adam.model.std_factories.std_link

Classes

StdLink

Standard Link class

Module Contents

class adam.model.std_factories.std_link.StdLink(link: urdf_parser_py.urdf.Link, math: adam.core.spatial_math.SpatialMath)

Bases: adam.model.Link

Standard Link class

math

name

visuals

inertial

collisions

_set_inertia(link: urdf_parser_py.urdf.Link) → numpy.typing.ArrayLike

Parameters:

inertia (npt.ArrayLike) – inertia

Returns:

set the inertia

Return type:

npt.ArrayLike

spatial_inertia() → numpy.typing.ArrayLike

Returns:

the 6x6 inertia matrix expressed at

the origin of the link (with rotation)

Return type:

npt.ArrayLike

homogeneous() → numpy.typing.ArrayLike

Returns:

the homogeneous transform of the link

Return type:

npt.ArrayLike