adam.model.conversions.idyntree

adam.model.conversions.idyntree#

Functions#

_to_sequence(→ list[float])

Coerce array-like objects to a plain Python list of floats.

_to_scalar(→ float)

Coerce a scalar-like object to float (supports CasADi and wrappers).

to_idyntree_solid_shape(→ idyntree.bindings.SolidShape)

to_idyntree_link(→ tuple[idyntree.bindings.Link, ...)

to_idyntree_joint(→ idyntree.bindings.IJoint)

to_idyntree_model(→ idyntree.bindings.Model)

Module Contents#

adam.model.conversions.idyntree._to_sequence(x) → list[float][source]#

Coerce array-like objects to a plain Python list of floats.

Supports: - CasADi DM, SX, MX (uses .full() when available) - Objects exposing an array attribute (e.g., CasadiLike wrapper) - numpy arrays, lists, tuples and other iterables - scalars

adam.model.conversions.idyntree._to_scalar(x) → float[source]#

Coerce a scalar-like object to float (supports CasADi and wrappers).

adam.model.conversions.idyntree.to_idyntree_solid_shape(visual: urdf_parser_py.urdf.Visual) → idyntree.bindings.SolidShape[source]#
Parameters:

visual (urdf_parser_py.urdf.Visual) – the visual to convert

Returns:

the iDynTree solid shape

Return type:

iDynTree.SolidShape

Parameters:

link (Link) – the link to convert

Returns:

A tuple containing the iDynTree link and the iDynTree solid shapes

adam.model.conversions.idyntree.to_idyntree_joint(joint: adam.model.abc_factories.Joint, parent_index: int, child_index: int) → idyntree.bindings.IJoint[source]#
Parameters:

  • joint (Joint) – the joint to convert

  • parent_index (int) – the parent link index

  • child_index (int) – the child link index

Returns:

the iDynTree joint

Return type:

iDynTree.bindings.IJoint

adam.model.conversions.idyntree.to_idyntree_model(model: adam.model.model.Model) → idyntree.bindings.Model[source]#
Parameters:

model (Model) – the model to convert

Returns:

the iDynTree model

Return type:

iDynTree.Model

Contents