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gym_gz.rbd.idyntree

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gym_gz.rbd.idyntree#

gym_gz.rbd.idyntree.helpers#

class gym_gz.rbd.idyntree.helpers.FrameVelocityRepresentation(value)#

Bases: Enum

An enumeration.

BODY_FIXED_REPRESENTATION = 2#
INERTIAL_FIXED_REPRESENTATION = 3#
MIXED_REPRESENTATION = 1#
to_idyntree()#
class gym_gz.rbd.idyntree.helpers.iDynTreeHelpers#

Bases: ABC

static get_kindyncomputations(model_file, considered_joints=None, velocity_representation=FrameVelocityRepresentation.MIXED_REPRESENTATION)#
static get_model_loader(model_file, considered_joints=None)#

gym_gz.rbd.idyntree.inverse_kinematics_nlp#

class gym_gz.rbd.idyntree.inverse_kinematics_nlp.IKSolution(joint_configuration, base_position=array([0., 0., 0.]), base_quaternion=array([1., 0., 0., 0.]))#

Bases: object

base_position: = array([0., 0., 0.])#
base_quaternion: = array([1., 0., 0., 0.])#
joint_configuration: #
class gym_gz.rbd.idyntree.inverse_kinematics_nlp.InverseKinematicsNLP(urdf_filename, considered_joints=None, joint_serialization=None)#

Bases: object

add_com_target(weight=1.0, as_constraint=False, constraint_tolerance=1e-08)#
Return type:

add_frame_position_constraint(frame_name, position)#
Return type:

add_frame_rotation_constraint(frame_name, quaternion)#
Return type:

add_frame_transform_constraint(frame_name, position, quaternion)#
Return type:

add_target(frame_name, target_type, weight=None, as_constraint=False)#
Return type:

deactivate_com_target()#
Return type:

deactivate_frame_constraint(frame_name)#
Return type:

get_active_target_names(target_type=None)#
Return type:

get_available_target_names()#
Return type:

get_base_frame()#
Return type:

get_full_solution()#
Return type:

get_reduced_solution()#
Return type:

get_target_data(target_name)#
Return type:

initialize(rotation_parametrization=RotationParametrization.ROLL_PITCH_YAW, target_mode=TargetResolutionMode.TARGET_AS_CONSTRAINT_NONE, cost_tolerance=1e-08, constraints_tolerance=0.0001, max_iterations=1000, base_frame=None, floating_base=False, verbosity=1)#
Return type:

set_current_joint_configuration(joint_name, configuration)#
Return type:

set_current_robot_configuration(base_position, base_quaternion, joint_configuration)#
Return type:

solve()#
Return type:

update_com_target(position)#
Return type:

update_frame_transform_constraint(frame_name, position, quaternion)#
Return type:

update_position_target(target_name, position)#
Return type:

update_rotation_target(target_name, quaternion)#
Return type:

update_transform_target(target_name, position, quaternion)#
Return type:

warm_start_from(full_solution=None, reduced_solution=None)#
Return type:

class gym_gz.rbd.idyntree.inverse_kinematics_nlp.RotationParametrization(value)#

Bases: Enum

An enumeration.

QUATERNION = 1#
ROLL_PITCH_YAW = 2#
to_idyntree()#
class gym_gz.rbd.idyntree.inverse_kinematics_nlp.TargetData(type, weight, data)#

Bases: object

data: #
type: #
weight: #
class gym_gz.rbd.idyntree.inverse_kinematics_nlp.TargetResolutionMode(value)#

Bases: Enum

An enumeration.

TARGET_AS_CONSTRAINT_FULL = 1#
TARGET_AS_CONSTRAINT_NONE = 2#
TARGET_AS_CONSTRAINT_POSITION = 3#
TARGET_AS_CONSTRAINT_ROTATION = 4#
to_idyntree()#
class gym_gz.rbd.idyntree.inverse_kinematics_nlp.TargetType(value)#

Bases: Enum

An enumeration.

POSE = 3#
POSITION = 1#
ROTATION = 2#
class gym_gz.rbd.idyntree.inverse_kinematics_nlp.TransformTargetData(position, quaternion)#

Bases: object

position: #
quaternion: #

gym_gz.rbd.idyntree.kindyncomputations#

class gym_gz.rbd.idyntree.kindyncomputations.KinDynComputations(model_file, considered_joints=None, world_gravity=array([0., 0., -9.806]), velocity_representation=FrameVelocityRepresentation.MIXED_REPRESENTATION)#

Bases: object

get_average_velocity()#
Return type:

get_average_velocity_jacobian()#
Return type:

get_bias_forces()#
Return type:

get_centroidal_average_velocity()#
Return type:

get_centroidal_average_velocity_jacobian()#
Return type:

get_centroidal_momentum()#
Return type:

get_centroidal_total_momentum_jacobian()#
Return type:

get_com_bias_acc()#
Return type:

get_com_position()#
Return type:

get_com_velocity()#
Return type:

get_floating_base()#
Return type:

get_frame_bias_acc(frame_name)#
Return type:

get_frame_jacobian(frame_name)#
Return type:

get_generalized_gravity_forces()#
Return type:

get_joint_positions()#
Return type:

get_joint_velocities()#
Return type:

get_linear_angular_momentum_jacobian()#
Return type:

get_mass_matrix()#
Return type:

get_model_position()#
Return type:

get_model_velocity()#
Return type:

get_momentum()#
Return type:

get_relative_adjoint_wrench_transform_explicit(ref_frame_origin, ref_frame_orientation, frame_origin, frame_orientation)#
Return type:

get_relative_transform(ref_frame_name, frame_name)#
Return type:

get_relative_transform_explicit(ref_frame_origin, ref_frame_orientation, frame_origin, frame_orientation)#
Return type:

get_world_base_transform()#
Return type:

get_world_transform(frame_name)#
Return type:

joint_serialization()#
Return type:

set_robot_state(s, ds, world_H_base=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), base_velocity=array([0., 0., 0., 0., 0., 0.]), world_gravity=None)#
Return type:

set_robot_state_from_model(model, world_gravity=None)#
Return type:

gym_gz.rbd.idyntree.numpy#

class gym_gz.rbd.idyntree.numpy.FromNumPy#

Bases: ABC

static to_idyntree_dyn_vector(array)#
Return type:

static to_idyntree_fixed_vector(array)#
static to_idyntree_position(position)#
Return type:

static to_idyntree_rotation(quaternion)#
Return type:

static to_idyntree_transform(position, quaternion=None, rotation=None)#
Return type:

static to_idyntree_twist(linear_velocity, angular_velocity)#
Return type:

class gym_gz.rbd.idyntree.numpy.ToNumPy#

Bases: ABC

static from_idyntree_transform(transform, split=False)#
Return type:

static from_idyntree_vector(vector)#
Return type:

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