adam.model.std_factories.std_link

Contents

adam.model.std_factories.std_link#

Classes#

Standard Link class

Module Contents#

class adam.model.std_factories.std_link.StdLink(link: urdf_parser_py.urdf.Link, math: adam.core.spatial_math.SpatialMath)[source]#

Bases: adam.model.Link

Standard Link class

math[source]#

name[source]#

visuals[source]#

inertial[source]#

collisions[source]#

spatial_inertia() → numpy.typing.ArrayLike[source]#

Returns:

the 6x6 inertia matrix expressed at: the origin of the link (with rotation)

Return type:

npt.ArrayLike

homogeneous() → numpy.typing.ArrayLike[source]#

Returns:: the homogeneous transform of the link
Return type:: npt.ArrayLike