symbolic base inertial parameter

[hjumper]

Hi，i am researching on the symbolic paramter for kinmatic and dynamic in robotic , now i have a problem on symbolic assignment in this toolbox. In the exmaple all values are zero or pi-related except variable joints. When i attempt to assgin symbolic value in the definition and try to get the result of rbt.dyn.baseparms(), i will get the undefined error in the python function which i don't understand. So i'm wondering if it is possible for the symbolic assignment in this toolbox for generation of the base parameter? such as rbtdef = sympybotics.RobotDef('S2RR1', # robot name [('-pi/2', 0, 0, 'q'+'-pi/2'), ('-pi/2', 0, 'd', 'q')],# (alpha, a, d, theta) dh_convention='modified' # either 'standard' or 'modified' ) rbt = sympybotics.RobotDynCode(rbtdef, verbose=True) rbt.calc_base_parms()

thanks a lot.

[cdsousa]

Yes, symbolic values in the DH parameters are not supported.