curobo.cuda_robot_model.kinematics_parser module

class 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>, joint_offset: List[float] = <factory>, mimic_joint_name: Optional[str] = None, )

Bases: object

link_name: str

joint_name: str

joint_type: JointType

fixed_transform: ndarray

parent_link_name: str | None = None

joint_limits: List[float] | None = None

joint_axis: ndarray | None = None

joint_id: int | None = None

joint_velocity_limits: List[float]

joint_offset: List[float]

mimic_joint_name: str | None = None

static from_dict(dict_data)

class KinematicsParser( extra_links: Dict[str, LinkParams] | None = None, )

Bases: object

build_link_parent()

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: str, ee_link: str, ) → List[str]

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]

_get_from_extra_links( link_name: str, ) → LinkParams

get_link_parameters( link_name: str, base: bool = False, ) → LinkParams

add_absolute_path_to_link_meshes( mesh_dir: str = '', )

get_link_mesh( link_name: str, ) → Mesh