robot_models

Robot models.

robotblockset.robot_models.invkin_model_panda_valid(self, x: ndarray, q7: float, q_initial: ndarray, tcp: ndarray, closest: bool = True) → Tuple[ndarray, ...][source]

Check if the inverse kinematics solution is valid for the given end-effector pose and joint angle q7.

if the joint angle q7 is within the valid range, it computes the inverse kinematics solution, otherwise it finds the closest valid joint configuration.

Parameters:

x (np.ndarray) – The end-effector pose as a 4x4 transformation matrix.
q7 (float) – The joint angle for the 7th joint (end-effector rotation around the z-axis).
q0 (np.ndarray) – The initial joint positions.
tcp (TCPType) – The tool_center_point transformation matrix.
closest (bool, optional) – If True, find the closest valid joint configuration. Default is True.

Returns:

A tuple containing the valid joint configurations for the given end-effector pose and joint angle q7.

Return type:

Tuple[np.ndarray, …]

robotblockset.robot_models.invkin_model_panda(self, x: ndarray, q7: float, q_initial: ndarray, tcp: ndarray, closest: bool = True) → Tuple[ndarray, ...][source]

Calculate the inverse kinematics solution the given end-effector pose and joint angle q7.

Parameters:

x (np.ndarray) – The end-effector pose as a 4x4 transformation matrix.
q7 (float) – The joint angle for the 7th joint (end-effector rotation around the z-axis).
q0 (np.ndarray) – The initial joint positions.
tcp (TCPType) – The tool_center_point transformation matrix.
closest (bool, optional) – If True, find the closest valid joint configuration. Default is True.

Returns:

A tuple containing the valid joint configurations for the given end-effector pose and joint angle q7.

Return type:

Tuple[np.ndarray, …]

robotblockset.robot_models.kinmodel_panda_reduced_pos(q: ndarray, out: str = 'x') → Tuple[ndarray, ndarray] | Tuple[ndarray, ndarray, ndarray][source]

Abstract method to compute the forward kinematics of the robot.

This function implements a reduced 5-DoF kinematic model of the Franka Emika Panda manipulator, where only the translational motion of the Tool Center Point (TCP) is considered. The TCP is treated as a point (pointer), and the end-effector orientation is not used for control purposes. The model is intended for applications where the mobile base or higher-level controller depends solely on the TCP position, such as local vector-field-based base–manipulator control.

Parameters:

q (np.ndarray) – Joint angles of the first five Panda joints, used as input to the reduced kinematic model.
out (str, optional) – Output format selector. Depending on the value, the function returns the TCP position or a homogeneous transformation with translation only. By default “x”.

Returns:

The computed reduced kinematic output. This is typically the Cartesian position of the TCP (pointer) and, if requested, the associated geometric Jacobian with respect to the first five joints.

Return type:

tuple

robotblockset.robot_models.kinmodel_panda(q: ndarray, tcp: ndarray | None = None, out: str = 'x') → list[source]