upkie.model.model.Model Class Reference

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

Public Member Functions
def	__init__ (self, str urdf_path)
	Constructor for the robot model wrapper. More...

Public Attributes
	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.

Constructor & Destructor Documentation

__init__()

def upkie.model.model.Model.__init__	(		self,
		str	urdf_path
	)

Constructor for the robot model wrapper.

Parameters

[in]

urdf_path

Path to the robot description.

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

• upkie/model/model.py