kinematics

Forward and inverse kinematics and motion planning (the robot’s planner).

• Layer: base
• Needs: –
• Requires: –
• Conflicts with: –
• Never dropped: yes
• Mixin: skills.kinematics:Kinematics
• Manifest: skills/kinematics/skill.toml

Functions

fk

def fk(joints=None)

Link6 poses of both arms, {“left_arm”: pose, “right_arm”: pose}, for 14 joint values (the robot’s current joints when None).

ik

def ik(arm, pose)

6 joints placing link6 at pose, the solution nearest the current joints (the solver starts from them), or None. A solution a full turn away on some joint is turned back; a branch flip (a large joint swing for a small change of pose) is no solution.

plan_path

def plan_path(arm, pose=None, joints=None)

A path for arm from its current joints to a link6 pose or to 6 joints (exactly one): 6-joint waypoints at the control rate, or None when planning fails. The planner avoids self collision and the table only, not objects or the other arm.

What the model reads

From the RoboDojo prompt pack (prompts/robodojo/), with every skill and feature on:

  fk(joints14=None) -> {"left_arm": pose, "right_arm": pose}
  ik(arm, pose) -> 6 joints or None   the solution nearest the current joints; a branch
      flip (a joint swinging over 2 rad for a target within 5 cm of link6) counts as None
  plan_path(arm, pose=None, joints=None) -> list of 6-joint waypoints (25 Hz) or None
      The planner avoids self collision and the table only, not objects or the other arm.