A class that defines a robot model. More...

Inheritance diagram for optas.models.RobotModel:

Collaboration diagram for optas.models.RobotModel:

Public Member Functions
def	__init__ (self, Union[None, str] urdf_filename=None, Union[None, str] urdf_string=None, Union[None, str] xacro_filename=None, Union[None, str] name=None, List[int] time_derivs=[0], Union[None, ArrayType] qddlim=None, Union[None, int] T=None, List[str] param_joints=[])
	Initializer for the robot model class. More...

def	get_urdf (self)

def	get_urdf_dirname (self)

List[str]	joint_names (self)
	Property that gives the list of joint names. More...

List[str]	link_names (self)
	Property that gives the list of link names. More...

List[str]	actuated_joint_names (self)
	Property that gives the names of the actuated joints. More...

List[str]	parameter_joint_names (self)
	Property that gives the names of the parameterized joints. More...

List[int]	optimized_joint_indexes (self)
	Property that gives the indexes of the optimized joints. More...

List[str]	optimized_joint_names (self)
	Property that gives the names of the optimized joints names. More...

List[int]	parameter_joint_indexes (self)
	Property that gives the indexes of the parameterized joints. More...

ArrayType	extract_parameter_dimensions (self, ArrayType values)
	Return the elements that correspond to the model dimensions. More...

ArrayType	extract_optimized_dimensions (self, ArrayType values)
	Return the elements that correspond to the model optimized dimensions. More...

int	ndof (self)
	Number of degrees of freedom. More...

int	num_opt_joints (self)
	Number of optimized joints. More...

int	num_param_joints (self)
	Number of parameterized joints. More...

float	get_joint_lower_limit (self, Joint joint)
	Return the lower limit for a given joint. More...

float	get_joint_upper_limit (self, Joint joint)
	Return the upper limit for a given joint. More...

float	get_velocity_joint_limit (self, Joint joint)
	Return the velocity limit for a given joint. More...

cs.DM	lower_actuated_joint_limits (self)
	Property that defines the lower actuated joint limits. More...

cs.DM	upper_actuated_joint_limits (self)
	Property that defines the upper actuated joint limits. More...

cs.DM	velocity_actuated_joint_limits (self)
	Property that defines the velocity actuated joint limits. More...

cs.DM	lower_optimized_joint_limits (self)
	Property that defines the lower optimized joint limits. More...

cs.DM	upper_optimized_joint_limits (self)
	Property that defines the upper optimized joint limits. More...

cs.DM	velocity_optimized_joint_limits (self)
	Property that defines the velocity limits for the optimized joints. More...

None	add_base_frame (self, str base_link, Union[None, List[float]] xyz=None, Union[None, List[float]] rpy=None, str joint_name=None)
	Add new base frame, note this changes the root link. More...

str	get_root_link (self)
	The root link name. More...

Tuple[cs.DM]	get_link_visual_origin (self, Link link)
	Get the link position and orientation for the link visual. More...

Tuple[cs.DM]	get_joint_origin (self, Joint joint)
	Get the origin for the joint. More...

cs.DM	get_joint_axis (self, Joint joint)
	Get the axis of a joint. More...

int	get_actuated_joint_index (self, str joint_name)
	Get the joint index for a given joint name. More...

cs.DM	get_random_joint_positions (self, int n=1, Union[None, Tuple[ArrayType]] xlim=None, Union[None, Tuple[ArrayType]] ylim=None, Union[None, Tuple[ArrayType]] zlim=None, Union[None, str] base_link=None)
	Random joint positions within actuator limits and optionally within a box for a given base link. More...

cs.DM	get_random_pose_in_global_link (self, str link_name)

def	make_function (self, str label, str link, Callable method, int n=1, Union[None, str] base_link=None, Union[None, cs.DM] axis=None, numpy_output=False)
	Automate function generation. More...

CasADiArrayType	get_global_link_transform (self, str link, ArrayType q)
	Get the link transform in the global frame for a given joint state q. More...

cs.Function	get_global_link_transform_function (self, str link, int n=1, bool numpy_output=False)
	Get the function which computes the link transform in the global frame. More...

CasADiArrayType	get_link_transform (self, str link, ArrayType q, str base_link)
	Get the link transform in a given base frame. More...

CasADiArrayType	get_link_transform_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the transform in a given base frame. More...

CasADiArrayType	get_global_link_position (self, str link, ArrayType q)
	Get the link position in the global frame for a given joint state q. More...

cs.Function	get_global_link_position_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the global position of a given link. More...

CasADiArrayType	get_link_position (self, str link, ArrayType q, str base_link)
	Get the link position in a given base frame. More...

cs.Function	get_link_position_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the position of a link in a given base frame. More...

CasADiArrayType	get_global_link_rotation (self, str link, ArrayType q)
	Get the link rotation in the global frame for a given joint state q. More...

cs.Function	get_global_link_rotation_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes a rotation matrix in the global link. More...

CasADiArrayType	get_link_rotation (self, str link, ArrayType q, str base_link)
	Get the rotation matrix for a link in a given base frame. More...

cs.Function	get_link_rotation_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the rotation matrix for a link in a given base frame. More...

CasADiArrayType	get_global_link_quaternion (self, str link, ArrayType q)
	Get a quaternion in the global frame. More...

cs.Function	get_global_link_quaternion_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes a quaternion in the global frame. More...

CasADiArrayType	get_link_quaternion (self, str link, ArrayType q, str base_link)
	Get the quaternion defined in a given base frame. More...

cs.Function	get_link_quaternion_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes a quaternion defined in a given base frame. More...

CasADiArrayType	get_global_link_rpy (self, str link, ArrayType q)
	Get the Roll-Pitch-Yaw angles in the global frame. More...

def	get_global_link_rpy_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the Roll-Pitch-Yaw angles in the global frame. More...

CasADiArrayType	get_link_rpy (self, str link, ArrayType q, str base_link)
	Get the the Roll-Pitch-Yaw angles defined in a given base frame. More...

cs.Function	get_link_rpy_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the Roll-Pitch-Yaw angles defined in a given base frame. More...

CasADiArrayType	get_global_link_geometric_jacobian (self, str link, ArrayType q)
	Compute the geometric Jacobian matrix in the global frame. More...

cs.Function	get_global_link_geometric_jacobian_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the geometric jacobian in the global frame. More...

CasADiArrayType	get_global_link_analytical_jacobian (self, str link, ArrayType q)
	Compute the analytical Jacobian matrix in the global frame. More...

cs.Function	get_global_link_analytical_jacobian_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the analytical jacobian in the global frame. More...

CasADiArrayType	get_link_geometric_jacobian (self, str link, ArrayType q, str base_link)
	Get the geometric jacobian in a given base link. More...

cs.Function	get_link_geometric_jacobian_function (self, str link, str base_link, int n=1, bool numpy_output=False)

CasADiArrayType	get_link_analytical_jacobian (self, str link, ArrayType q, str base_link)
	Compute the analytical Jacobian matrix in a given base link. More...

cs.Function	get_link_analytical_jacobian_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the analytical jacobian in a given base frame. More...

CasADiArrayType	get_global_link_linear_jacobian (self, str link, ArrayType q)
	Compute the linear part of the geometric jacobian in the global frame. More...

cs.Function	get_global_link_linear_jacobian_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the linear part of the geometric jacobian in the global frame. More...

CasADiArrayType	get_link_linear_jacobian (self, str link, ArrayType q, str base_link)
	Get the linear part of the geometric jacobian in a given base frame. More...

cs.Function	get_link_linear_jacobian_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the linear part of the geometric jacobian in a given base frame. More...

CasADiArrayType	get_global_link_angular_geometric_jacobian (self, str link, ArrayType q)
	Compute the angular part of the geometric jacobian in the global frame. More...

cs.Function	get_global_link_angular_geometric_jacobian_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the angular part of the geometric jacobian in the global frame. More...

CasADiArrayType	get_global_link_angular_analytical_jacobian (self, str link, ArrayType q)
	Compute the angular part of the analytical Jacobian matrix in the global frame. More...

cs.Function	get_global_link_angular_analytical_jacobian_function (self, str link, int n=1, bool numpy_output=False)
	Get the function that computes the angular part of the analytical jacobian in the global frame. More...

CasADiArrayType	get_link_angular_geometric_jacobian (self, str link, ArrayType q, str base_link)
	Get the angular part of the geometric jacobian in a given base frame. More...

cs.Function	get_link_angular_geometric_jacobian_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the angular part of the geometric jacobian in a given base frame. More...

CasADiArrayType	get_link_angular_analytical_jacobian (self, str link, ArrayType q, str base_link)
	Compute the angular part of the analytical Jacobian matrix in a given base frame. More...

cs.Function	get_link_angular_analytical_jacobian_function (self, str link, str base_link, int n=1, bool numpy_output=False)
	Get the function that computes the angular part of the analytical jacobian in a given base frame. More...

CasADiArrayType	get_link_axis (self, str link, ArrayType q, Union[str, ArrayType] axis, str base_link)
	Compute the link axis, this is a direction vector defined in the end-effector frame (e.g. More...

cs.Function	get_link_axis_function (self, str link, Union[str, ArrayType] axis, str base_link, int n=1, bool numpy_output=False)
	Get function for computing the link axis. More...

CasADiArrayType	get_global_link_axis (self, str link, ArrayType q, Union[str, ArrayType] axis)
	Compute the link axis, this is a direction vector defined in the end-effector frame (e.g. More...

cs.Function	get_global_link_axis_function (self, str link, Union[str, ArrayType] axis, int n=1, bool numpy_output=False)
	Get function for computing the link axis in the global frame. More...

ArrayType	rnea (self, ArrayType q, ArrayType qd, ArrayType qdd)
	Compute inverse dynamics with RNEA. More...

Public Member Functions inherited from optas.models.Model
def	__init__ (self, str name, int dim, List[int] time_derivs, str symbol, Dict[int, Tuple[List[float]]] dlim, Union[None, int] T)
	The Model base class initializer. More...

str	get_name (self)
	Return the name of the model. More...

str	state_name (self, int time_deriv)
	Return the state name. More...

str	state_parameter_name (self, int time_deriv)
	Return the parameter name. More...

str	state_optimized_name (self, int time_deriv)
	Return the sate optimized name. More...

Tuple[ArrayType]	get_limits (self, int time_deriv)
	Return the model limits. More...

cs.DM	in_limit (self, ArrayType x, int time_deriv)
	Check if array is within model limits. More...

Public Attributes
	xacro_filename
	Filename for xacro file. More...

	urdf
	URDF instance. More...

	urdf_filename
	Filename for URDF file. More...

	urdf_string
	URDF string. More...

	param_joints
	List of parameterized joints. More...

	F

	n

	call

Public Attributes inherited from optas.models.Model
	name
	The name of the model. More...

	dim
	Model dimension. More...

	time_derivs
	Time derivatives required for the model. More...

	symbol
	A short symbol to represent the model. More...

	dlim
	Model limits. More...

	T
	Number of time steps. More...

Detailed Description

A class that defines a robot model.

Many methods here model the robot kinematics.

Constructor & Destructor Documentation

◆ init()

def optas.models.RobotModel.__init__	(		self,
		Union[None, str]	urdf_filename = `None`,
		Union[None, str]	urdf_string = `None`,
		Union[None, str]	xacro_filename = `None`,
		Union[None, str]	name = `None`,
		List[int]	time_derivs = `[0]`,
		Union[None, ArrayType]	qddlim = `None`,
		Union[None, int]	T = `None`,
		List[str]	param_joints = `[]`
	)

Initializer for the robot model class.

           Note, at least one of the parameters urdf_filename, urdf_string, or xacro_filename must be specified.

   @param urdf_filename Filename for a URDF.
   @param urdf_string URDF as a string.
   @param xacro_filename Filename for a xacro file.
   @param name Name of the robot model.
   @param time_derivs Time derivatives required for model, 0 means not time derivative, 1 means first derivative wrt to time is required, etc.
   @param qddlim Optionally specify limits on the joint acceleration.
   @param T Optionally use this to override the number of time-steps given in the OptimizationBuilder constructor.
   @param param_joints A list of joints that are considered parameters.

Member Function Documentation

◆ actuated_joint_names()

List[str] optas.models.RobotModel.actuated_joint_names ( self )

Property that gives the names of the actuated joints.

   @return List of actuated joint names.

◆ add_base_frame()

None optas.models.RobotModel.add_base_frame	(		self,
		str	base_link,
		Union[None, List[float]]	xyz = `None`,
		Union[None, List[float]]	rpy = `None`,
		str	joint_name = `None`
	)

Add new base frame, note this changes the root link.

   @param base_link The name for the new root link.
   @param xyz The position of the new link with respect to the current root link. Defaults to [0.0, 0.0, 0.0].
   @param rpy The orientation as Euler (RPY) angles, defined in radians, with respect to the current root link. Defaults to [0.0, 0.0, 0.0].
   @param joint_name The name for the joint that connects the current root link with the new base frame. Defaults to "{base_link}_and_{current_root_link}_joint".

◆ extract_optimized_dimensions()

ArrayType optas.models.RobotModel.extract_optimized_dimensions	(		self,
		ArrayType	values
	)

Return the elements that correspond to the model optimized dimensions.

   @param values The values to extract elements from.
   @return A sub-array of the given values corresponding to the model optimized dimensions.

◆ extract_parameter_dimensions()

ArrayType optas.models.RobotModel.extract_parameter_dimensions	(		self,
		ArrayType	values
	)

Return the elements that correspond to the model dimensions.

   @param values The values to extract elements from.
   @return A sub-array of the given values corresponding to the model parameterized dimension.

◆ get_actuated_joint_index()

int optas.models.RobotModel.get_actuated_joint_index	(		self,
		str	joint_name
	)

Get the joint index for a given joint name.

   @param The name of the joint.
   @return Index for the joint.

◆ get_global_link_analytical_jacobian()

CasADiArrayType optas.models.RobotModel.get_global_link_analytical_jacobian	(		self,
		str	link,
		ArrayType	q
	)

Compute the analytical Jacobian matrix in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Analytic Jacobian.

◆ get_global_link_analytical_jacobian_function()

cs.Function optas.models.RobotModel.get_global_link_analytical_jacobian_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the analytical jacobian in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the analytic jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_global_link_angular_analytical_jacobian()

CasADiArrayType optas.models.RobotModel.get_global_link_angular_analytical_jacobian	(		self,
		str	link,
		ArrayType	q
	)

Compute the angular part of the analytical Jacobian matrix in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Angular part of the analytical Jacobian.

◆ get_global_link_angular_analytical_jacobian_function()

cs.Function optas.models.RobotModel.get_global_link_angular_analytical_jacobian_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the angular part of the analytical jacobian in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the angular part of the geometric Jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_global_link_angular_geometric_jacobian()

CasADiArrayType optas.models.RobotModel.get_global_link_angular_geometric_jacobian	(		self,
		str	link,
		ArrayType	q
	)

Compute the angular part of the geometric jacobian in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Angular part of the geometric Jacobian.

◆ get_global_link_angular_geometric_jacobian_function()

cs.Function optas.models.RobotModel.get_global_link_angular_geometric_jacobian_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the angular part of the geometric jacobian in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the angular part of the geometric Jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_global_link_axis()

CasADiArrayType optas.models.RobotModel.get_global_link_axis	(		self,
		str	link,
		ArrayType	q,
		Union[str, ArrayType]	axis
	)

Compute the link axis, this is a direction vector defined in the end-effector frame (e.g.

the x/y/z link axis) in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param axis The axis (direction vector) defined in the end-effector frame. If 'x', 'y', 'z' is passed then the corresponding sub-array of the homogenous transform is used.
   @return Axis defined in the end-effector frame as function of the joint angles.

◆ get_global_link_axis_function()

cs.Function optas.models.RobotModel.get_global_link_axis_function	(		self,
		str	link,
		Union[str, ArrayType]	axis,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get function for computing the link axis in the global frame.

   @param link Name of the end-effector link.
   @param axis The axis (direction vector) defined in the end-effector frame. If 'x', 'y', 'z' is passed then the corresponding sub-array of the homogenous transform is used.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the link axis for a given joint state. If n > 1 then an array is computed whose columns correspond to the respective joint state in the input.

◆ get_global_link_geometric_jacobian()

CasADiArrayType optas.models.RobotModel.get_global_link_geometric_jacobian	(		self,
		str	link,
		ArrayType	q
	)

Compute the geometric Jacobian matrix in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Geometric Jacobian.

◆ get_global_link_geometric_jacobian_function()

cs.Function optas.models.RobotModel.get_global_link_geometric_jacobian_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the geometric jacobian in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the geometric jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_global_link_linear_jacobian()

CasADiArrayType optas.models.RobotModel.get_global_link_linear_jacobian	(		self,
		str	link,
		ArrayType	q
	)

Compute the linear part of the geometric jacobian in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Linear part of the Jacobian.

◆ get_global_link_linear_jacobian_function()

cs.Function optas.models.RobotModel.get_global_link_linear_jacobian_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the linear part of the geometric jacobian in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the linear part of the Jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_global_link_position()

CasADiArrayType optas.models.RobotModel.get_global_link_position	(		self,
		str	link,
		ArrayType	q
	)

Get the link position in the global frame for a given joint state q.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Position array.

◆ get_global_link_position_function()

cs.Function optas.models.RobotModel.get_global_link_position_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the global position of a given link.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the position for a given joint state. If n > 1 then an array is computed whose columns each correspond to the respective joint state in the input.

◆ get_global_link_quaternion()

CasADiArrayType optas.models.RobotModel.get_global_link_quaternion	(		self,
		str	link,
		ArrayType	q
	)

Get a quaternion in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Quaternion array.

◆ get_global_link_quaternion_function()

cs.Function optas.models.RobotModel.get_global_link_quaternion_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes a quaternion in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the quaternion for a given joint state. If n > 1 then an array is computed whose columns correspond to the respective joint state in the input.

◆ get_global_link_rotation()

CasADiArrayType optas.models.RobotModel.get_global_link_rotation	(		self,
		str	link,
		ArrayType	q
	)

Get the link rotation in the global frame for a given joint state q.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Rotation array.

◆ get_global_link_rotation_function()

cs.Function optas.models.RobotModel.get_global_link_rotation_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes a rotation matrix in the global link.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the rotation for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_global_link_rpy()

CasADiArrayType optas.models.RobotModel.get_global_link_rpy	(		self,
		str	link,
		ArrayType	q
	)

Get the Roll-Pitch-Yaw angles in the global frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return RPY euler angles in radians.

◆ get_global_link_rpy_function()

def optas.models.RobotModel.get_global_link_rpy_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the Roll-Pitch-Yaw angles in the global frame.

◆ get_global_link_transform()

CasADiArrayType optas.models.RobotModel.get_global_link_transform	(		self,
		str	link,
		ArrayType	q
	)

Get the link transform in the global frame for a given joint state q.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Homogeneous transform array.

◆ get_global_link_transform_function()

cs.Function optas.models.RobotModel.get_global_link_transform_function	(		self,
		str	link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function which computes the link transform in the global frame.

   @param link Name of the end-effector link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the transform for a given joint state. If n > 1 then a list of transform are given for each corresponding joint state.

◆ get_joint_axis()

cs.DM optas.models.RobotModel.get_joint_axis	(		self,
		Joint	joint
	)

Get the axis of a joint.

   @param The joint of interest.
   @return The normalized joint axis.

◆ get_joint_lower_limit()

float optas.models.RobotModel.get_joint_lower_limit	(		self,
		Joint	joint
	)

Return the lower limit for a given joint.

   @param joint The joint instance from the URDF.
   @return The lower limit, when undefined the value -1e9 is returned.

◆ get_joint_origin()

Tuple[cs.DM] optas.models.RobotModel.get_joint_origin	(		self,
		Joint	joint
	)

Get the origin for the joint.

   @param The joint of interest.
   @return The position and orientation of the joint.

◆ get_joint_upper_limit()

float optas.models.RobotModel.get_joint_upper_limit	(		self,
		Joint	joint
	)

Return the upper limit for a given joint.

   @param joint The joint instance from the URDF.
   @return The upper limit, when undefined the value 1e9 is returned.

◆ get_link_analytical_jacobian()

CasADiArrayType optas.models.RobotModel.get_link_analytical_jacobian	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Compute the analytical Jacobian matrix in a given base link.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Analytic Jacobian.

◆ get_link_analytical_jacobian_function()

cs.Function optas.models.RobotModel.get_link_analytical_jacobian_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the analytical jacobian in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the analytic jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_link_angular_analytical_jacobian()

CasADiArrayType optas.models.RobotModel.get_link_angular_analytical_jacobian	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Compute the angular part of the analytical Jacobian matrix in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Angular part of the analytical Jacobian.

◆ get_link_angular_analytical_jacobian_function()

cs.Function optas.models.RobotModel.get_link_angular_analytical_jacobian_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the angular part of the analytical jacobian in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the angular part of the analytical Jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_link_angular_geometric_jacobian()

CasADiArrayType optas.models.RobotModel.get_link_angular_geometric_jacobian	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the angular part of the geometric jacobian in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Angular part of the geometric Jacobian.

◆ get_link_angular_geometric_jacobian_function()

cs.Function optas.models.RobotModel.get_link_angular_geometric_jacobian_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the angular part of the geometric jacobian in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the angular part of the geometric Jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_link_axis()

CasADiArrayType optas.models.RobotModel.get_link_axis	(		self,
		str	link,
		ArrayType	q,
		Union[str, ArrayType]	axis,
		str	base_link
	)

Compute the link axis, this is a direction vector defined in the end-effector frame (e.g.

the x/y/z link axis).

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param axis The axis (direction vector) defined in the end-effector frame. If 'x', 'y', 'z' is passed then the corresponding sub-array of the homogenous transform is used.
   @param base_link Name of the base frame link.
   @return Axis defined in the end-effector frame as function of the joint angles.

◆ get_link_axis_function()

cs.Function optas.models.RobotModel.get_link_axis_function	(		self,
		str	link,
		Union[str, ArrayType]	axis,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get function for computing the link axis.

   @param link Name of the end-effector link.
   @param axis The axis (direction vector) defined in the end-effector frame. If 'x', 'y', 'z' is passed then the corresponding sub-array of the homogenous transform is used.
   @param base_link Name of the base frame link.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the link axis for a given joint state. If n > 1 then an array is computed whose columns correspond to the respective joint state in the input.

◆ get_link_geometric_jacobian()

CasADiArrayType optas.models.RobotModel.get_link_geometric_jacobian	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the geometric jacobian in a given base link.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Geometric Jacobian.

◆ get_link_geometric_jacobian_function()

cs.Function optas.models.RobotModel.get_link_geometric_jacobian_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the geometric jacobian in a given base frame.

@param link Name of the end-effector link.
@param base_link Name of the base frame link.
@param n Number of joint states to expect when the function is called. Default is 1.
@param numpy_output When true, the output will be a NumPy array.
@return A CasADi function that computes the geometric jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_link_linear_jacobian()

CasADiArrayType optas.models.RobotModel.get_link_linear_jacobian	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the linear part of the geometric jacobian in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Linear part of the Jacobian.

◆ get_link_linear_jacobian_function()

cs.Function optas.models.RobotModel.get_link_linear_jacobian_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the linear part of the geometric jacobian in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the linear part of the Jacobian for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_link_position()

CasADiArrayType optas.models.RobotModel.get_link_position	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the link position in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @return Position array.

◆ get_link_position_function()

cs.Function optas.models.RobotModel.get_link_position_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the position of a link in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the position for a given joint state. If n > 1 then an array is computed whose columns each correspond to the respective joint state in the input.

◆ get_link_quaternion()

CasADiArrayType optas.models.RobotModel.get_link_quaternion	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the quaternion defined in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Quaternion array.

◆ get_link_quaternion_function()

cs.Function optas.models.RobotModel.get_link_quaternion_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes a quaternion defined in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the quaternion for a given joint state. If n > 1 then an array is computed whose columns correspond to the respective joint state in the input.

◆ get_link_rotation()

CasADiArrayType optas.models.RobotModel.get_link_rotation	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the rotation matrix for a link in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Rotation array.

◆ get_link_rotation_function()

cs.Function optas.models.RobotModel.get_link_rotation_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the rotation matrix for a link in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the rotation for a given joint state. If n > 1 then a list of arrays are computed whose corresponding to the respective joint state in the input.

◆ get_link_rpy()

CasADiArrayType optas.models.RobotModel.get_link_rpy	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the the Roll-Pitch-Yaw angles defined in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return RPY euler angles in radians.

◆ get_link_rpy_function()

cs.Function optas.models.RobotModel.get_link_rpy_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the Roll-Pitch-Yaw angles defined in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the RPY angles for a given joint state. If n > 1 then an array is computed whose columns correspond to the respective joint state in the input.

◆ get_link_transform()

CasADiArrayType optas.models.RobotModel.get_link_transform	(		self,
		str	link,
		ArrayType	q,
		str	base_link
	)

Get the link transform in a given base frame.

   @param link Name of the end-effector link.
   @param q Joint position array.
   @param base_link Name of the base frame link.
   @return Homogeneous transform array.

◆ get_link_transform_function()

CasADiArrayType optas.models.RobotModel.get_link_transform_function	(		self,
		str	link,
		str	base_link,
		int	n = `1`,
		bool	numpy_output = `False`
	)

Get the function that computes the transform in a given base frame.

   @param link Name of the end-effector link.
   @param base_link Name of the base frame link.
   @param n Number of joint states to expect when the function is called. Default is 1.
   @param numpy_output When true, the output will be a NumPy array.
   @return A CasADi function that computes the transform for a given joint state. If n > 1 then a list of transform are given for each corresponding joint state.

◆ get_link_visual_origin()

Tuple[cs.DM] optas.models.RobotModel.get_link_visual_origin	(		self,
		Link	link
	)

Get the link position and orientation for the link visual.

   @param link The link of interest.
   @return The position and orientation.

◆ get_random_joint_positions()

cs.DM optas.models.RobotModel.get_random_joint_positions	(		self,
		int	n = `1`,
		Union[None, Tuple[ArrayType]]	xlim = `None`,
		Union[None, Tuple[ArrayType]]	ylim = `None`,
		Union[None, Tuple[ArrayType]]	zlim = `None`,
		Union[None, str]	base_link = `None`
	)

Random joint positions within actuator limits and optionally within a box for a given base link.

   @param n Number of joint positions. Default is 1.
   @param xlim Limit the robot link positions in the x axis for the base frame. None means there are no limits.
   @param ylim Limit the robot link positions in the y axis for the base frame. None means there are no limits.
   @param zlim Limit the robot link positions in the z axis for the base frame. None means there are no limits.
   @param base_link The link to define the x, y, z limits. None means the root link is used.
   @return Random joint positions with dimension ndof-by-n.

◆ get_random_pose_in_global_link()

cs.DM optas.models.RobotModel.get_random_pose_in_global_link	(		self,
		str	link_name
	)

Random end-effector pose within robot limits.

@param link_name Name of the end-effector link.
@return Random homogeneous transformation array within robot limits defined in the global link frame.

◆ get_root_link()

str optas.models.RobotModel.get_root_link ( self )

The root link name.

   @return The name of the root link.

◆ get_urdf()

def optas.models.RobotModel.get_urdf ( self )

◆ get_urdf_dirname()

def optas.models.RobotModel.get_urdf_dirname ( self )

◆ get_velocity_joint_limit()

float optas.models.RobotModel.get_velocity_joint_limit	(		self,
		Joint	joint
	)

Return the velocity limit for a given joint.

   @param joint The joint instance from the URDF.
   @return The velocity limit, when undefined the value 1e9 is returned.

◆ joint_names()

List[str] optas.models.RobotModel.joint_names ( self )

Property that gives the list of joint names.

   @return List of joint names.

◆ link_names()

List[str] optas.models.RobotModel.link_names ( self )

Property that gives the list of link names.

   @return List of link names.

◆ lower_actuated_joint_limits()

cs.DM optas.models.RobotModel.lower_actuated_joint_limits ( self )

Property that defines the lower actuated joint limits.

   @return The lower joint position limits.

◆ lower_optimized_joint_limits()

cs.DM optas.models.RobotModel.lower_optimized_joint_limits ( self )

Property that defines the lower optimized joint limits.

   @return The lower joint position limits.

◆ make_function()

def optas.models.RobotModel.make_function	(		self,
		str	label,
		str	link,
		Callable	method,
		int	n = `1`,
		Union[None, str]	base_link = `None`,
		Union[None, cs.DM]	axis = `None`,
			numpy_output = `False`
	)

Automate function generation.

This is an internal function for the RobotModel class and SHOULD NOT be used.

◆ ndof()

int optas.models.RobotModel.ndof ( self )

Number of degrees of freedom.

   @return The number of degrees of freedom for the robot.

◆ num_opt_joints()

int optas.models.RobotModel.num_opt_joints ( self )

Number of optimized joints.

   @return The number of optimized joints.

◆ num_param_joints()

int optas.models.RobotModel.num_param_joints ( self )

Number of parameterized joints.

   @return The number of parameterized joints.

◆ optimized_joint_indexes()

List[int] optas.models.RobotModel.optimized_joint_indexes ( self )

Property that gives the indexes of the optimized joints.

   @return List of the optimized joint indexes.

◆ optimized_joint_names()

List[str] optas.models.RobotModel.optimized_joint_names ( self )

Property that gives the names of the optimized joints names.

   @return List of the optimized joint names.

◆ parameter_joint_indexes()

List[int] optas.models.RobotModel.parameter_joint_indexes ( self )

Property that gives the indexes of the parameterized joints.

   @return List of the parameterized joint indexes.

◆ parameter_joint_names()

List[str] optas.models.RobotModel.parameter_joint_names ( self )

Property that gives the names of the parameterized joints.

   @return List of the parameterized joint names.

◆ rnea()

ArrayType optas.models.RobotModel.rnea	(		self,
		ArrayType	q,
		ArrayType	qd,
		ArrayType	qdd
	)

Compute inverse dynamics with RNEA.

   NOTE, currently this method only supports revolute/continuous joints.
   The first joint should be fixed and there is no fixed joints except the first joint and the last joint.

   @ param  q: Joint position (unit rad).
   @ param  qd: Joint velocity.
   @ param  qdd: Joint accerleration.

◆ upper_actuated_joint_limits()

cs.DM optas.models.RobotModel.upper_actuated_joint_limits ( self )

Property that defines the upper actuated joint limits.

   @return The upper joint position limits.

◆ upper_optimized_joint_limits()

cs.DM optas.models.RobotModel.upper_optimized_joint_limits ( self )

Property that defines the upper optimized joint limits.

   @return The upper joint position limits.

◆ velocity_actuated_joint_limits()

cs.DM optas.models.RobotModel.velocity_actuated_joint_limits ( self )

Property that defines the velocity actuated joint limits.

   @return The velocity joint limits.

◆ velocity_optimized_joint_limits()

cs.DM optas.models.RobotModel.velocity_optimized_joint_limits ( self )

Property that defines the velocity limits for the optimized joints.

   @return The joint velocity limits.

Member Data Documentation

◆ call

optas.models.RobotModel.call

◆ F

optas.models.RobotModel.F

◆ n

optas.models.RobotModel.n

◆ param_joints

optas.models.RobotModel.param_joints

List of parameterized joints.

◆ urdf

optas.models.RobotModel.urdf

URDF instance.

◆ urdf_filename

optas.models.RobotModel.urdf_filename

Filename for URDF file.

◆ urdf_string

optas.models.RobotModel.urdf_string

URDF string.

◆ xacro_filename

optas.models.RobotModel.xacro_filename

Filename for xacro file.

The documentation for this class was generated from the following file:

models.py

Public Member Functions

Public Attributes