adam.model.kindyn_mixin
=======================

.. py:module:: adam.model.kindyn_mixin


Classes
-------

.. autoapisummary::

   adam.model.kindyn_mixin.KinDynFactoryMixin


Module Contents
---------------

.. py:class:: KinDynFactoryMixin

   Shared helpers to instantiate KinDyn* classes from different model sources.


   .. py:method:: from_urdf(urdfstring: Any, *args, **kwargs)
      :classmethod:


      Instantiate using a URDF path/string.

      :param urdfstring: path/string of a URDF
      :type urdfstring: str

      :returns: An instance of the class initialized with the provided URDF and arguments.
      :rtype: KinDynFactoryMixin



   .. py:method:: from_mujoco_model(mujoco_model: Any, use_mujoco_actuators: bool = False, *args, **kwargs)
      :classmethod:


      Instantiate using a MuJoCo model.

      :param mujoco_model: MuJoCo model instance
      :type mujoco_model: MjModel
      :param use_mujoco_actuators: If True, use the names of joints under the <actuator> tags in the MuJoCo XML as joint names
      :type use_mujoco_actuators: bool
      :param (i.e.:
      :param set 'joints_name_list' to actuator joint names). This is useful when you want the:
      :param KinDyn* instance to use actuator joint names instead of the default joint names in the xml.:
      :param Default is False.:

      :returns: An instance of the class initialized with the provided MuJoCo model
      :rtype: KinDynFactoryMixin