adam.parametric.model ===================== .. py:module:: adam.parametric.model Submodules ---------- .. toctree:: :maxdepth: 1 /autoapi/adam/parametric/model/parametric_factories/index Classes ------- .. autoapisummary:: adam.parametric.model.ParametricJoint adam.parametric.model.ParametricLink adam.parametric.model.URDFParametricModelFactory Package Contents ---------------- .. py:class:: ParametricJoint(joint: urdf_parser_py.urdf.Joint, math: adam.core.spatial_math.SpatialMath, parent_link: adam.parametric.model.parametric_factories.parametric_link.ParametricLink, idx: Union[int, None] = None) Bases: :py:obj:`adam.model.Joint` Parametric Joint class .. py:attribute:: math .. py:attribute:: name .. py:attribute:: parent .. py:attribute:: parent_parametric .. py:attribute:: child .. py:attribute:: type .. py:attribute:: axis :value: None .. py:attribute:: limit .. py:attribute:: idx :value: None Abstract base class for all joints. .. py:attribute:: joint .. py:attribute:: offset .. py:attribute:: origin .. py:method:: _set_axis(axis: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike :param axis: axis :type axis: npt.ArrayLike :returns: set the axis :rtype: npt.ArrayLike .. py:method:: _set_origin(origin: adam.model.Pose) -> adam.model.Pose :param origin: origin :type origin: Pose :returns: set the origin :rtype: Pose .. py:method:: _set_limits(limit: adam.model.Limits) -> adam.model.Limits :param limit: limit :type limit: Limits :returns: set the limits :rtype: Limits .. py:method:: modify(parent_joint_offset: numpy.typing.ArrayLike) :param parent_joint_offset: offset of the parent joint :type parent_joint_offset: npt.ArrayLike :returns: the origin of the joint, parametric with respect to the parent link dimensions :rtype: npt.ArrayLike .. py:method:: homogeneous(q: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike :param q: joint value :type q: npt.ArrayLike :returns: the homogenous transform of a joint, given q :rtype: npt.ArrayLike .. py:method:: spatial_transform(q: numpy.typing.ArrayLike) -> numpy.typing.ArrayLike :param q: joint motion :type q: npt.ArrayLike :returns: spatial transform of the joint given q :rtype: npt.ArrayLike .. py:method:: motion_subspace() -> numpy.typing.ArrayLike :param joint: Joint :type joint: Joint :returns: motion subspace of the joint :rtype: npt.ArrayLike .. py:class:: ParametricLink(link: urdf_parser_py.urdf.Link, math: adam.core.spatial_math.SpatialMath, length_multiplier, densities) Bases: :py:obj:`adam.model.Link` Parametric Link class .. py:attribute:: math .. py:attribute:: name .. py:attribute:: length_multiplier .. py:attribute:: densities .. py:attribute:: original_visual .. py:attribute:: visuals .. py:attribute:: original_density .. py:attribute:: link_offset .. py:attribute:: mass .. py:attribute:: inertial .. py:method:: get_principal_length() Method computing the principal link length, i.e. the dimension in which the kinematic chain grows .. py:method:: get_principal_length_parametric() Method computing the principal link length parametric, i.e. the dimension in which the kinematic chain grows .. py:method:: compute_offset() :returns: link offset :rtype: npt.ArrayLike .. py:method:: compute_joint_offset(joint_i, parent_offset) :returns: the child joint offset :rtype: npt.ArrayLike .. py:method:: get_geometry(visual_obj) :staticmethod: :returns: the geometry of the link and the related urdf object :rtype: (Geometry, urdf geometry) .. py:method:: compute_volume(length_multiplier) :returns: the volume and the dimension parametric :rtype: (npt.ArrayLike, npt.ArrayLike) .. py:method:: compute_mass() Function that computes the mass starting from the densities, and the link volume :returns: the link mass :rtype: (npt.ArrayLike) .. py:method:: modify_origin() :returns: the link origin parametrized :rtype: (npt.ArrayLike) .. py:method:: compute_inertia_parametric() :returns: inertia (ixx, iyy and izz) with the formula that corresponds to the geometry :rtype: Inertia Parametric Formulas retrieved from https://en.wikipedia.org/wiki/List_of_moments_of_inertia .. py:method:: spatial_inertia() -> numpy.typing.ArrayLike :returns: the 6x6 inertia matrix expressed at the origin of the link (with rotation) :rtype: npt.ArrayLike .. py:method:: homogeneous() -> numpy.typing.ArrayLike :returns: the homogeneous transform of the link :rtype: npt.ArrayLike .. py:method:: update_visuals() .. py:class:: URDFParametricModelFactory(path: str, math: adam.core.spatial_math.SpatialMath, links_name_list: list, length_multiplier, densities) Bases: :py:obj:`adam.model.ModelFactory` This factory generates robot elements from urdf_parser_py parametrized w.r.t. link lengths and densities :param ModelFactory: the Model factory .. py:attribute:: math .. py:attribute:: links_name_list .. py:attribute:: urdf_desc .. py:attribute:: name .. py:attribute:: length_multiplier .. py:attribute:: densities .. py:method:: get_joints() -> list[adam.model.Joint] :returns: build the list of the joints :rtype: list[Joint] .. py:method:: get_links() -> list[adam.model.Link] :returns: build the list of the links :rtype: list[Link] .. py:method:: get_frames() -> list[adam.model.StdLink] :returns: build the list of the links :rtype: list[Link] .. py:method:: build_joint(joint: urdf_parser_py.urdf.Joint) -> adam.model.Joint :param joint: the urdf_parser_py joint :type joint: Joint :returns: our joint representation :rtype: StdJoint/ParametricJoint .. py:method:: build_link(link: urdf_parser_py.urdf.Link) -> adam.model.Link :param link: the urdf_parser_py link :type link: Link :returns: our link representation :rtype: StdLink/ParametricLink .. py:method:: get_element_by_name(link_name) :param link_name: the link name :type link_name: Link :returns: the urdf parser link object associated to the link name :rtype: Link