rby1_sdk.Model_M¶

class Model_M¶

Bases: pybind11_object

Robot model configuration (M).

This class provides access to robot model specifications including joint configurations, degrees of freedom, and component indices.

model_name¶

‘M’

Name identifier for the robot model.

Type:: str

robot_dof¶

Total degrees of freedom.

Type:: int

robot_joint_names¶

[‘wheel_fr’, ‘wheel_fl’, ‘wheel_rr’, ‘wheel_rl’, ‘torso_0’, ‘torso_1’, ‘torso_2’, ‘torso_3’, ‘torso_4’, ‘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’]

List of joint names in index order.

Type:: list[str]

mobility_idx¶

[0, 1, 2, 3]

Indices of mobility components (e.g., wheels).

Type:: list[int]

body_idx¶

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

Indices of main body components (excluding mobility and head).

Type:: list[int]

head_idx¶

[24, 25]

Indices of head components.

Type:: list[int]

right_arm_idx¶

[10, 11, 12, 13, 14, 15, 16]

Indices of right arm components.

Type:: list[int]

left_arm_idx¶

[17, 18, 19, 20, 21, 22, 23]

Indices of left arm components.

Type:: list[int]

torso_idx¶

[4, 5, 6, 7, 8, 9]

Indices of torso components.

Type:: list[int]

velocity_estimation_required_idx¶

[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]

Indices of joints requiring velocity estimation.

Type:: list[int]

control_period¶

0.002000

Control update period in seconds.

Type:: float

__init__(self: rby1_sdk.Model_M) → None¶: Construct a model instance.

Methods

__init__(self)

Construct a model instance.

Attributes

`body_idx`	[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]
`control_period`	0.002000
`head_idx`	[24, 25]
`left_arm_idx`	[17, 18, 19, 20, 21, 22, 23]
`mobility_idx`	[0, 1, 2, 3]
`model_name`	'M'
`right_arm_idx`	[10, 11, 12, 13, 14, 15, 16]
`robot_dof`	26
`robot_joint_names`	['wheel_fr', 'wheel_fl', 'wheel_rr', 'wheel_rl', 'torso_0', 'torso_1', 'torso_2', 'torso_3', 'torso_4', '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']
`torso_idx`	[4, 5, 6, 7, 8, 9]
`velocity_estimation_required_idx`	[4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23]