pykin.kinematics package

Submodules

pykin.kinematics.jacobian module

pykin.kinematics.jacobian.calc_jacobian(frames: list, transformations: dict, jsize: int) → numpy.array

Parameters

• frames (list) – frames to compute jacobian

• transformations (dict) – transformations from forward kinematics

• thetas (int) – size of joint space

Returns

return Jacobian

Return type

Jacobian (np.array(6, jsize))

pykin.kinematics.kinematics module

class pykin.kinematics.kinematics.Kinematics(robot_name, offset, active_joint_names=[], base_name='base', eef_name=None)

Bases: object

Class of Kinematics

Parameters

• robot_name (str) – robot’s name

• offset (Transform) – robot’s offset

• active_joint_names (list) – robot’s actuated joints

• base_name (str) – reference link’s name

• eef_name (str) – end effector’s name

forward_kinematics(frames, thetas)

Returns transformations obtained by computing fk

Parameters

• frames (list or Frame()) – robot’s frame for forward kinematics

• thetas (sequence of float) – input joint angles

Returns

transformations

Return type

transformations (OrderedDict)

inverse_kinematics(**kwargs)

pykin.kinematics.transform module

class pykin.kinematics.transform.Transform(rot=array([1.0, 0.0, 0.0, 0.0]), pos=array([0.0, 0.0, 0.0]))

Bases: object

This class calculates the rotation and translation of a 3D rigid body.

Parameters

• rot (sequence of float) – The rotation parameter. Give in quaternions or roll pitch yaw.

• pos (sequence of float) – The translation parameter.

<<<<<<< HEAD

property h_mat

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property homogeneous_matrix

>>>>>>> ea49476fc7b0492d09cb4006dd56bb6aba81ff14

Returns: np.array: homogeneous matrix

inverse()

Returns

inverse transform

Return type

Transform

property pos

Returns: np.array: position

property pose

Returns: np.array: pose

property rot

Returns: np.array: rotation (quaternion)

property rotation_matrix

Returns: np.array: rotation matrix

Module contents