Using Klampt to analyse the energy consumption of the robot on preassembly cell

[svenkatachalam]

I have an UR10 robot mounted on a linear axis. I described the UR10e as a robot (.rob file) and UR10eLinearAxis as a robot (.rob file) and mounted the UR10 robot on the UR10LinearAxis.rob file. I have declared prismatic joint for the linear axis. Inverse kinematics is working fine, including the linear axis motion.

My requirement is bit different, I am looking to simulate the forward kinematics of the linear axis for different positions and to perform inverse kinematics on the UR10 robot. With this, I am looking to generate some KPI's based on robot position and orientation to the object. I am new to Klampt and I am looking a way to control linear axis and UR10e robot in different manner. Also, I would like to know, if I can make use of subrobot to attach the UR10 robot to the linear axis (instead of mounting). This question arises as I am unable to perform inverse kinematics only to UR10 robot while performing forward kinematics to the linear axis with current definition.

Currently it works as shown in the figure above. The linear axis motion is automatically calculated by the IK algorithm and moves the robot.
UR10e robot description is standard and the linear axis code is given here.
Linear Axis and UR10 robot (.rob):

`
links "pre-assembly-table" "ur10_axis_link"

parents -1 0

axis 0 0 0 0 1 0

jointtype p p

Tparent 1 0 0 0 1 0 0 0 1 0.6 3 0.16
1 0 0 0 1 0 0 0 1 -0.665 -2.8 0.86

q 0 0

qmin 0 0

qmax 1 5.5

geometry "models\Pre-Assembly-Table.off" "models\LinearAxis.off"

mount 1 "UR10.rob" 1 0 0 0 1 0 0 0 1 0.07 0.03 0.04 as "ur10"

mass 500 3

com 0 0 0 0 0 0

joint weld 0
joint normal 1

driver normal 1

servoP 5000
servoI 100
servoD 200

dryFriction 0
viscousFriction 25

noselfcollision 0 1
`