pykin.geometry package

Submodules

pykin.geometry.frame module

class pykin.geometry.frame.Frame(name=None, link=pykin.geometry.frame.Link(), joint=pykin.geometry.frame.Joint(), children=[])

Bases: object

class of Frame

Parameters

• name (str) – frame name

• link (Link) – Link frame

• joint (Joint) – Joint frame

• children (list) – all child frame

get_transform(theta)

Parameters

theta (list) – Angle to convert

Returns

Compute transform by multiplying current joint offset and transfrom obtained from input angle

Return type

Transform

class pykin.geometry.frame.Joint(name=None, offset=pykin.kinematics.transform.Transform(), dtype='fixed', axis=None, limit=[None, None], parent=None, child=None)

Bases: object

class of Joint

Parameters

• name (str) – join name

• offset (pykin.kinematics.transform.Transform) – joint offset described in the urdf file

• dtype (str) – joint type (fixed, revolute, prismatic) described in the urdf file

• axis (np.array) – joint axis described in the urdf file

• limit (list) – joint limit described in the urdf file

• parent (Link) – joint parent link described in the urdf file

• child (Link) – joint child link described in the urdf file

TYPES = ['fixed', 'revolute', 'prismatic']

property dtype

property num_dof

class pykin.geometry.frame.Link(name=None, offset=pykin.kinematics.transform.Transform(), visual=pykin.geometry.geometry.Visual(), collision=pykin.geometry.geometry.Collision())

Bases: object

class of Link

Parameters

• name (str) – link name

• offset (pykin.kinematics.transform.Transform) – link offset described in the urdf file

• visual (pykin.geometry.geometry.Visual) – link visual described in the urdf file

• collision (pykin.geometry.geometry.Collision) – link collision described in the urdf file

pykin.geometry.geometry module

class pykin.geometry.geometry.Collision(offset=pykin.kinematics.transform.Transform(), geom_type=None, geom_param=None)

Bases: object

class of Collision

Parameters

• offset (Transform) – collision offset

• geom_type (str) – collision type (box, cylinder, spehre, mesh)

• geom_param (dict) – collision parameters

TYPES = ['box', 'cylinder', 'sphere', 'mesh']

property offset

class pykin.geometry.geometry.Visual(offset=pykin.kinematics.transform.Transform(), geom_type=None, geom_param=None)

Bases: object

class of Visual

Parameters

• offset (Transform) – visual offset

• geom_type (str) – visual type (box, cylinder, spehre, mesh)

• geom_param (dict) – visual parameters

TYPES = ['box', 'cylinder', 'sphere', 'mesh']

property offset

Module contents