Manipulator models

Listing available models

roboticstoolbox.models.catalog.catalog(keywords=None, dof=None, mtype=None, sorton=None, border='thin')[source]

Display all robot models in summary form

Parameters:

  • keywords (tuple of str, optional) – keywords to filter on, defaults to None

  • dof (int, optional) – number of DoF to filter on, defaults to None

  • mtype (str, optional) – filter on model type: “DH”, “ETS”, “URDF”, defaults to all types

  • sorton (str, optional) – column to sort rows on: “name”, “manufacturer” or “dof”, case insensitive, defaults to None (construction order)

  • catalog() displays a list of all models provided by the Toolbox. It lists the name, manufacturer, model type, number of DoF, and keywords. It also lists models available from robot_descriptions but not otherwise wrapped by the Toolbox: “robot_descriptions name” is the string robot_descriptions itself calls the name (its own python -m robot_descriptions pull NAME CLI) – pass it to URDFRobot to load that model, e.g. URDFRobot("ur5").

  • catalog(mtype=MT) as above, but only displays Toolbox models of type MT where MT is one of “DH”, “ETS” or “URDF”. The robot_descriptions listing (all URDF) is shown for MT="URDF" or unfiltered, and omitted for MT="DH"/MT="ETS".

  • catalog(keywords=KW) as above, but only displays models that have a keyword in the tuple KW.

  • catalog(dof=N) as above, but only display models that have N degrees of freedom.

  • catalog(sorton=S) as above, but rows are sorted by column S. name sorts by the robot’s name, manufacturer sorts by the robot’s manufacturer, and dof sorts by the robot’s number of degrees of freedom. Sorting is case insensitive. Applies to both tables when both are shown. Rows with no DoF value (common in the robot_descriptions table) sort first.

The filters can be combined

  • catalog(keywords=KW, dof=N) are those models that have a keyword in KW and have N degrees of freedom.

roboticstoolbox.models.catalog.list(keywords=None, dof=None, mtype=None, sorton=None, border='thin')[source]

Display all robot models in summary form (deprecated)

Deprecated:

1.4.0 list shadows the builtin and will be removed in a future release. Use catalog() instead.