Model Class Reference

Upkie 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...
List[Joint]	joints (self)
set	joint_names (self)

Public Attributes
	urdf_path
	Path to the robot description.
	kinematic_tree
	Tiny kinematic tree with all links, joints, and frame transforms.
	left_wheeled
	True if the robot is left-wheeled, that is, a positive turn of the left wheel results in forward motion. More...
	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_base
	Distance between left and right wheel contact points, in meters.
	wheel_joints
	Wheel joints.
	wheel_radius
	Wheel radius in meters, parsed from the URDF collision geometry of the "left_wheel_tire" link.

Detailed Description

Upkie 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