robots

Submodules

• models

Classes

class brom_drake.robots.gripper_type.GripperType(*values)

Description

An enum class that defines the type of gripper being used.

class brom_drake.robots.utils.BaseLinkSearchApproach(*values)

Functions

brom_drake.robots.utils.find_all_link_names(xml_tree: ElementTree) → List[str]

Description

This method will find all the link names in the xml tree xml_tree.

Parameters

xml_tree: xml.etree.ElementTree.ElementTree

The xml tree that we would like to investigate.

Returns

link_names: List[str]

A list of all the names of <link> tags in the model.

brom_drake.robots.utils.find_base_link_name_in(path_to_robot_model: str | Path, search_method: BaseLinkSearchApproach = BaseLinkSearchApproach.kFirstLinkFound) → str

Description

This method will try to find a good base link for the model.

Parameters

path_to_robot_model: str|Path

The path to the robot model.

Returns

base_link_name: str

The name of the link that we believe is the base.

Variables

(None found)