adam.model.std_factories.std_model#

Classes#

URDFModelFactory

This factory generates robot elements from urdf_parser_py

Functions#

`urdf_remove_sensors_tags`(xml_string)
`get_xml_string`(path)

Module Contents#

adam.model.std_factories.std_model.urdf_remove_sensors_tags(xml_string)[source]#

adam.model.std_factories.std_model.get_xml_string(path: str | pathlib.Path)[source]#

class adam.model.std_factories.std_model.URDFModelFactory(path: str, math: adam.core.spatial_math.SpatialMath)[source]#

Bases: adam.model.ModelFactory

This factory generates robot elements from urdf_parser_py

Parameters:: ModelFactory – the Model factory

math[source]#

urdf_desc[source]#

name[source]#

get_joints() → list[adam.model.StdJoint][source]#

Returns:: build the list of the joints
Return type:: list[StdJoint]

get_links() → list[adam.model.StdLink][source]#

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[adam.model.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: urdf_parser_py.urdf.Joint) → adam.model.StdJoint[source]#

Parameters:: joint (Joint) – the urdf_parser_py joint
Returns:: our joint representation
Return type:: StdJoint

build_link(link: urdf_parser_py.urdf.Link) → adam.model.StdLink[source]#

Parameters:: link (Link) – the urdf_parser_py link
Returns:: our link representation
Return type:: StdLink