adam.model.kindyn_mixin

adam.model.kindyn_mixin#

Classes#

KinDynFactoryMixin

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

Module Contents#

class adam.model.kindyn_mixin.KinDynFactoryMixin[source]#

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

classmethod from_urdf(urdfstring: Any, *args, **kwargs)[source]#

Instantiate using a URDF path/string.

Parameters:

urdfstring (str) – path/string of a URDF

Returns:

An instance of the class initialized with the provided URDF and arguments.

Return type:

KinDynFactoryMixin

classmethod from_mujoco_model(mujoco_model: Any, use_mujoco_actuators: bool = False, *args, **kwargs)[source]#

Instantiate using a MuJoCo model.

Parameters:

  • mujoco_model (MjModel) – MuJoCo model instance

  • use_mujoco_actuators (bool) – If True, use the names of joints under the <actuator> tags in the MuJoCo XML as joint names

  • (i.e.

  • the (set 'joints_name_list' to actuator joint names). This is useful when you want)

  • xml. (KinDyn* instance to use actuator joint names instead of the default joint names in the)

  • False. (Default is)

Returns:

An instance of the class initialized with the provided MuJoCo model

Return type:

KinDynFactoryMixin

Contents