adam.model.std_factories package#
Submodules#
adam.model.std_factories.std_joint module#
- class adam.model.std_factories.std_joint.StdJoint(joint: Joint, math: SpatialMath, idx: int | None = None)[source]#
Bases:
JointStandard Joint class
- homogeneous(q: Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes]) Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes][source]#
- Parameters:
q (npt.ArrayLike) – joint value
- Returns:
the homogenous transform of a joint, given q
- Return type:
npt.ArrayLike
- spatial_transform(q: Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes]) Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes][source]#
- Parameters:
q (npt.ArrayLike) – joint motion
- Returns:
spatial transform of the joint given q
- Return type:
npt.ArrayLike
- motion_subspace() Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes][source]#
- Parameters:
joint (Joint) – Joint
- Returns:
motion subspace of the joint
- Return type:
npt.ArrayLike
adam.model.std_factories.std_link module#
- class adam.model.std_factories.std_link.StdLink(link: Link, math: SpatialMath)[source]#
Bases:
LinkStandard Link class
- spatial_inertia() Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | bool | int | float | complex | str | bytes | _NestedSequence[bool | int | float | complex | str | bytes][source]#
- Returns:
- the 6x6 inertia matrix expressed at
the origin of the link (with rotation)
- Return type:
npt.ArrayLike
adam.model.std_factories.std_model module#
- class adam.model.std_factories.std_model.URDFModelFactory(path: str, math: SpatialMath)[source]#
Bases:
ModelFactoryThis factory generates robot elements from urdf_parser_py
- Parameters:
ModelFactory – the Model factory
- get_joints() List[StdJoint][source]#
- Returns:
build the list of the joints
- Return type:
List[StdJoint]
- get_links() List[StdLink][source]#
- Returns:
build the list of the links
- Return type:
List[StdLink]
A link is considered a “real” link if - it has an inertial - it has children - if it has no children and no inertial, it is at lest connected to the parent with a non fixed joint
- get_frames() List[StdLink][source]#
- Returns:
build the list of the links
- Return type:
List[StdLink]
A link is considered a “fake” link (frame) if - it has no inertial - it does not have children - it is connected to the parent with a fixed joint