robotics_toolbox.robots.spatial_manipulator.SpatialManipulator

class robotics_toolbox.robots.spatial_manipulator.SpatialManipulator(robot_name=None, urdf_path=None, mesh_folder_path=None, srdf_path=None, base_pose=None, **kwargs)

Bases: RobotBase

Parameters:

  • robot_name (str | None)

  • urdf_path (str | Path | None)

  • mesh_folder_path (Path | str | list[Path] | list[str] | None)

  • srdf_path (Path | str | None)

  • base_pose (SE3 | None)

__init__(robot_name=None, urdf_path=None, mesh_folder_path=None, srdf_path=None, base_pose=None, **kwargs)

base_pose: where is the robot base placed robot_name: needs to be from the list: None, Panda, Talos, Tiago urdf_path and mesh_folder_path needs to be specified in robot_name is None srdf_path: path to srdf that disable collisions

Parameters:

  • robot_name (str | None)

  • urdf_path (str | Path | None)

  • mesh_folder_path (Path | str | list[Path] | list[str] | None)

  • srdf_path (str | Path | None)

  • base_pose (SE3 | None)

Return type:

None

Methods

__init__([robot_name, urdf_path, ...])

base_pose: where is the robot base placed robot_name: needs to be from the list: None, Panda, Talos, Tiago urdf_path and mesh_folder_path needs to be specified in robot_name is None srdf_path: path to srdf that disable collisions

configuration()

Get the configuration of the robot, can be array, SE2, or SE3.

flange_pose([flange_link_name])

Return a flange pose defined by the link name.

in_collision()

Check if robot is in collision.

jacobian([flange_link_name])

Computes jacobian of the manipulator for the given structure and configuration.

sample_configuration()

Sample robot configuration inside the configuration space.

set_configuration(configuration)

Set internal configuration to @param configuration.

Attributes

dof

Return number of degrees of freedom for the robot.
configuration()

Get the configuration of the robot, can be array, SE2, or SE3.

Return type:

ndarray | SE2 | SE3

property dof: int

Return number of degrees of freedom for the robot.

flange_pose(flange_link_name=None)

Return a flange pose defined by the link name. Flange link name can be empty for Panda robot.

Parameters:

flange_link_name (str | None)

Return type:

SE3

in_collision()

Check if robot is in collision.

Return type:

bool

jacobian(flange_link_name=None)

Computes jacobian of the manipulator for the given structure and configuration.

Parameters:

flange_link_name (str | None)

Return type:

ndarray

sample_configuration()

Sample robot configuration inside the configuration space.

Return type:

ndarray | SE2 | SE3

set_configuration(configuration)

Set internal configuration to @param configuration. Returns self.

Parameters:

configuration (ndarray | SE2 | SE3)