Source code for pykin.models.robot_model

from collections import OrderedDict

[docs]class RobotModel: """ Base class of robot model from urdf file When initialized, loads links and joints of robot. """ def __init__(self): self._links = OrderedDict() self._joints = OrderedDict()
[docs] def find_frame(self): """ Find robot's frame """ raise NotImplementedError
[docs] def find_joint(self): """ Find robot's joint """ raise NotImplementedError
@property def links(self): """ Returns: OrderedDict: all links """ return self._links @property def joints(self): """ Returns: OrderedDict: all joints """ return self._joints @property def dof(self): """ Robot's dof """ raise NotImplementedError @property def num_links(self): """ Number of links """ raise NotImplementedError @property def num_joints(self): """ Number of joints """ raise NotImplementedError @property def num_fixed_joints(self): """ Number of fixed joints """ raise NotImplementedError @property def num_actuated_joints(self): """ Number of actuated(revolute or prismatic) joints """ raise NotImplementedError