rby1_sdk.dynamics

Robot dynamics and kinematics module.

Provides robot dynamics calculations including inertia, joint dynamics, and link properties.

Functions

load_robot_from_urdf(path, base_link_name)	Load a robot model from a URDF file.
load_robot_from_urdf_data(model, base_link_name)	Load a robot model from URDF data string.

Classes

Collision	Collision detection object.
CollisionResult	Collision detection result.
Geom	Base geometry class.
GeomCapsule	Capsule geometry.
GeomType	Geometry type enumeration.
Joint	Joint in the robot dynamics model.
Link	Link in the robot dynamics model.
MobileBase	Base class for mobile bases.
MobileBaseDifferential	Differential drive mobile base.
MobileBaseType	Mobile base type enumeration.
Robot	Robot dynamics model.
RobotConfiguration	Robot configuration.
Robot_18	Robot (DOF=18) dynamics model.
Robot_24	Robot (DOF=24) dynamics model.
Robot_26	Robot (DOF=26) dynamics model.
State	Robot state for dynamics calculations.
State_18	Robot state (DOF=18) for dynamics calculations.
State_24	Robot state (DOF=24) for dynamics calculations.
State_26	Robot state (DOF=26) for dynamics calculations.