pyrobopath.collision_detection.fcl_collision_models.FCLRobotBBCollisionModel

class pyrobopath.collision_detection.fcl_collision_models.FCLRobotBBCollisionModel(dims: List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], dtype[floating]], anchor: List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], dtype[floating]] = array([0., 0., 0.]), offset: List[float] | Tuple[float, float, float] | ndarray[Tuple[Literal[3]], dtype[floating]] = array([0., 0., 0.]))

Bases: FCLBoxCollisionModel

An FCL collision model for a robot’s bounding box with rotation about a planar anchor point and customizable center offset.

This model approximates a robot using a box aligned along the XY plane that rotates around a vertical axis passing through anchor. The box is positioned relative to an end-effector translation, and offset by a specified vector to better fit the robot’s actual bounding shape.

See the pyrobopath documentation for further details.

Parameters:

• dims (ArrayLike3) – The dimensions of the box [length (X), width (Y), height (Z)].

• anchor (ArrayLike3) – The 3D anchor point about which the box rotates. Typically the robot base in world coordinates.

• offset (ArrayLike3) – An offset from the end-effector (tip) position to the center of the box in the robot’s frame. Allows fine-tuning of the bounding volume shape.

Methods

in_collision

Attributes

anchor
offset
rotation
transform
translation