pykin.models package

Submodules

pykin.models.robot_model module

class pykin.models.robot_model.RobotModel[source]

Bases: object

Base class of robot model from urdf file When initialized, loads links and joints of robot.

property dof

Robot’s dof

find_frame()[source]

Find robot’s frame

find_joint()[source]

Find robot’s joint

Find robot’s link

property joints

Returns: OrderedDict: all joints

Returns: OrderedDict: all links

property num_actuated_joints

Number of actuated(revolute or prismatic) joints

property num_fixed_joints

Number of fixed joints

property num_joints

Number of joints

Number of links

pykin.models.urdf_model module

class pykin.models.urdf_model.URDFModel(fname)[source]

Bases: pykin.models.robot_model.RobotModel

Initializes a urdf model, as defined by a single corresponding robot URDF

Parameters

fname (str) – path to the urdf file.

property dof

Returns: int: robot’s dof

find_frame(frame_name)[source]
Parameters

frame_name (str) – frame’s name

Returns

frame with child frames

Return type

Frame

find_joint(joint_name)[source]
Parameters

joint_name (str) – joint’s name

Returns

desired robot’s joint

Return type

Joint

Parameters

link_name (str) – link’s name

Returns

desired robot’s link

Return type

Link

static generate_desired_frame_recursive(base_frame, eef_name)[source]

Return frames from base_frame to eef_frame you want to find

Parameters

  • base_frame (list) – reference frame

  • eef_name (str) – end effector name

Returns

Append frame until child link name is eef name

Return type

list

get_actuated_joint_names(desired_frames=None)[source]

Returns actuated(revolute, prismatic) joint names

Parameters

desired_frames (list) – If is not empty, will get desired actuated joint names

Returns

actuated joint names

Return type

list

get_revolute_joint_names(desired_frames=None)[source]

Returns revolute joint names

Parameters

desired_frames (list) – If is not empty, will get desired actuated joint names

Returns

revolute joint names

Return type

list

get_urdf()[source]

Reads a string of the urdf file.

Returns

xml read in from file

Return type

str

property num_actuated_joints

Returns: int: number of actuated joints

property num_fixed_joints

Returns: int: number of fixed joints

property num_joints

Returns: int: number of joints

Returns: int: number of links

Module contents