Model conversions

adam.model.conversions.idyntree.to_idyntree_solid_shape(visual: Visual) → SolidShape

Parameters:

visual (urdf_parser_py.urdf.Visual) – the visual to convert

Returns:

the iDynTree solid shape

Return type:

iDynTree.SolidShape

adam.model.conversions.idyntree.to_idyntree_link(link: Link) → tuple[Link, list[SolidShape]]

Parameters:

link (Link) – the link to convert

Returns:

A tuple containing the iDynTree link and the iDynTree solid shapes

adam.model.conversions.idyntree.to_idyntree_joint(joint: Joint, parent_index: int, child_index: int) → IJoint

Parameters:

• joint (Joint) – the joint to convert

• parent_index (int) – the parent link index

• child_index (int) – the child link index

Returns:

the iDynTree joint

Return type:

iDynTree.bindings.IJoint

adam.model.conversions.idyntree.to_idyntree_model(model: Model) → Model

Parameters:

model (Model) – the model to convert

Returns:

the iDynTree model

Return type:

iDynTree.Model