curobo.cuda_robot_model.kinematics_parser module

class curobo.cuda_robot_model.kinematics_parser.LinkParams(link_name: str, joint_name: str, joint_type: curobo.cuda_robot_model.types.JointType, fixed_transform: numpy.ndarray, parent_link_name: Optional[str] = None, joint_limits: Optional[List[float]] = None, joint_axis: Optional[numpy.ndarray] = None, joint_id: Optional[int] = None, joint_velocity_limits: List[float] = <factory>)

Bases: object

Parameters:
  • link_name (str) –

  • joint_name (str) –

  • joint_type (JointType) –

  • fixed_transform (ndarray) –

  • parent_link_name (str | None) –

  • joint_limits (List[float] | None) –

  • joint_axis (ndarray | None) –

  • joint_id (int | None) –

  • joint_velocity_limits (List[float]) –

joint_name: str
joint_type: JointType
fixed_transform: ndarray
joint_limits: List[float] | None = None
joint_axis: ndarray | None = None
joint_id: int | None = None
joint_velocity_limits: List[float]
static from_dict(dict_data)
class curobo.cuda_robot_model.kinematics_parser.KinematicsParser(extra_links=None)

Bases: object

Parameters:

extra_links (Dict[str, LinkParams] | None) –

Build a map of parent links to each link in the kinematic tree.

NOTE: Use this function to fill self._parent_map.

get_chain(base_link, ee_link)

Get list of links attaching ee_link to base_link.

Parameters:
  • base_link (str) – Name of base link.

  • ee_link (str) – Name of end-effector link.

Returns:

List of link names starting from base_link to ee_link.

Return type:

List[str]

Parameters:

link_name (str) –

Return type:

LinkParams

Parameters:
  • link_name (str) –

  • base (bool) –

Return type:

LinkParams

Parameters:

mesh_dir (str) –

Parameters:

link_name (str) –

Return type:

Mesh