adam.model.std_factories.std_joint

adam.model.std_factories.std_joint#

Classes#

StdJoint

Standard Joint class

Module Contents#

class adam.model.std_factories.std_joint.StdJoint(joint: urdf_parser_py.urdf.Joint, math: adam.core.spatial_math.SpatialMath, idx: int | None = None)[source]#

Bases: adam.model.Joint

Standard Joint class

math[source]#
name[source]#
parent[source]#
child[source]#
type[source]#
axis = None[source]#
origin[source]#
limit[source]#
idx = None[source]#

Abstract base class for all joints.

_set_axis(axis: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#
Parameters:

axis (npt.ArrayLike) – axis

Returns:

set the axis

Return type:

npt.ArrayLike

_set_origin(origin: adam.model.Pose) → adam.model.Pose[source]#
Parameters:

origin (Pose) – origin

Returns:

set the origin

Return type:

Pose

_set_limits(limit: adam.model.Limits) → adam.model.Limits[source]#
Parameters:

limit (Limits) – limit

Returns:

set the limits

Return type:

Limits

homogeneous(q: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#
Parameters:

q (npt.ArrayLike) – joint value

Returns:

the homogenous transform of a joint, given q

Return type:

npt.ArrayLike

spatial_transform(q: numpy.typing.ArrayLike) → numpy.typing.ArrayLike[source]#
Parameters:

q (npt.ArrayLike) – joint motion

Returns:

spatial transform of the joint given q

Return type:

npt.ArrayLike

motion_subspace() → numpy.typing.ArrayLike[source]#
Parameters:

joint (Joint) – Joint

Returns:

motion subspace of the joint

Return type:

npt.ArrayLike

Contents