reachy_sdk.arm
¶
Reachy Arm module.
Handles all specific method to an Arm (left and/or right) especially: - the forward kinematics - the inverse kinematics
- class reachy_sdk.arm.Arm(joints, grpc_channel)¶
Arm abstract class used for both left/right arms.
It exposes the kinematics of the arm: - you can access the joints actually used in the kinematic chain, - you can compute the forward and inverse kinematics
- forward_kinematics(joints_position=None)¶
Compute the forward kinematics of the arm.
It will return the pose 4x4 matrix (as a numpy array) expressed in Reachy coordinate systems. You can either specify a given joints position, otherwise it will use the current robot position.
- inverse_kinematics(target, q0=None)¶
Compute the inverse kinematics of the arm.
Given a pose 4x4 target matrix (as a numpy array) expressed in Reachy coordinate systems, it will try to compute a joint solution to reach this target (or get close).
It will raise a ValueError if no solution is found.
You can also specify a basic joint configuration as a prior for the solution.
- class reachy_sdk.arm.LeftArm(joints, grpc_channel)¶
LeftArm class, all the work is actually done by the ABC Arm class.
It exposes the kinematics of the arm: - you can access the joints actually used in the kinematic chain, - you can compute the forward and inverse kinematics
- forward_kinematics(joints_position=None)¶
Compute the forward kinematics of the arm.
It will return the pose 4x4 matrix (as a numpy array) expressed in Reachy coordinate systems. You can either specify a given joints position, otherwise it will use the current robot position.
- inverse_kinematics(target, q0=None)¶
Compute the inverse kinematics of the arm.
Given a pose 4x4 target matrix (as a numpy array) expressed in Reachy coordinate systems, it will try to compute a joint solution to reach this target (or get close).
It will raise a ValueError if no solution is found.
You can also specify a basic joint configuration as a prior for the solution.
- class reachy_sdk.arm.RightArm(joints, grpc_channel)¶
RightArm class, all the work is actually done by the ABC Arm class.
It exposes the kinematics of the arm: - you can access the joints actually used in the kinematic chain, - you can compute the forward and inverse kinematics
- forward_kinematics(joints_position=None)¶
Compute the forward kinematics of the arm.
It will return the pose 4x4 matrix (as a numpy array) expressed in Reachy coordinate systems. You can either specify a given joints position, otherwise it will use the current robot position.
- inverse_kinematics(target, q0=None)¶
Compute the inverse kinematics of the arm.
Given a pose 4x4 target matrix (as a numpy array) expressed in Reachy coordinate systems, it will try to compute a joint solution to reach this target (or get close).
It will raise a ValueError if no solution is found.
You can also specify a basic joint configuration as a prior for the solution.