gym_ignition.rbd.idyntree¶

gym_ignition.rbd.idyntree.helpers¶

class gym_ignition.rbd.idyntree.helpers.FrameVelocityRepresentation(value)¶

Bases: enum.Enum

An enumeration.

BODY_FIXED_REPRESENTATION = 2¶

INERTIAL_FIXED_REPRESENTATION = 3¶

MIXED_REPRESENTATION = 1¶

to_idyntree()¶

class gym_ignition.rbd.idyntree.helpers.iDynTreeHelpers¶

Bases: abc.ABC

static get_kindyncomputations(model_file, considered_joints=None, velocity_representation=FrameVelocityRepresentation.MIXED_REPRESENTATION)¶

static get_model_loader(model_file, considered_joints=None)¶

gym_ignition.rbd.idyntree.inverse_kinematics_nlp¶

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.IKSolution(joint_configuration, base_position=array([0., 0., 0.]), base_quaternion=array([1., 0., 0., 0.]))¶

Bases: object

base_position: numpy.ndarray = array([0., 0., 0.])¶

base_quaternion: numpy.ndarray = array([1., 0., 0., 0.])¶

joint_configuration: numpy.ndarray¶

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.InverseKinematicsNLP(urdf_filename, considered_joints=None, joint_serialization=None)¶

Bases: object

add_com_target(weight=1.0, as_constraint=False, constraint_tolerance=1e-08)¶

Return type: None

add_frame_position_constraint(frame_name, position)¶

Return type: None

add_frame_rotation_constraint(frame_name, quaternion)¶

Return type: None

add_frame_transform_constraint(frame_name, position, quaternion)¶

Return type: None

add_target(frame_name, target_type, weight=None, as_constraint=False)¶

Return type: None

deactivate_com_target()¶

Return type: None

deactivate_frame_constraint(frame_name)¶

Return type: None

get_active_target_names(target_type=None)¶

Return type: List[str]

get_available_target_names()¶

Return type: List[str]

get_base_frame()¶

Return type: str

get_full_solution()¶

Return type: IKSolution

get_reduced_solution()¶

Return type: IKSolution

get_target_data(target_name)¶

Return type: TargetData

initialize(rotation_parametrization=RotationParametrization.ROLL_PITCH_YAW, target_mode=TargetResolutionMode.TARGET_AS_CONSTRAINT_NONE, cost_tolerance=1e-08, constraints_tolerance=0.0001, max_iterations=1000, base_frame=None, floating_base=False, verbosity=1)¶

Return type: None

set_current_joint_configuration(joint_name, configuration)¶

Return type: None

set_current_robot_configuration(base_position, base_quaternion, joint_configuration)¶

Return type: None

solve()¶

Return type: None

update_com_target(position)¶

Return type: None

update_frame_transform_constraint(frame_name, position, quaternion)¶

Return type: None

update_position_target(target_name, position)¶

Return type: None

update_rotation_target(target_name, quaternion)¶

Return type: None

update_transform_target(target_name, position, quaternion)¶

Return type: None

warm_start_from(full_solution=None, reduced_solution=None)¶

Return type: None

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.RotationParametrization(value)¶

Bases: enum.Enum

An enumeration.

QUATERNION = 1¶

ROLL_PITCH_YAW = 2¶

to_idyntree()¶

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.TargetData(type, weight, data)¶

Bases: object

data: Union[numpy.ndarray, gym_ignition.rbd.idyntree.inverse_kinematics_nlp.TransformTargetData]¶

type: gym_ignition.rbd.idyntree.inverse_kinematics_nlp.TargetType¶

weight: Union[float, Tuple[float, float]]¶

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.TargetResolutionMode(value)¶

Bases: enum.Enum

An enumeration.

TARGET_AS_CONSTRAINT_FULL = 1¶

TARGET_AS_CONSTRAINT_NONE = 2¶

TARGET_AS_CONSTRAINT_POSITION = 3¶

TARGET_AS_CONSTRAINT_ROTATION = 4¶

to_idyntree()¶

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.TargetType(value)¶

Bases: enum.Enum

An enumeration.

POSE = 3¶

POSITION = 1¶

ROTATION = 2¶

class gym_ignition.rbd.idyntree.inverse_kinematics_nlp.TransformTargetData(position, quaternion)¶

Bases: object

position: numpy.ndarray¶

quaternion: numpy.ndarray¶

gym_ignition.rbd.idyntree.kindyncomputations¶

class gym_ignition.rbd.idyntree.kindyncomputations.KinDynComputations(model_file, considered_joints=None, world_gravity=array([0., 0., - 9.806]), velocity_representation=FrameVelocityRepresentation.MIXED_REPRESENTATION)¶

Bases: object

get_average_velocity()¶

Return type: ndarray

get_average_velocity_jacobian()¶

Return type: ndarray

get_bias_forces()¶

Return type: ndarray

get_centroidal_average_velocity()¶

Return type: ndarray

get_centroidal_average_velocity_jacobian()¶

Return type: ndarray

get_centroidal_momentum()¶

Return type: Tuple[ndarray, ndarray]

get_centroidal_total_momentum_jacobian()¶

Return type: ndarray

get_com_bias_acc()¶

Return type: ndarray

get_com_position()¶

Return type: ndarray

get_com_velocity()¶

Return type: ndarray

get_floating_base()¶

Return type: str

get_frame_bias_acc(frame_name)¶

Return type: ndarray

get_frame_jacobian(frame_name)¶

Return type: ndarray

get_generalized_gravity_forces()¶

Return type: ndarray

get_joint_positions()¶

Return type: ndarray

get_joint_velocities()¶

Return type: ndarray

get_linear_angular_momentum_jacobian()¶

Return type: ndarray

get_mass_matrix()¶

Return type: ndarray

get_model_position()¶

Return type: ndarray

get_model_velocity()¶

Return type: ndarray

get_momentum()¶

Return type: Tuple[ndarray, ndarray]

get_relative_adjoint_wrench_transform_explicit(ref_frame_origin, ref_frame_orientation, frame_origin, frame_orientation)¶

Return type: ndarray

get_relative_transform(ref_frame_name, frame_name)¶

Return type: ndarray

get_relative_transform_explicit(ref_frame_origin, ref_frame_orientation, frame_origin, frame_orientation)¶

Return type: ndarray

get_world_base_transform()¶

Return type: ndarray

get_world_transform(frame_name)¶

Return type: ndarray

joint_serialization()¶

Return type: List[str]

set_robot_state(s, ds, world_H_base=array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), base_velocity=array([0., 0., 0., 0., 0., 0.]), world_gravity=None)¶

Return type: None

set_robot_state_from_model(model, world_gravity=None)¶

Return type: None

gym_ignition.rbd.idyntree.numpy¶

class gym_ignition.rbd.idyntree.numpy.FromNumPy¶

Bases: abc.ABC

static to_idyntree_dyn_vector(array)¶

Return type: VectorDynSize

static to_idyntree_fixed_vector(array)¶

static to_idyntree_position(position)¶

Return type: Position

static to_idyntree_rotation(quaternion)¶

Return type: Rotation

static to_idyntree_transform(position, quaternion=None, rotation=None)¶

Return type: Transform

static to_idyntree_twist(linear_velocity, angular_velocity)¶

Return type: Twist

class gym_ignition.rbd.idyntree.numpy.ToNumPy¶

Bases: abc.ABC

static from_idyntree_transform(transform, split=False)¶

Return type: Union[Tuple[ndarray, ndarray], ndarray]

static from_idyntree_vector(vector)¶

Return type: ndarray