klampt.model.subrobot module

Defines the SubRobotModel class, which is RobotModel-like but only modifies selected degrees of freedom of the robot (e.g., an arm, a leg).

Many, but not all, klampt module functions accept SubRobotModel in the place of RobotModel.

class klampt.model.subrobot.SubRobotModel(robot, links)

A helper that lets you conveniently set/get quantities for a subset of moving links on a RobotModel. This class has the same API as RobotModel, but everything is re-indexed so that configurations and link indices only modify the given subset of links. As a reult, most methods applicable to a RobotModel can also be applied to a SubRobotModel.

You provide the list of moving link indices or names in the constructor.

The methods tofull and fromfull convert objects to and from the full robot.

Parameters:

• robot (RobotModel or SubRobotModel) – the robot to base this on.
• links (list of ints or strs) – the links to use in this sub-robot.

accelFromTorques(t)

distance(a, b)

drawGL(keepAppearance=True)

driver(index)

enableSelfCollision(link1, link2, value=True)

fromfull(object)

Converts the given index, configuration, velocity, or trajectory of a full robot to the corresponding object of the sub-robot. Returns the object for the sub-robot.

Parameters:object – an integer index, configuration, velocity, matrix, list of configurations, or Trajectory.

Note

For indices, this is an O(n) operation where n is the size of the sub-robot. If the index doesn’t belong to the sub-robot then None is returned.

getAccelerationLimits()

getCom()

getComJacobian()

getConfig()

getCoriolisForceMatrix()

getCoriolisForces()

getDOFPosition(index)

getGravityForces(g)

getJointLimits()

getMassMatrix()

getMassMatrixInv()

getTorqueLimits()

getVelocity()

getVelocityLimits()

interpolate(a, b, u)

interpolate_deriv(a, b)

link(index)

numDrivers()

numLinks()

randomizeConfig(unboundedScale=1.0)

selfCollides()

selfCollisionEnabled(link1, link2)

setAccelerationLimits(amax)

setConfig(q)

setDOFPosition(index, qi)

setJointLimits(qmin, qmax)

setTorqueLimits(tmax)

setVelocity(q)

setVelocityLimits(vmax)

tofull(object, type=None)

Converts the given index, link, configuration, velocity, or trajectory of a sub robot to the corresponding object of the full robot. Returns the object for the full robot.

Parameters:

• object – an integer index, configuration, velocity, matrix, list of configurations, or Trajectory.
• type (str, optional) –

  describes how to interpret object:

  • ’vector’ or ‘Velocity’: object is treated like a velocity.
  • ’jacobian’: object is treated like a jacobian matrix.
  • anything else: object is treated as a list of configurations.

torquesFromAccel(ddq)

class klampt.model.subrobot.SubRobotModelLink(link, robot)

A helper that lets you treat links of a subrobot just like a normal RobotModelLink. Correctly implements jacobians and indices with respect to the sub-robot.

getIndex()

getJacobian(p)

getOrientationJacobian()

getParent()

getPositionJacobian(p)

parent()

robot()

setParent(p)