adam.model.model

adam.model.model#

Classes#

Model

Model class. It describes the robot using links and frames and their connectivity

Module Contents#

class adam.model.model.Model[source]#

Model class. It describes the robot using links and frames and their connectivity

name: str[source]#
frames: dict[str, adam.model.abc_factories.Link][source]#
joints: dict[str, adam.model.abc_factories.Joint][source]#
tree: adam.model.tree.Tree[source]#
NDoF: int[source]#
actuated_joints: list[str][source]#
property N: int[source]#

Returns: int: the number of links in the model

static build(factory: adam.model.abc_factories.ModelFactory, joints_name_list: list[str] = None) → Model[source]#

generates the model starting from the list of joints and the links-joints factory

Parameters:

  • factory (ModelFactory) – the factory that generates the links and the joints, starting from a description (eg. urdf)

  • joints_name_list (list[str]) – the list of the actuated joints

Returns:

the model describing the robot

Return type:

Model

get_joints_chain(root: str, target: str) → list[adam.model.abc_factories.Joint][source]#

generate the joints chains from a link to a link

Parameters:

  • root (str) – the starting link

  • target (str) – the target link

Returns:

the list of the joints

Return type:

list[Joint]

get_total_mass() → float[source]#

total mass of the robot

Returns:

the total mass of the robot

Return type:

float

print_table()[source]#

print the table that describes the connectivity between the elements. You need rich to use it

Contents