adam.model.std_factories.std_model
==================================

.. py:module:: adam.model.std_factories.std_model


Classes
-------

.. autoapisummary::

   adam.model.std_factories.std_model.URDFModelFactory


Functions
---------

.. autoapisummary::

   adam.model.std_factories.std_model.urdf_remove_sensors_tags
   adam.model.std_factories.std_model.get_xml_string


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

.. py:function:: urdf_remove_sensors_tags(xml_string)

.. py:function:: get_xml_string(path: str | pathlib.Path)

.. py:class:: URDFModelFactory(path: str, math: adam.core.spatial_math.SpatialMath)

   Bases: :py:obj:`adam.model.abc_factories.ModelFactory`


   This factory generates robot elements from urdf_parser_py

   :param ModelFactory: the Model factory


   .. py:attribute:: math


   .. py:attribute:: urdf_desc


   .. py:attribute:: name


   .. py:method:: get_joints() -> list[adam.model.std_factories.std_joint.StdJoint]

      :returns: build the list of the joints
      :rtype: list[StdJoint]



   .. py:method:: get_links() -> list[adam.model.std_factories.std_link.StdLink]

      :returns: build the list of the links
      :rtype: 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



   .. py:method:: get_frames() -> list[adam.model.std_factories.std_link.StdLink]

      :returns: build the list of the links
      :rtype: 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



   .. py:method:: build_joint(joint: urdf_parser_py.urdf.Joint) -> adam.model.std_factories.std_joint.StdJoint

      :param joint: the urdf_parser_py joint
      :type joint: Joint

      :returns: our joint representation
      :rtype: StdJoint



   .. py:method:: build_link(link: urdf_parser_py.urdf.Link) -> adam.model.std_factories.std_link.StdLink

      :param link: the urdf_parser_py link
      :type link: Link

      :returns: our link representation
      :rtype: StdLink