse_kinematics([0.2, 0.2, 0.8]), ax, [0.2, 0.2, 0.8])

## [panda.URDF](https://drive.google.com/drive/u/1/folders/1zxDqJ7NBkC8l9UG6lP7IBV9dEJo5I7Fy)

## Result: