ArticulatedModel

class mplib.pymp.ArticulatedModel

Bases: pybind11_object

Supports initialization from URDF and SRDF files, and provides access to underlying Pinocchio and FCL models.

get_base_pose(self: mplib.pymp.ArticulatedModel) → numpy.ndarray[numpy.float64[7, 1]]

Get the base pose of the robot.

Returns:

base pose of the robot in [x, y, z, qw, qx, qy, qz] format

get_fcl_model(self: mplib.pymp.ArticulatedModel) → mplib.pymp.collision_detection.fcl.FCLModel

Get the underlying FCL model.

Returns:

FCL model used for collision checking

get_move_group_end_effectors(self: mplib.pymp.ArticulatedModel) → list[str]

Get the end effectors of the move group.

Returns:

list of end effectors of the move group

get_move_group_joint_indices(self: mplib.pymp.ArticulatedModel) → list[int]

Get the joint indices of the move group.

Returns:

list of user joint indices of the move group

get_move_group_joint_names(self: mplib.pymp.ArticulatedModel) → list[str]

Get the joint names of the move group.

Returns:

list of joint names of the move group

get_move_group_qpos_dim(self: mplib.pymp.ArticulatedModel) → int

Get the dimension of the move group qpos.

Returns:

dimension of the move group qpos

get_pinocchio_model(self: mplib.pymp.ArticulatedModel) → mplib.pymp.kinematics.pinocchio.PinocchioModel

Get the underlying Pinocchio model.

Returns:

Pinocchio model used for kinematics and dynamics computations

get_qpos(self: mplib.pymp.ArticulatedModel) → numpy.ndarray[numpy.float64[m, 1]]

Get the current joint position of all active joints inside the URDF.

Returns:

current qpos of all active joints

get_user_joint_names(self: mplib.pymp.ArticulatedModel) → list[str]

Get the joint names that the user has provided for planning.

Returns:

list of joint names of the user

get_user_link_names(self: mplib.pymp.ArticulatedModel) → list[str]

Get the link names that the user has provided for planning.

Returns:

list of link names of the user

set_base_pose(self: mplib.pymp.ArticulatedModel, pose: numpy.ndarray[numpy.float64[7, 1]]) → None

Set the base pose of the robot.

Parameters:

pose – base pose of the robot in [x, y, z, qw, qx, qy, qz] format

set_move_group(*args, **kwargs)

Overloaded function.

1. set_move_group(self: mplib.pymp.ArticulatedModel, end_effector: str) -> None

Set the move group, i.e. the chain ending in end effector for which to compute the forward kinematics for all subsequent queries.

Parameters:

chain – list of links extending to the end effector

2. set_move_group(self: mplib.pymp.ArticulatedModel, end_effectors: list[str]) -> None

Set the move group but we have multiple end effectors in a chain. I.e., Base –> EE1 –> EE2 –> … –> EEn

Parameters:

end_effectors – names of the end effector link

set_qpos(self: mplib.pymp.ArticulatedModel, qpos: numpy.ndarray[numpy.float64[m, 1]], full: bool = False) → None

Let the planner know the current joint positions.

Parameters:

• qpos – current qpos of all active joints or just the move group joints

• full – whether to set the full qpos or just the move group qpos. If full is False, we will pad the missing joints with current known qpos. The default is False

update_SRDF(self: mplib.pymp.ArticulatedModel, SRDF: str) → None

Update the SRDF file to disable self-collisions.

Parameters:

srdf – path to SRDF file, can be relative to the current working directory