{"id":26060480,"url":"https://github.com/adnksharp/rotools","last_synced_at":"2026-05-15T01:04:36.157Z","repository":{"id":278080087,"uuid":"933525418","full_name":"adnksharp/rotools","owner":"adnksharp","description":"Librería para simplificar el uso de 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RoTools\n\nLibrería para simplificar el uso de [roboticstoolbox-python](https://pypi.org/project/roboticstoolbox-python/)\n\n## Librerías necesarias\n\n- roboticstoolbox-python\n- numpy==1.26.4\n- tabulate\n\n```bash\npip install .\n```\n\n\u003e [!WARNING]\n\u003e para versiones de Python **3.8** es necesario modificar el archivo de ansitable (`~/.local/lib/python3.8/site-packages/ansitable/table.py`) con [table.py](https://gist.github.com/adnksharp/c1f4dcfcec0f9f83c44d5c07d6d22f93)\n\n## Funciones\n* `getA`: Genera la matriz de rotación A.\n* `getlinks`: Genera los links del [robot](https://petercorke.github.io/robotics-toolbox-python/arm_superclass.html#robot).\n* `info`:Imprime lo que se ve en consola usando tabulate.\n\n## Ejemplos\n\n### Robot de planar con 2 articulaciones\n\n![](https://i.imgur.com/0q2IaBw.png)\n\n```shell\npython3 example2D.py\n```\n\n\u003cdetails\u003e\n\u003csummary\u003e\n\n[example2D.py](example2D.py)\n\n\u003c/summary\u003e\n\n```shell\nERobot: robot 2DOF, 2 joints (RR)\n┌──────┬────────┬───────┬────────┬─────────────────────┐\n│ link │  link  │ joint │ parent │ ETS: parent to link │\n├──────┼────────┼───────┼────────┼─────────────────────┤\n│    0 │ link0  │     0 │ BASE   │ Rz(q0)              │\n│    1 │ link1  │     1 │ link0  │ tx(1) ⊕ Rz(q1)      │\n│    2 │ @link2 │       │ link1  │ tx(1)               │\n└──────┴────────┴───────┴────────┴─────────────────────┘\n\n{}^{0}A_{f}:\n  -0.1045   -0.9945    0         0.3955    \n   0.9945   -0.1045    0         1.861     \n   0         0         1         0         \n   0         0         0         1         \n\nÁngulos de Euler\n┌─────┬─────┬─────────┐\n│   φ │   θ │       ψ │\n├─────┼─────┼─────────┤\n│   0 │   0 │ 1.67552 │\n└─────┴─────┴─────────┘\n\nCuaternión:\n[ 0.6691 \u003c\u003c  0.0000,  0.0000,  0.7431 \u003e\u003e ]\n\nq:\n┌─────────┬──────────┐\n│ 1.04716 │ 0.628392 │\n└─────────┴──────────┘\n``` \n\n\u003c/details\u003e\n\n### Robot de 3 articulaciones\n\n![](https://i.imgur.com/s4byc90.png)\n\n```shell\npython3 example3D.py\n```\n\n\u003cdetails\u003e\n\u003csummary\u003e\n\n[example3D.py](example3D.py)\n\n\u003c/summary\u003e\n\n```shell\nERobot: robot 3DOF, 3 joints (RRR)\n┌──────┬────────┬───────┬────────┬──────────────────────────┐\n│ link │  link  │ joint │ parent │   ETS: parent to link    │\n├──────┼────────┼───────┼────────┼──────────────────────────┤\n│    0 │ link0  │     0 │ BASE   │ tz(1) ⊕ Rz(q0)           │\n│    1 │ link1  │     1 │ link0  │ tx(1) ⊕ Rx(90°) ⊕ Rz(q1) │\n│    2 │ link2  │     2 │ link1  │ tx(1) ⊕ Rz(q2)           │\n│    3 │ @link3 │       │ link2  │ tx(1) ⊕ Rx(-90°)         │\n└──────┴────────┴───────┴────────┴──────────────────────────┘\n\n{}^{0}A_{f}:\n   0.2369   -0.866    -0.4403    1.141     \n   0.4104    0.5      -0.7626    1.977     \n   0.8806    0         0.4739    2.468     \n   0         0         0         1         \n\nÁngulos de Euler\n┌─────────┬─────────┬──────────┐\n│       φ │       θ │        ψ │\n├─────────┼─────────┼──────────┤\n│ -2.0944 │ 1.07712 │ -3.14159 │\n└─────────┴─────────┴──────────┘\n\nCuaternión:\n[ 0.7434 \u003c\u003c  0.2564, -0.4442,  0.4292 \u003e\u003e ]\n\nq:\n┌────────┬──────────┬──────────┐\n│ 1.0472 │ 0.627495 │ 0.450159 │\n└────────┴──────────┴──────────┘\n``` \n\n\u003c/details\u003e\n\n## En proceso\n\u003e [!NOTE]\n\u003e Usar dos vectores `D` y `d` para separar transformaciones de eslabones, de juntas prismáticas..\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadnksharp%2Frotools","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fadnksharp%2Frotools","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fadnksharp%2Frotools/lists"}