pykin.robots package

Submodules

pykin.robots.bimanual module

class pykin.robots.bimanual.Bimanual(fname: str, offset=None)[source]

Bases: pykin.robots.robot.Robot

Initializes a bimanual robot simulation object.

Parameters

  • fname (str) – path to the urdf file.

  • offset (Transform) – robot init offset

property active_joint_names
property arm_type

Return arm type If number of eef_name is two, return tuple type(“right”, “left) otherwise, return list type([“right] or [“left”])

Returns

arm types (tuple or list)

property base_name
compute_eef_pose(transformations)[source]

Compute end effector’s pose

Parameters

transformations (OrderedDict) –

Returns

vals(dict)

property eef_name
inverse_kin(current_joints, target_pose, method='LM', maxIter=1000)[source]

Returns joint angles obtained by computing IK

Parameters

  • current_joints (sequence of float) – input joint angles

  • target_pose (np.array) – goal pose to achieve

  • method (str) – two methods to calculate IK (LM: Levenberg-marquardt, NR: Newton-raphson)

  • maxIter (int) – Maximum number of calculation iterations

Returns

target joint angles

Return type

joints (np.array)

Sets robot’s link name

Parameters

  • base_name (str) – reference link name

  • eef_name (str) – end effector name

pykin.robots.robot module

class pykin.robots.robot.Robot(fname=None, offset=None)[source]

Bases: pykin.models.urdf_model.URDFModel

Initializes a robot object, as defined by a single corresponding robot URDF

Parameters

  • fname (str) – path to the urdf file.

  • offset (Transform) – robot init offset

property active_joint_names
property base_name
compute_pose_error(target_HT=array([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]), result_HT=array([[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]]))[source]

Computes pose(homogeneous transform) error

Parameters

  • target_HT (np.array) – target homogeneous transform

  • result_HT (np.array) – result homogeneous transform

Returns

error (np.array)

property eef_name
forward_kin(thetas, desired_frames=None)[source]
property frame
inverse_kin(current_joints, target_pose, method, maxIter)[source]
property offset

Sets robot’s link name

Parameters

  • base_name (str) – reference link name

  • eef_name (str) – end effector name

show_robot_info()[source]

Shows robot’s info

pykin.robots.single_arm module

class pykin.robots.single_arm.SingleArm(fname: str, offset=None)[source]

Bases: pykin.robots.robot.Robot

Initializes a single-armed robot simulation object.

Parameters

  • fname (str) – path to the urdf file.

  • offset (Transform) – robot init offset

property active_joint_names
property base_name
compute_eef_pose(transformations)[source]

Compute end effector’s pose

Parameters

transformations (OrderedDict) –

Returns

vals(dict)

property eef_name
inverse_kin(current_joints, target_pose, method='LM', maxIter=1000)[source]

Returns joint angles obtained by computing IK

Parameters

  • current_joints (sequence of float) – input joint angles

  • target_pose (np.array) – goal pose to achieve

  • method (str) – two methods to calculate IK (LM: Levenberg-marquardt, NR: Newton-raphson)

  • maxIter (int) – Maximum number of calculation iterations

Returns

target joint angles

Return type

joints (np.array)

Sets robot’s desired frame

Parameters

  • base_name (str) – reference link name

  • eef_name (str) – end effector name

Module contents