Robots#

class Robot#

model: str#: The model name of the robot.

name: str#: The unique name of the robot in the project.

set_base(base: Frame)#

set_speed(speed: float)#

class RobotArm(Robot)#

degrees_of_freedom: int#: The number of joints of the robot.

min_position: Config#: Minimum position for each joint. [rad]

max_position: Config#: Maximum position for each joint. [rad]

max_velocity: Config#: Maximum absolute velocity for each joint. [rad/s]

max_acceleration: Config#: Maximum absolute acceleration for each joint. [rad/s^2]

max_jerk: Config#: Maximum absolute jerk for each joint. [rad/s^3]

link_obstacles: List[Obstacle]#: The obstacles for each robot link.

end_effector_obstacle: Obstacle | None#: An (optional) obstacle attached to the robot’s flange.

item_obstacle: Obstacle | None#: An (optional) obstacle attached to the robot’s TCP.

property base: Frame#

property flange_to_tcp: Frame#: The transformation from the robot’s flange to the robot’s TCP, e.g. for using inverse kinematics or an item obstacle.

set_speed(speed: float)#: Sets the velocity, acceleration, and jerk limits to a factor [0, 1] of their respective default (maximum) values.

calculate_tcp(joint_position: Config) → Frame#: Calculates the forward_kinematics and returns the frame of the robot’s TCP.

calculate_tcp_speed(joint_position: Config, joint_velocity: Config) → float#: Calculates the forward_kinematics and returns the norm of the Cartesian velocity of the robot’s TCP.

inverse_kinematics(tcp: Frame, reference_config: Config = None) → Config#

Finds a joint position so that the robot’s TCP is at the given frame. In general, the solution will try to stay close to the reference_config parameter.

We use a numerical optimization for robots with more than 6 degrees of freedom. Then, the reference configuration is used as a starting point for the optimization.

This method does not take the environment’s collision model into account.

class ABBIRB1200590(RobotArm)#

class ABBIRB1300714(RobotArm)#

class ABBIRB1600612(RobotArm)#

class ABBIRB460060205(RobotArm)#

class ABBIRB6700150320(RobotArm)#

class ABBYuMiIRB14000(Robot)#

left: ABBYuMiArm#

right: ABBYuMiArm#

class DualArm(Robot)#

left: RobotArm#

right: RobotArm#

__init__(left: RobotArm, right: RobotArm)#

class FanucLR10iA10(RobotArm)#

class FanucLRMate200iD7L(RobotArm)#

class FanucM20iB25(RobotArm)#

class FrankaPanda(RobotArm)#

class KinovaGen37DoF(RobotArm)#

class KukaIiwa7(RobotArm)#

class MecademicMeca500(RobotArm)#

class UfactoryXArm7(RobotArm)#

class UniversalUR5e(RobotArm)#

class UniversalUR10(RobotArm)#

class UniversalUR10e(RobotArm)#

class UniversalUR20(RobotArm)#

class YaskawaGP12(RobotArm)#

class YaskawaHC10(RobotArm)#

class YaskawaHC20(RobotArm)#

class CustomRobot(Robot)#

link_translations: List[Frame]#: The translations between the links.

joint_axes: List[List[float]]#: The axis of the joints.

joint_types: List[JointType]#: The type of the joints: Currently revolute, continuous, prismatic, and fixed joints are supported.

static load_from_urdf_file(file: Path, base_link='base_link', end_link='flange') → CustomRobot#: Loads a custom robot from a *.urdf file, and sets the robot arm to the kinematic chain between the given base_link and the end_link.