Robot Models

Bases: object

property name
property urdf_global_transform
property urdf_local_transform
property urdf_mesh
class warp_ipc.robots.Kinematic(urdf_path: str, mesh_dir: str | None = None, actuated_joints: list[str] | None = None, env_id: int = 0, use_collision: bool = False)

Bases: object

property actuated_joint_idx: list[int]
property actuated_joint_names: list[str]
property env_id
property joint_damping: list[float]
property joint_max_force: list[float]
property joint_max_vel: list[float]
property joint_names: list[str]
property joint_stiffness: list[float]
property mesh_dir: str
property num_actuated_joints: int
property num_joints: int
property q_lower
property q_upper
property root_transform
property triangular_meshes: list[Trimesh] | Trimesh
class warp_ipc.robots.Robot(urdf_path: str, mesh_dir: str | None = None, actuated_joints: list[str] | None = None, env_id: int = 0, use_collision: bool = False)

Bases: Kinematic

get_robot_mesh_from_joint_params(joint_params: Dict[str, float]) → list[Trimesh]

Returns a list of meshes representing the robot with the given joint parameters. The joint parameters should be a dictionary mapping joint names to their positions.