pyroboplan.models package

Contains example robot models.

Submodules

pyroboplan.models.marble module

Utilities to load a 2d spherical body resembling a marble labyrinth.

pyroboplan.models.marble.add_object_collisions(model, collision_model, visual_model)
pyroboplan.models.marble.load_models()

Gets the example 2-DOF models.

Returns:

A 3-tuple containing the model, collision geometry model, and visual geometry model.

Return type:

tuple[pinocchio.Model]

pyroboplan.models.panda module

Utilities to load example Franka Emika Panda model.

pyroboplan.models.panda.add_object_collisions(model, collision_model, visual_model, inflation_radius=0.0)

Adds obstacles and collisions to the Panda collision model.

Parameters:

  • model (pinocchio.Model) – The Panda model.

  • collision_model (pinocchio.Model) – The Panda collision geometry model.

  • visual_model (pinocchio.Model) – The Panda visual geometry model.

  • inflation_radius (float, optional) – An inflation radius, in meters, around the objects.

pyroboplan.models.panda.add_octree_collisions(model, collision_model, visual_model, octree)

Adds an octree as a collision/visual object to the robot model and enables collisions between the octree and specified robot links.

Parameters:

  • model (pinocchio.Model) – The Panda model.

  • collision_model (pinocchio.Model) – The Panda collision geometry model.

  • visual_model (pinocchio.Model) – The Panda visual geometry model.

  • octree (coal.Octree) – Octree data structure representing the environment/obstacles.

pyroboplan.models.panda.add_self_collisions(model, collision_model, srdf_filename=None)

Adds link self-collisions to the Panda collision model.

This uses an SRDF file to remove any excluded collision pairs.

Parameters:

  • model (pinocchio.Model) – The Panda model.

  • collision_model (pinocchio.Model) – The Panda collision geometry model.

  • srdf_filename (str, optional) – Path to the SRDF file describing the excluded collision pairs. If not specified, uses a default file included with the Panda model.

pyroboplan.models.panda.load_models(use_sphere_collisions=False)

Gets the example Panda models.

Returns:

A 3-tuple containing the model, collision geometry model, and visual geometry model.

Return type:

tuple[pinocchio.Model]

pyroboplan.models.panda.load_point_cloud(pointcloud_path=None, voxel_resolution=0.04)

Loads a point cloud from a PLY file and converts it into an octree structure.

Returns:

octree – An octree data structure representing the hierarchical spatial partitioning of the point cloud. The voxel resolution default value is set to 0.04 units.

Return type:

coal.Octree

pyroboplan.models.two_dof module

Utilities to load example 2-DOF manipulator.

pyroboplan.models.two_dof.add_object_collisions(model, collision_model, visual_model)

Adds obstacles and collisions to the 2-DOF manipulator collision model.

Parameters:

  • model (pinocchio.Model) – The robot model.

  • collision_model (pinocchio.Model) – The collision geometry model.

  • visual_model (pinocchio.Model) – The visual geometry model.

pyroboplan.models.two_dof.load_models()

Gets the example 2-DOF models.

Returns:

A 3-tuple containing the model, collision geometry model, and visual geometry model.

Return type:

tuple[pinocchio.Model]

pyroboplan.models.ur10 module

Utilities to load example Universal Robots UR10 robot models.

pyroboplan.models.ur10.add_ur10_on_base_self_collisions(model, collision_model, srdf_filename=None)

Adds link self-collisions to the UR10 collision model.

This uses an SRDF file to remove any excluded collision pairs.

Parameters:

  • model (pinocchio.Model) – The UR10 model.

  • collision_model (pinocchio.Model) – The UR10 collision geometry model.

  • srdf_filename (str, optional) – Path to the SRDF file describing the excluded collision pairs. If not specified, uses a default file included with the UR10 model.

pyroboplan.models.ur10.load_ur10_on_base_models()

Gets the example UR10 on base models.

Returns:

A 3-tuple containing the model, collision geometry model, and visual geometry model.

Return type:

tuple[pinocchio.Model]

pyroboplan.models.ur5 module

Utilities to load example Universal Robots UR5 robot models.

pyroboplan.models.ur5.add_ur5_on_base_self_collisions(model, collision_model, srdf_filename=None)

Adds link self-collisions to the UR5 collision model.

This uses an SRDF file to remove any excluded collision pairs.

Parameters:

  • model (pinocchio.Model) – The UR5 model.

  • collision_model (pinocchio.Model) – The UR5 collision geometry model.

  • srdf_filename (str, optional) – Path to the SRDF file describing the excluded collision pairs. If not specified, uses a default file included with the UR5 model.

pyroboplan.models.ur5.load_ur5_on_base_models()

Gets the example UR5 on base models.

Returns:

A 3-tuple containing the model, collision geometry model, and visual geometry model.

Return type:

tuple[pinocchio.Model]

pyroboplan.models.utils module

Utilities for model loading.

pyroboplan.models.utils.get_example_models_folder()

Returns the full path the example models folder.

Returns:

The path to the pyroboplan example models folder.

Return type:

str