adam.parametric.model.parametric_factories.parametric_model#

Classes#

URDFParametricModelFactory

This factory generates robot elements from urdf_parser_py parametrized w.r.t. link lengths and densities

Module Contents#

class adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory(path: str, math: adam.core.spatial_math.SpatialMath, links_name_list: List, length_multiplier, densities)[source]#

Bases: adam.model.ModelFactory

This factory generates robot elements from urdf_parser_py parametrized w.r.t. link lengths and densities

Parameters:: ModelFactory – the Model factory

math[source]#

xml_string[source]#

links_name_list[source]#

xml_string_without_sensors_tags[source]#

urdf_desc[source]#

name[source]#

length_multiplier[source]#

densities[source]#

get_joints() → List[adam.model.Joint][source]#

Returns:: build the list of the joints
Return type:: List[Joint]

get_links() → List[adam.model.Link][source]#

Returns:: build the list of the links
Return type:: List[Link]

get_frames() → List[adam.model.StdLink][source]#

Returns:: build the list of the links
Return type:: List[Link]

build_joint(joint: urdf_parser_py.urdf.Joint) → adam.model.Joint[source]#

Parameters:: joint (Joint) – the urdf_parser_py joint
Returns:: our joint representation
Return type:: StdJoint/ParametricJoint

build_link(link: urdf_parser_py.urdf.Link) → adam.model.Link[source]#

Parameters:: link (Link) – the urdf_parser_py link
Returns:: our link representation
Return type:: StdLink/ParametricLink

get_element_by_name(link_name)[source]#

Parameters:: link_name (Link) – the link name
Returns:: the urdf parser link object associated to the link name
Return type:: Link