adam.parametric.model.parametric_factories package

Submodules

adam.parametric.model.parametric_factories.parametric_joint module

class adam.parametric.model.parametric_factories.parametric_joint.ParametricJoint(joint: Joint, math: SpatialMath, parent_link: ParametricLink, idx: int | None = None)

Bases: Joint

Parametric Joint class

modify(parent_joint_offset: Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str])

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: Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]) → Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]

Parameters:

q (npt.ArrayLike) – joint value

Returns:

the homogenous transform of a joint, given q

Return type:

npt.ArrayLike

spatial_transform(q: Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]) → Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]

Parameters:

q (npt.ArrayLike) – joint motion

Returns:

spatial transform of the joint given q

Return type:

npt.ArrayLike

motion_subspace() → Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]

Parameters:

joint (Joint) – Joint

Returns:

motion subspace of the joint

Return type:

npt.ArrayLike

adam.parametric.model.parametric_factories.parametric_link module

class adam.parametric.model.parametric_factories.parametric_link.Geometry(*values)

Bases: Enum

The different types of geometries that constitute the URDF

BOX = 1

CYLINDER = 2

SPHERE = 3

class adam.parametric.model.parametric_factories.parametric_link.Side(*values)

Bases: Enum

The possible sides of a box geometry

WIDTH = 1

HEIGHT = 2

DEPTH = 3

class adam.parametric.model.parametric_factories.parametric_link.ParametricLink(link: Link, math: SpatialMath, length_multiplier, densities)

Bases: Link

Parametric Link class

get_principal_length()

Method computing the principal link length, i.e. the dimension in which the kinematic chain grows

get_principal_length_parametric()

Method computing the principal link length parametric, i.e. the dimension in which the kinematic chain grows

compute_offset()

Returns:

link offset

Return type:

npt.ArrayLike

compute_joint_offset(joint_i, parent_offset)

Returns:

the child joint offset

Return type:

npt.ArrayLike

static get_geometry(visual_obj)

Returns:

the geometry of the link and the related urdf object

Return type:

(Geometry, urdf geometry)

compute_volume(length_multiplier)

Returns:

the volume and the dimension parametric

Return type:

(npt.ArrayLike, npt.ArrayLike)

compute_mass()

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

modify_origin()

Returns:

the link origin parametrized

Return type:

(npt.ArrayLike)

compute_inertia_parametric()

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() → Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]

Returns:

the 6x6 inertia matrix expressed at the

origin of the link (with rotation)

Return type:

npt.ArrayLike

homogeneous() → Buffer | _SupportsArray[dtype[Any]] | _NestedSequence[_SupportsArray[dtype[Any]]] | complex | bytes | str | _NestedSequence[complex | bytes | str]

Returns:

the homogeneous transform of the link

Return type:

npt.ArrayLike

update_visuals()

adam.parametric.model.parametric_factories.parametric_model module

class adam.parametric.model.parametric_factories.parametric_model.URDFParametricModelFactory(path: str, math: SpatialMath, links_name_list: list, length_multiplier, densities)

Bases: ModelFactory

This factory generates robot elements from urdf_parser_py parametrized w.r.t. link lengths and densities

Parameters:

ModelFactory – the Model factory

get_joints() → list[Joint]

Returns:

build the list of the joints

Return type:

list[Joint]

get_links() → list[Link]

Returns:

build the list of the links

Return type:

list[Link]

get_frames() → list[StdLink]

Returns:

build the list of the links

Return type:

list[Link]

build_joint(joint: Joint) → Joint

Parameters:

joint (Joint) – the urdf_parser_py joint

Returns:

our joint representation

Return type:

StdJoint/ParametricJoint

build_link(link: Link) → Link

Parameters:

link (Link) – the urdf_parser_py link

Returns:

our link representation

Return type:

StdLink/ParametricLink

get_element_by_name(link_name)

Parameters:

link_name (Link) – the link name

Returns:

the urdf parser link object associated to the link name

Return type:

Link