rlightning.humanoid.utils.kinematics_model.kinematics_model¶

class rlightning.humanoid.utils.kinematics_model.kinematics_model.Joint(name, dof_dim, axis)[source]¶

Bases: object

property dof_dim¶

property dof_idx¶

dof_to_rot(dof)[source]¶

property name¶

rot_to_dof(rot)[source]¶

set_dof_idx(dof_idx)[source]¶

class rlightning.humanoid.utils.kinematics_model.kinematics_model.KinematicsModel(file_path, device)[source]¶

Bases: object

property body_names¶

convert_local_rot_to_global(local_rot)[source]¶

property dof_names¶

dof_to_rot(dof)[source]¶

forward_kinematics(root_pos, root_rot, dof_pos, fitted_shape=None)[source]¶

get_body_idx(body_name)[source]¶

get_dof_limits()[source]¶

get_parent_idx(idx)[source]¶

property joint_dof_idx¶

property num_dof¶

property num_joint¶

property parent_indices¶

rot_to_dof(rot)[source]¶