fastdev.robo.articulation_spec
==============================

.. py:module:: fastdev.robo.articulation_spec






Module Contents
---------------

.. py:data:: logger

.. py:data:: ROOT_JOINT_NAME
   :type:  str
   :value: '__root__'


.. py:class:: Geometry

   Bases: :py:obj:`abc.ABC`


   Helper class that provides a standard way to create an ABC using
   inheritance.


   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh
      :abstractmethod:



.. py:class:: Box

   Bases: :py:obj:`Geometry`


   Helper class that provides a standard way to create an ABC using
   inheritance.


   .. py:attribute:: size
      :type:  List[float]


   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: Cylinder

   Bases: :py:obj:`Geometry`


   Helper class that provides a standard way to create an ABC using
   inheritance.


   .. py:attribute:: radius
      :type:  float


   .. py:attribute:: length
      :type:  float


   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: Capsule

   Bases: :py:obj:`Geometry`


   Helper class that provides a standard way to create an ABC using
   inheritance.


   .. py:attribute:: radius
      :type:  float


   .. py:attribute:: length
      :type:  float


   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: Sphere

   Bases: :py:obj:`Geometry`


   Helper class that provides a standard way to create an ABC using
   inheritance.


   .. py:attribute:: radius
      :type:  float


   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: Mesh

   Bases: :py:obj:`Geometry`


   Helper class that provides a standard way to create an ABC using
   inheritance.


   .. py:attribute:: scale
      :type:  List[float]


   .. py:attribute:: filename
      :type:  Optional[str]
      :value: None



   .. py:attribute:: mesh_dir
      :type:  Optional[str]
      :value: None



   .. py:attribute:: is_collision_geometry
      :type:  bool
      :value: False



   .. py:attribute:: vertices
      :type:  Optional[numpy.ndarray]
      :value: None



   .. py:attribute:: faces
      :type:  Optional[numpy.ndarray]
      :value: None



   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: Material

   .. py:attribute:: name
      :type:  Optional[str]
      :value: None



   .. py:attribute:: color
      :type:  Optional[numpy.ndarray]
      :value: None



   .. py:attribute:: texture
      :type:  Optional[str]
      :value: None



.. py:class:: Visual

   .. py:attribute:: origin
      :type:  numpy.ndarray


   .. py:attribute:: geometry
      :type:  Geometry


   .. py:attribute:: name
      :type:  Optional[str]
      :value: None



   .. py:attribute:: material
      :type:  Optional[Material]
      :value: None



   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: Collision

   .. py:attribute:: origin
      :type:  numpy.ndarray


   .. py:attribute:: geometry
      :type:  Geometry


   .. py:attribute:: name
      :type:  Optional[str]
      :value: None



   .. py:method:: get_trimesh_mesh() -> trimesh.Trimesh


.. py:class:: JointType(*args, **kwds)

   Bases: :py:obj:`enum.Enum`


   Create a collection of name/value pairs.

   Example enumeration:

   >>> class Color(Enum):
   ...     RED = 1
   ...     BLUE = 2
   ...     GREEN = 3

   Access them by:

   - attribute access:

     >>> Color.RED
     <Color.RED: 1>

   - value lookup:

     >>> Color(1)
     <Color.RED: 1>

   - name lookup:

     >>> Color['RED']
     <Color.RED: 1>

   Enumerations can be iterated over, and know how many members they have:

   >>> len(Color)
   3

   >>> list(Color)
   [<Color.RED: 1>, <Color.BLUE: 2>, <Color.GREEN: 3>]

   Methods can be added to enumerations, and members can have their own
   attributes -- see the documentation for details.


   .. py:attribute:: ROOT
      :value: -1



   .. py:attribute:: FIXED
      :value: 0



   .. py:attribute:: PRISMATIC
      :value: 1



   .. py:attribute:: REVOLUTE
      :value: 2



.. py:class:: Joint

   .. py:attribute:: name
      :type:  str


   .. py:attribute:: type
      :type:  JointType


   .. py:attribute:: origin
      :type:  jaxtyping.Float[numpy.ndarray, 4 4]


   .. py:attribute:: axis
      :type:  jaxtyping.Float[numpy.ndarray, 3]


   .. py:attribute:: limit
      :type:  Optional[jaxtyping.Float[numpy.ndarray, 2]]


   .. py:attribute:: parent_link_name
      :type:  str


   .. py:attribute:: child_link_name
      :type:  str


   .. py:attribute:: mimic_joint
      :type:  Optional[str]
      :value: None



   .. py:attribute:: mimic_multiplier
      :type:  Optional[float]
      :value: None



   .. py:attribute:: mimic_offset
      :type:  Optional[float]
      :value: None



   .. py:method:: set_child_link_name(child_link_name: str)


   .. py:method:: __post_init__()


.. py:class:: Link

   .. py:attribute:: name
      :type:  str


   .. py:attribute:: visuals
      :type:  List[Visual]
      :value: []



   .. py:attribute:: collisions
      :type:  List[Collision]
      :value: []



   .. py:attribute:: joint_name
      :type:  str


   .. py:method:: set_joint_name(joint_name: str)


   .. py:method:: get_trimesh_mesh(mode: Literal['visual', 'collision'] = 'collision') -> trimesh.Trimesh


.. py:class:: ArticulationSpec(urdf_or_mjcf_path: Union[str, pathlib.Path], mesh_dir: Optional[Union[str, pathlib.Path]] = None, format: Optional[Literal['urdf', 'mjcf']] = None, base_link_name: Optional[str] = None, ee_link_names: Optional[Union[str, List[str]]] = None, mjcf_assets: Optional[Dict[str, Any]] = None, enable_mimic_joints: bool = True)

   Specification for a single articulation.

   :param urdf_or_mjcf_path: Path to the URDF or MJCF file.
   :type urdf_or_mjcf_path: str
   :param mesh_dir: Directory to store mesh files. Defaults to None.
   :type mesh_dir: str, optional
   :param format: Format of the file, either "urdf" or "mjcf". Defaults to None.
   :type format: str, optional
   :param mjcf_assets: Assets for MJCF files. Defaults to None.
   :type mjcf_assets: Dict[str, Any], optional
   :param enable_mimic_joints: Whether to enable mimic joints. Defaults to True.
   :type enable_mimic_joints: bool, optional

   .. rubric:: Examples

   >>> arti_spec = ArticulationSpec(urdf_or_mjcf_path="assets/robot_description/panda.urdf")
   >>> arti_spec.num_dofs
   8


   .. py:attribute:: base_link_name
      :type:  str


   .. py:attribute:: ee_link_names
      :type:  List[str]


   .. py:attribute:: link_names
      :type:  List[str]


   .. py:attribute:: num_links
      :type:  int


   .. py:attribute:: num_dofs
      :type:  int


   .. py:attribute:: active_joint_names
      :type:  List[str]


   .. py:attribute:: has_mimic_joints
      :type:  bool


   .. py:attribute:: mimic_joint_names
      :type:  List[str]


   .. py:attribute:: full_joint_names
      :type:  List[str]


   .. py:attribute:: num_full_joints
      :type:  int


   .. py:attribute:: urdf_or_mjcf_path
      :value: ''



   .. py:attribute:: mesh_dir
      :value: ''



   .. py:attribute:: format
      :value: None



   .. py:attribute:: mjcf_assets
      :value: None



   .. py:attribute:: enable_mimic_joints
      :value: True



   .. py:attribute:: num_mimic_joints


   .. py:method:: parse_urdf() -> Tuple[Dict[str, Joint], Dict[str, Link]]


   .. py:method:: parse_mjcf() -> Tuple[Dict[str, Joint], Dict[str, Link]]


   .. py:method:: __repr__() -> str


   .. py:method:: __str__() -> str


   .. py:property:: joint_limits
      :type: Optional[jaxtyping.Float[numpy.ndarray, num_dofs 2]]



   .. py:property:: mimic_joint_limits
      :type: Optional[jaxtyping.Float[numpy.ndarray, num_mimic_joints 2]]



   .. py:property:: mimic_joint_indices
      :type: jaxtyping.Int[numpy.ndarray, num_mimic_joints]



   .. py:property:: mimic_multipliers
      :type: jaxtyping.Float[numpy.ndarray, num_mimic_joints]



   .. py:property:: mimic_offsets
      :type: jaxtyping.Float[numpy.ndarray, num_mimic_joints]



   .. py:property:: link_joint_indices
      :type: jaxtyping.Int[numpy.ndarray, num_links]



   .. py:property:: link_indices_topological_order
      :type: jaxtyping.Int[numpy.ndarray, num_links]



   .. py:property:: parent_link_indices
      :type: jaxtyping.Int[numpy.ndarray, num_links]



   .. py:property:: link_joint_axes
      :type: Optional[jaxtyping.Float[numpy.ndarray, num_links 3]]



   .. py:property:: full_joint_axes
      :type: jaxtyping.Float[numpy.ndarray, num_full_joints 3]



   .. py:property:: link_joint_origins
      :type: jaxtyping.Float[numpy.ndarray, num_links 4 4]



   .. py:property:: link_joint_types
      :type: jaxtyping.Int[numpy.ndarray, num_links]



   .. py:method:: get_ancestor_links_mask(link_name_or_idx: Union[str, int]) -> jaxtyping.Int[numpy.ndarray, num_links]


   .. py:method:: get_link_trimesh_meshes(mode: Literal['visual', 'collision'] = 'collision', return_empty_meshes: bool = True) -> Dict[str, trimesh.Trimesh]