This tutorial shows how to define a manipulator geometry to be used by MAGIKS.

The geometry of a manipulator is defined by specifying the DH parameters of it. DH paramers are stored in class ```Manipulator_Geometry_Settings```

Geometry of PA10:

For example to define the DH parameters of PA10, first create an instance of class Manipulator_Geometry_Settings:

``` import magiks.geometry.manipulator_geometry as geolib import math_tools.general_math as genmath # A library of mathemathical global variables

PA10_geometry_settings = geolib.Manipulator_Geometry_Settings(nlink = 7, manip_name = 'PA10') PA10_geometry_settings.theta = genmath.deg_to_rad*numpy.array([0.00, 0.00, 0.00, 0.00, 0.00, 0.00, 0.00]) PA10_geometry_settings.alpha = genmath.deg_to_rad*numpy.array([-90.00, 90.00, -90.00, 90.00, -90.00, 90.00, 0.00]) PA10_geometry_settings.a = numpy.array([0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000, 0.0000]) PA10_geometry_settings.d = numpy.array([0.3150, 0.0000, 0.4500, 0.0000, 0.5000, 0.0000, 0.0800]) ```