concepts.dm.crowhat.pybullet_interfaces.pybullet_manipulator_interface.PyBulletArmRobotInterface#

class PyBulletArmRobotInterface[source]#

Bases: GeneralArmArmMotionPlanningInterface

Methods

`coriolis`(qpos, qvel)
`differential_ik_qpos_diff`(current_qpos, ...)	Use the differential IK to compute the joint difference for the given pose difference.
`fk`(qpos)
`get_joint_limits`()
`get_nr_joints`()
`ik`(pos[, quat, qpos, max_distance])
`jacobian`(qpos)
`mass`(qpos)

Attributes

`joint_limits`
`nr_joints`

__init__(robot)[source]#

Parameters:: robot (BulletArmRobotBase)

__new__(**kwargs)#

coriolis(qpos, qvel)#

Parameters:

qpos (Tuple[float, ...] | List[float] | ndarray)
qvel (Tuple[float, ...] | List[float] | ndarray)

Return type:

differential_ik_qpos_diff(current_qpos, current_pose, next_pose)#

Use the differential IK to compute the joint difference for the given pose difference.

Parameters:

current_qpos (Tuple[float, ...] | List[float] | ndarray)
current_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray])
next_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray])

Return type:

fk(qpos)#

Parameters:: qpos (Tuple[float, ...] | List[float] | ndarray)
Return type:: Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]

get_joint_limits()[source]#

get_nr_joints()[source]#

Return type:: int

ik(pos, quat=None, qpos=None, max_distance=None)#

Parameters:

pos (Tuple[float, float, float] | List[float] | ndarray | Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray])
quat (Tuple[float, float, float, float] | List[float] | ndarray | None)
qpos (Tuple[float, ...] | List[float] | ndarray | None)
max_distance (float | None)

Return type:

jacobian(qpos)#

Parameters:: qpos (Tuple[float, ...] | List[float] | ndarray)
Return type:: ndarray

mass(qpos)#

Parameters:: qpos (Tuple[float, ...] | List[float] | ndarray)
Return type:: ndarray

property joint_limits: Tuple[ndarray, ndarray]#

property nr_joints: int#