gym_gz.rbd

• gym_gz.rbd.idyntree
  • gym_gz.rbd.idyntree.helpers
    • FrameVelocityRepresentation
      • FrameVelocityRepresentation.BODY_FIXED_REPRESENTATION
      • FrameVelocityRepresentation.INERTIAL_FIXED_REPRESENTATION
      • FrameVelocityRepresentation.MIXED_REPRESENTATION
      • FrameVelocityRepresentation.to_idyntree()
    • iDynTreeHelpers
      • iDynTreeHelpers.get_kindyncomputations()
      • iDynTreeHelpers.get_model_loader()
  • gym_gz.rbd.idyntree.inverse_kinematics_nlp
    • IKSolution
      • IKSolution.base_position
      • IKSolution.base_quaternion
      • IKSolution.joint_configuration
    • InverseKinematicsNLP
      • InverseKinematicsNLP.add_com_target()
      • InverseKinematicsNLP.add_frame_position_constraint()
      • InverseKinematicsNLP.add_frame_rotation_constraint()
      • InverseKinematicsNLP.add_frame_transform_constraint()
      • InverseKinematicsNLP.add_target()
      • InverseKinematicsNLP.deactivate_com_target()
      • InverseKinematicsNLP.deactivate_frame_constraint()
      • InverseKinematicsNLP.get_active_target_names()
      • InverseKinematicsNLP.get_available_target_names()
      • InverseKinematicsNLP.get_base_frame()
      • InverseKinematicsNLP.get_full_solution()
      • InverseKinematicsNLP.get_reduced_solution()
      • InverseKinematicsNLP.get_target_data()
      • InverseKinematicsNLP.initialize()
      • InverseKinematicsNLP.set_current_joint_configuration()
      • InverseKinematicsNLP.set_current_robot_configuration()
      • InverseKinematicsNLP.solve()
      • InverseKinematicsNLP.update_com_target()
      • InverseKinematicsNLP.update_frame_transform_constraint()
      • InverseKinematicsNLP.update_position_target()
      • InverseKinematicsNLP.update_rotation_target()
      • InverseKinematicsNLP.update_transform_target()
      • InverseKinematicsNLP.warm_start_from()
    • RotationParametrization
      • RotationParametrization.QUATERNION
      • RotationParametrization.ROLL_PITCH_YAW
      • RotationParametrization.to_idyntree()
    • TargetData
      • TargetData.data
      • TargetData.type
      • TargetData.weight
    • TargetResolutionMode
      • TargetResolutionMode.TARGET_AS_CONSTRAINT_FULL
      • TargetResolutionMode.TARGET_AS_CONSTRAINT_NONE
      • TargetResolutionMode.TARGET_AS_CONSTRAINT_POSITION
      • TargetResolutionMode.TARGET_AS_CONSTRAINT_ROTATION
      • TargetResolutionMode.to_idyntree()
    • TargetType
      • TargetType.POSE
      • TargetType.POSITION
      • TargetType.ROTATION
    • TransformTargetData
      • TransformTargetData.position
      • TransformTargetData.quaternion
  • gym_gz.rbd.idyntree.kindyncomputations
    • KinDynComputations
      • KinDynComputations.get_average_velocity()
      • KinDynComputations.get_average_velocity_jacobian()
      • KinDynComputations.get_bias_forces()
      • KinDynComputations.get_centroidal_average_velocity()
      • KinDynComputations.get_centroidal_average_velocity_jacobian()
      • KinDynComputations.get_centroidal_momentum()
      • KinDynComputations.get_centroidal_total_momentum_jacobian()
      • KinDynComputations.get_com_bias_acc()
      • KinDynComputations.get_com_position()
      • KinDynComputations.get_com_velocity()
      • KinDynComputations.get_floating_base()
      • KinDynComputations.get_frame_bias_acc()
      • KinDynComputations.get_frame_jacobian()
      • KinDynComputations.get_generalized_gravity_forces()
      • KinDynComputations.get_joint_positions()
      • KinDynComputations.get_joint_velocities()
      • KinDynComputations.get_linear_angular_momentum_jacobian()
      • KinDynComputations.get_mass_matrix()
      • KinDynComputations.get_model_position()
      • KinDynComputations.get_model_velocity()
      • KinDynComputations.get_momentum()
      • KinDynComputations.get_relative_adjoint_wrench_transform_explicit()
      • KinDynComputations.get_relative_transform()
      • KinDynComputations.get_relative_transform_explicit()
      • KinDynComputations.get_world_base_transform()
      • KinDynComputations.get_world_transform()
      • KinDynComputations.joint_serialization()
      • KinDynComputations.set_robot_state()
      • KinDynComputations.set_robot_state_from_model()
  • gym_gz.rbd.idyntree.numpy
    • FromNumPy
      • FromNumPy.to_idyntree_dyn_vector()
      • FromNumPy.to_idyntree_fixed_vector()
      • FromNumPy.to_idyntree_position()
      • FromNumPy.to_idyntree_rotation()
      • FromNumPy.to_idyntree_transform()
      • FromNumPy.to_idyntree_twist()
    • ToNumPy
      • ToNumPy.from_idyntree_transform()
      • ToNumPy.from_idyntree_vector()

gym_gz.rbd.conversions

class gym_gz.rbd.conversions.Quaternion

Bases: ABC

static from_matrix(matrix)

Return type:

ndarray

static to_rotation(quaternion)

Return type:

ndarray

static to_wxyz(xyzw)

Return type:

ndarray

static to_xyzw(wxyz)

Return type:

ndarray

class gym_gz.rbd.conversions.Transform

Bases: ABC

static from_position_and_quaternion(position, quaternion)

Return type:

ndarray

static from_position_and_rotation(position, rotation)

Return type:

ndarray

static to_position_and_quaternion(transform)

Return type:

Tuple[ndarray, ndarray]

static to_position_and_rotation(transform)

Return type:

Tuple[ndarray, ndarray]

gym_gz.rbd.utils

gym_gz.rbd.utils.extract_skew(matrix)

Extract the skew-symmetric part of a square matrix.

Parameters:

matrix (ndarray) – A square matrix.

Return type:

ndarray

Returns:

The skew-symmetric part of the input matrix.

gym_gz.rbd.utils.extract_symm(matrix)

Extract the symmetric part of a square matrix.

Parameters:

matrix (ndarray) – A square matrix.

Return type:

ndarray

Returns:

The symmetric part of the input matrix.

gym_gz.rbd.utils.vee(matrix3x3)

Convert a 3x3 matrix to a 3D vector with the components of its skew-symmetric part.

Parameters:

matrix3x3 (ndarray) – The input 3x3 matrix. If present, its symmetric part is removed.

Return type:

ndarray

Returns:

The 3D vector defining the skew-symmetric matrix.

Note

This is the inverse operator of wedge().

gym_gz.rbd.utils.wedge(vector3)

Convert a 3D vector to a skew-symmetric matrix.

Parameters:

vector3 (ndarray) – The 3D vector defining the matrix coefficients.

Return type:

ndarray

Returns:

The skew-symmetric matrix whose elements are created from the input vector.

Note

The wedge operator can be useful to compute the cross product of 3D vectors: \(v_1 \times v_2 = v_1^\wedge v_2\).