adam.model.std_factories package

adam.model.std_factories package#

Submodules#

adam.model.std_factories.std_joint module#

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

Bases: Joint

Standard Joint class

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

q (npt.ArrayLike) – joint value

Returns:

the homogenous transform of a joint, given q

Return type:

npt.ArrayLike

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

q (npt.ArrayLike) – joint motion

Returns:

spatial transform of the joint given q

Return type:

npt.ArrayLike

motion_subspace() → ArrayLike[source]#
Parameters:

joint (Joint) – Joint

Returns:

motion subspace of the joint

Return type:

npt.ArrayLike

adam.model.std_factories.std_model module#

adam.model.std_factories.std_model.urdf_remove_sensors_tags(xml_string)[source]#
adam.model.std_factories.std_model.get_xml_string(path: str | Path)[source]#
class adam.model.std_factories.std_model.URDFModelFactory(path: str, math: SpatialMath)[source]#

Bases: ModelFactory

This factory generates robot elements from urdf_parser_py

Parameters:

ModelFactory – the Model factory

get_joints() → list[StdJoint][source]#
Returns:

build the list of the joints

Return type:

list[StdJoint]

Returns:

build the list of the links

Return type:

list[StdLink]

A link is considered a “real” link if - it has an inertial - it has children - if it has no children and no inertial, it is at lest connected to the parent with a non fixed joint

get_frames() → list[StdLink][source]#
Returns:

build the list of the links

Return type:

list[StdLink]

A link is considered a “fake” link (frame) if - it has no inertial - it does not have children - it is connected to the parent with a fixed joint

build_joint(joint: Joint) → StdJoint[source]#
Parameters:

joint (Joint) – the urdf_parser_py joint

Returns:

our joint representation

Return type:

StdJoint

Parameters:

link (Link) – the urdf_parser_py link

Returns:

our link representation

Return type:

StdLink

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