motion_stack.core.rtb_fix package

Submodules

motion_stack.core.rtb_fix.fixed_urdf module

Fixes the URDF object of rtb: https://github.com/petercorke/robotics-toolbox-python/pull/441

Example

Overwrite the library using:

import roboticstoolbox.tools.urdf.urdf as bad

import easy_robot_control.my_rtb_fix.fixed_urdf as fix

bad.URDF.__init__ = fix.URDF.__init__
bad.URDF._recursive_axis_definition = fix.URDF._recursive_axis_definition
bad.URDF.finalize_linking = fix.URDF.finalize_linking

Note

easy_robot_control/__init__.py overwrites it, so importing easy_robot_control will change your rtb

@author (Original) Matthew Matl, Github: mmatl @author (Adapted by) Jesse Haviland @author (Fixed by) Elian Neppel

motion_stack.core.rtb_fix.fixed_urdf.rotation_fromVec_toVec(from_this_vector, to_this_vector)[source]

Computes the rotation matrix from the first to the second vector.

motion_stack.core.rtb_fix.fixed_urdf.from_this_vector
Type:

ArrayLike3

motion_stack.core.rtb_fix.fixed_urdf.to_this_vector
Type:

ArrayLike3

Returns:

rotation_from_to: SO3

Rotation matrix

Parameters:

  • from_this_vector (List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], ~numpy.dtype[~numpy.floating]])

  • to_this_vector (List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], ~numpy.dtype[~numpy.floating]])

Return type:

SO3

Notes

Vector length is irrelevant.

Return type:

SO3

Parameters:

  • from_this_vector (List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], ~numpy.dtype[~numpy.floating]])

  • to_this_vector (List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], ~numpy.dtype[~numpy.floating]])

class motion_stack.core.rtb_fix.fixed_urdf.URDF(name, links, joints=None, transmissions=None, materials=None, other_xml=None)[source]

Bases: URDFType

finalize_linking(childlink, joint)[source]

Finalize the linking process after the link ets is set.

This directly changes childlink in place. The ets of childlink must be defined prior to this.

Parameters:

  • childlink (rtb.Link)

  • joint (Joint)

Link to finalize the definition of.

Type:

rtb.Link

joint

Joint used to define the link.

Type:

Joint