zonopyrobots.ZonoArmRobot#
- class zonopyrobots.ZonoArmRobot[source]#
Bases:
objectArm Robot definition for use with zonopy
This class is a wrapper around the URDF class from urchin. It also computes some additional information about the robot that is useful for zonotopes. This includes the joint axis, joint origins, and joint limits. It also includes the link data for each link in the robot. This includes the bounding box of the link, the mass, center of mass, and inertia tensor. This class also includes the joint occupancy for each joint. This helps with later forward kinematic and occupancy computations.
- urdf#
The urchin URDF object
- dof#
The number of actuated joints
- np#
A numpy version of the object
- tensor#
A torch version of the object
- device#
The device the primary data is on. None if numpy.
- dtype#
The pytorch or numpy dtype of the class
- joint_axis#
The axis of each actuated joint in a (dof, 3) array. These are in topological order from the base to the end effector.
- joint_origins#
The origin of each actuated joint in a topologically ordered (dof, 3) array.
- joint_origins_all#
The origin of each joint including fixed joints in a topologically ordered (n_joints, 3) array.
- actuated_mask#
A mask of which joints are actuated in an (n_joints,) array of booleans.
- pos_lim#
The position limits of each actuatedjoint in a (2, dof) array where the first row is the lower limit and the second row is the upper limit. Continuous joints have [-Inf, Inf].
- vel_lim#
The velocity limits of each actuated joint in a (dof,) array.
- eff_lim#
The effort limits of each actuated joint in a (dof,) array.
- continuous_joints#
The indices of the continuous joints in an (n_continuous_joints,) array.
- pos_lim_mask#
A mask of which actuated joints have finite position limits in an (n_joints,) array of booleans.
- link_parent_joint#
A map from each link to the parent joint. The base link has a parent joint of None. This is a map from the link name to the joint object.
- link_child_joints#
A map from each link to the child joints. This is a map from the link name to a set of joint objects. The set is empty if there are no child joints.
- joint_data#
A map from each joint to a ZonoArmRobotJoint object. This is a map from the joint object to the ZonoArmRobotJoint object.
- link_data#
A map from each link to a ZonoArmRobotLink object. This is a map from the link object to the ZonoArmRobotLink object.
- is_single_chain#
True if the robot is a single kinematic chain.
- has_closed_loop#
True if the robot has a closed loop in the kinematic chain.
Methods
__init__()load(robot[, device, dtype, itype, ...])Load a robot from a URDF file or URDF object
numpy()Convert and return a numpy version of the object.
to([device])Convert and return a torch version of the object.
Attributes
- actuated_mask#
- continuous_joints#
- device#
- dof#
- dtype#
- eff_lim#
- has_closed_loop#
- is_single_chain#
- joint_axis#
- joint_data#
- joint_origins#
- joint_origins_all#
- link_child_joints#
- link_data#
- link_parent_joint#
- static load(robot: urchin.URDF | str, device=None, dtype=None, itype=None, create_joint_occupancy=False)[source]#
Load a robot from a URDF file or URDF object
- Parameters:
robot – The URDF file or URDF object to load
device – The device to put the tensors on. None for pytorch default.
dtype – The data type to use for the zonotopes. None for pytorch default.
itype – The index type to use for the zonotopes. None for pytorch default.
create_joint_occupancy – If true, create the joint occupancy zonotopes for each joint. This is useful for later occupancy computations. If false, those values are not populated.
- Returns:
A ZonoArmRobot object
- np#
- pos_lim#
- pos_lim_mask#
- tensor#
- urdf#
- vel_lim#