adam.parametric.model

adam.parametric.model#

Submodules#

adam.parametric.model.parametric_factories

Classes#

`ParametricJoint`	Parametric Joint class
`ParametricLink`	Parametric Link class
`URDFParametricModelFactory`	This factory generates robot elements from urdf_parser_py parametrized w.r.t. link lengths and densities

Package Contents#

class adam.parametric.model.ParametricJoint(joint: urdf_parser_py.urdf.Joint, math: adam.core.spatial_math.SpatialMath, parent_link: adam.parametric.model.parametric_factories.parametric_link.ParametricLink, idx: int | None = None)[source]#

Bases: adam.model.Joint

Parametric Joint class

math#

name#

parent#

parent_parametric#

child#

type#

axis#

limit#

idx = None#: Abstract base class for all joints.

joint#

offset#

origin#

modify(parent_joint_offset: numpy.typing.ArrayLike)[source]#

Parameters:: parent_joint_offset (npt.ArrayLike) – offset of the parent joint
Returns:: the origin of the joint, parametric with respect to the parent link dimensions
Return type:: npt.ArrayLike

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

class adam.parametric.model.ParametricLink(link: urdf_parser_py.urdf.Link, math: adam.core.spatial_math.SpatialMath, length_multiplier, densities)[source]#

Bases: adam.model.Link

Parametric Link class

math#

name#

length_multiplier#

densities#

original_visual#

visuals#

original_density#

link_offset#

mass#

inertial#

get_principal_length()[source]#: Method computing the principal link length, i.e. the dimension in which the kinematic chain grows

get_principal_length_parametric()[source]#: Method computing the principal link length parametric, i.e. the dimension in which the kinematic chain grows

compute_offset()[source]#

Returns:: link offset
Return type:: npt.ArrayLike

compute_joint_offset(joint_i, parent_offset)[source]#

Returns:: the child joint offset
Return type:: npt.ArrayLike

static get_geometry(visual_obj)[source]#

Returns:: the geometry of the link and the related urdf object
Return type:: (Geometry, urdf geometry)

compute_volume(length_multiplier)[source]#

Returns:: the volume and the dimension parametric
Return type:: (npt.ArrayLike, npt.ArrayLike)

compute_mass()[source]#: Function that computes the mass starting from the densities, and the link volume :returns: the link mass :rtype: (npt.ArrayLike)

modify_origin()[source]#

Returns:: the link origin parametrized
Return type:: (npt.ArrayLike)

compute_inertia_parametric()[source]#

Returns:: inertia (ixx, iyy and izz) with the formula that corresponds to the geometry
Return type:: Inertia Parametric

Formulas retrieved from https://en.wikipedia.org/wiki/List_of_moments_of_inertia

spatial_inertia() → numpy.typing.ArrayLike[source]#

Returns:

the 6x6 inertia matrix expressed at the: origin of the link (with rotation)

Return type:

npt.ArrayLike

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

Returns:: the homogeneous transform of the link
Return type:: npt.ArrayLike

update_visuals()[source]#

class adam.parametric.model.URDFParametricModelFactory(path: str, math: adam.core.spatial_math.SpatialMath, links_name_list: list, length_multiplier, densities)[source]#