skrobot.planner.utils.set_robot_config¶

skrobot.planner.utils.set_robot_config(robot_model, joint_list, av, with_base=False)[source]¶

A utility function for setting robot state

Parameters:

robot_model (skrobot.model.CascadedLink) – robot model
joint_list (list[skrobot.model.Joint]) – joint list to be set
av (numpy.ndarray[float](n_dof,)) – angle vector which has n_dof dims.
with_base (bool) – If with_base=False, n_dof is the number of joints n_joint, but if with_base=True, n_dof = n_joint + 3.