rb::y1_model::UB Class Reference

Represents the model description of Robot UB. More...

#include <model.h>

Public Types
using	DynRobotStateType = rb::dyn::State<kRobotDOF>
using	DynRobotType = rb::dyn::Robot<kRobotDOF>

Static Public Attributes
static constexpr std::array< unsigned int, 16 >	kBodyIdx = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15}
static constexpr double	kControlPeriod = 0.002
static constexpr std::array< unsigned int, 2 >	kHeadIdx = {16, 17}
static constexpr std::array< unsigned int, 7 >	kLeftArmIdx = {9, 10, 11, 12, 13, 14, 15}
static constexpr std::array< unsigned int, 0 >	kMobilityIdx = {}
static constexpr std::string_view	kModelName = "UB"
static constexpr std::array< unsigned int, 7 >	kRightArmIdx = {2, 3, 4, 5, 6, 7, 8}
static constexpr size_t	kRobotDOF = 18
static constexpr std::array< std::string_view, kRobotDOF >	kRobotJointNames
static constexpr std::array< unsigned int, 2 >	kTorsoIdx = {0, 1}
static constexpr std::array< unsigned int, 16 >	kVelocityEstimationRequiredIdx = kBodyIdx

Detailed Description

Represents the model description of Robot UB.

Standard Upper Body

Member Data Documentation

kRobotJointNames

std::array<std::string_view, kRobotDOF> rb::y1_model::UB::kRobotJointNames

staticconstexpr

Initial value:

= {
      "torso_hp",    "torso_5",     "right_arm_0", "right_arm_1", "right_arm_2", "right_arm_3",
      "right_arm_4", "right_arm_5", "right_arm_6", "left_arm_0",  "left_arm_1",  "left_arm_2",
      "left_arm_3",  "left_arm_4",  "left_arm_5",  "left_arm_6",  "head_0",      "head_1"}

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The documentation for this class was generated from the following file:

• /external/rby1-sdk/include/rby1-sdk/model.h