fastdev.robo.articulation_spec¶

Module Contents¶

fastdev.robo.articulation_spec.logger[source]¶

fastdev.robo.articulation_spec.ROOT_JOINT_NAME: str = '__root__'[source]¶

class fastdev.robo.articulation_spec.Geometry[source]¶

Bases: abc.ABC

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

abstractmethod get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Box[source]¶

Bases: Geometry

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

size: List[float][source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Cylinder[source]¶

Bases: Geometry

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

radius: float[source]¶

length: float[source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Capsule[source]¶

Bases: Geometry

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

radius: float[source]¶

length: float[source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Sphere[source]¶

Bases: Geometry

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

radius: float[source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Mesh[source]¶

Bases: Geometry

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

scale: List[float][source]¶

filename: str | None = None[source]¶

mesh_dir: str | None = None[source]¶

is_collision_geometry: bool = False[source]¶

vertices: numpy.ndarray | None = None[source]¶

faces: numpy.ndarray | None = None[source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Material[source]¶

name: str | None = None[source]¶

color: numpy.ndarray | None = None[source]¶

texture: str | None = None[source]¶

class fastdev.robo.articulation_spec.Visual[source]¶

origin: numpy.ndarray[source]¶

geometry: Geometry[source]¶

name: str | None = None[source]¶

material: Material | None = None[source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.Collision[source]¶

origin: numpy.ndarray[source]¶

geometry: Geometry[source]¶

name: str | None = None[source]¶

get_trimesh_mesh() → trimesh.Trimesh[source]¶

Return type:: trimesh.Trimesh

class fastdev.robo.articulation_spec.JointType(*args, **kwds)[source]¶

Bases: 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.

ROOT = -1[source]¶

FIXED = 0[source]¶

PRISMATIC = 1[source]¶

REVOLUTE = 2[source]¶

class fastdev.robo.articulation_spec.Joint[source]¶

name: str[source]¶

type: JointType[source]¶

origin: jaxtyping.Float[numpy.ndarray, 4 4][source]¶

axis: jaxtyping.Float[numpy.ndarray, 3][source]¶

limit: jaxtyping.Float[numpy.ndarray, 2] | None[source]¶

parent_link_name: str[source]¶

child_link_name: str[source]¶

mimic_joint: str | None = None[source]¶

mimic_multiplier: float | None = None[source]¶

mimic_offset: float | None = None[source]¶

set_child_link_name(child_link_name: str)[source]¶

Parameters:: child_link_name (str)

__post_init__()[source]¶

class fastdev.robo.articulation_spec.Link[source]¶

name: str[source]¶

visuals: List[Visual] = [][source]¶

collisions: List[Collision] = [][source]¶

joint_name: str[source]¶

set_joint_name(joint_name: str)[source]¶

Parameters:: joint_name (str)

get_trimesh_mesh(mode: Literal['visual', 'collision'] = 'collision') → trimesh.Trimesh[source]¶

Parameters:: mode (Literal['visual', 'collision'])
Return type:: trimesh.Trimesh

Specification for a single articulation.

Parameters:

urdf_or_mjcf_path (str) – Path to the URDF or MJCF file.
mesh_dir (str, optional) – Directory to store mesh files. Defaults to None.
format (str, optional) – Format of the file, either “urdf” or “mjcf”. Defaults to None.
mjcf_assets (Dict[str, Any], optional) – Assets for MJCF files. Defaults to None.
enable_mimic_joints (bool, optional) – Whether to enable mimic joints. Defaults to True.
base_link_name (Optional[str])
ee_link_names (Optional[Union[str, List[str]]])

Examples

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

base_link_name: str[source]¶

ee_link_names: List[str][source]¶

link_names: List[str][source]¶

num_links: int[source]¶

num_dofs: int[source]¶

active_joint_names: List[str][source]¶

has_mimic_joints: bool[source]¶

mimic_joint_names: List[str][source]¶

full_joint_names: List[str][source]¶

num_full_joints: int[source]¶

urdf_or_mjcf_path = ''[source]¶

mesh_dir = ''[source]¶

format = None[source]¶

mjcf_assets = None[source]¶

enable_mimic_joints = True[source]¶

num_mimic_joints[source]¶

parse_urdf() → Tuple[Dict[str, Joint], Dict[str, Link]][source]¶

Return type:: Tuple[Dict[str, Joint], Dict[str, Link]]

parse_mjcf() → Tuple[Dict[str, Joint], Dict[str, Link]][source]¶

Return type:: Tuple[Dict[str, Joint], Dict[str, Link]]

__repr__() → str[source]¶

Return type:: str

__str__() → str[source]¶

Return type:: str

property joint_limits: Optional[jaxtyping.Float[numpy.ndarray, num_dofs 2]][source]¶

Return type:: Optional[jaxtyping.Float[numpy.ndarray, num_dofs 2]]

property mimic_joint_limits: Optional[jaxtyping.Float[numpy.ndarray, num_mimic_joints 2]][source]¶

Return type:: Optional[jaxtyping.Float[numpy.ndarray, num_mimic_joints 2]]

property mimic_joint_indices: jaxtyping.Int[numpy.ndarray, num_mimic_joints][source]¶

Return type:: jaxtyping.Int[numpy.ndarray, num_mimic_joints]

property mimic_multipliers: jaxtyping.Float[numpy.ndarray, num_mimic_joints][source]¶

Return type:: jaxtyping.Float[numpy.ndarray, num_mimic_joints]

property mimic_offsets: jaxtyping.Float[numpy.ndarray, num_mimic_joints][source]¶

Return type:: jaxtyping.Float[numpy.ndarray, num_mimic_joints]

property link_joint_indices: jaxtyping.Int[numpy.ndarray, num_links][source]¶

Return type:: jaxtyping.Int[numpy.ndarray, num_links]

property link_indices_topological_order: jaxtyping.Int[numpy.ndarray, num_links][source]¶

Return type:: jaxtyping.Int[numpy.ndarray, num_links]

property parent_link_indices: jaxtyping.Int[numpy.ndarray, num_links][source]¶

Return type:: jaxtyping.Int[numpy.ndarray, num_links]

property link_joint_axes: Optional[jaxtyping.Float[numpy.ndarray, num_links 3]][source]¶

Return type:: Optional[jaxtyping.Float[numpy.ndarray, num_links 3]]

property full_joint_axes: jaxtyping.Float[numpy.ndarray, num_full_joints 3][source]¶

Return type:: jaxtyping.Float[numpy.ndarray, num_full_joints 3]

property link_joint_origins: jaxtyping.Float[numpy.ndarray, num_links 4 4][source]¶

Return type:: jaxtyping.Float[numpy.ndarray, num_links 4 4]

property link_joint_types: jaxtyping.Int[numpy.ndarray, num_links][source]¶

Return type:: jaxtyping.Int[numpy.ndarray, num_links]

get_ancestor_links_mask(link_name_or_idx: str | int) → jaxtyping.Int[numpy.ndarray, num_links][source]¶

Parameters:: link_name_or_idx (Union[str, int])
Return type:: jaxtyping.Int[numpy.ndarray, num_links]

get_link_trimesh_meshes(mode: Literal['visual', 'collision'] = 'collision', return_empty_meshes: bool = True) → Dict[str, trimesh.Trimesh][source]¶

Parameters:

mode (Literal['visual', 'collision'])
return_empty_meshes (bool)

Return type:

Dict[str, trimesh.Trimesh]