Model Class Reference

Robot model parsed from its URDF description. More...

Public Member Functions
def	__init__ (self, Optional[str] urdf_path=None)
	Constructor for the robot model wrapper. More...

Public Attributes
	JOINT_NAMES
	List of joint names.
	UPPER_LEG_JOINT_NAMES
	Upper-leg (hip and knee) joint names.
	WHEEL_JOINT_NAMES
	Wheel joint names.
	joints
	Joints of the robot model.
	rotation_ars_to_world
	Rotation matrix from the ARS frame to the world frame.
	rotation_base_to_imu
	Rotation matrix from the base frame to the IMU frame.
	upper_leg_joints
	Upper-leg (hip and knee) joints.
	wheel_joints
	Wheel joints.

Detailed Description

Robot model parsed from its URDF description.

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The documentation for this class was generated from the following file:

• upkie/model/model.py