zonopyrobots.robots.armrobot.ZonoArmRobotJoint

class zonopyrobots.robots.armrobot.ZonoArmRobotJoint(actuated_idx, joint_occupancy)

Bases: object

Arm Robot Joint definition for use with zonopy

This class provides additional information about the joint that is useful for zonotopes. This includes the joint axis, joint origin, joint radius, and joint bounding box. It also includes the zonotope for the joint occupancy and the zonotope for the bounding box of the joint (if it is specified).

np

A numpy version of the object

tensor

A torch version of the object

device

The device the primary data is on. None if numpy.

idx

The index of the actuated joint in the robot. None if fixed.

axis

The axis of the joint

origin

The origin of the joint

radius

The l_inf norm radius of the joint if computed

aabb

The axis aligned bounding box of the joint if computed

outer_pz

The zonotope for the outer bounding box of the joint if computed

bounding_pz

The zonotope for the bounding box of the joint if computed

__init__(actuated_idx, joint_occupancy)

Methods

__init__(actuated_idx, joint_occupancy)
numpy()	Convert and return a numpy version of the object.
to([device])	Convert and return a torch version of the object.

Attributes

np
device
tensor
axis
origin
radius
aabb
outer_pz
bounding_pz
idx

aabb

axis

bounding_pz

device

property idx

np

numpy()

Convert and return a numpy version of the object. Does not copy data.

origin

outer_pz

radius

tensor

to(device=None)

Convert and return a torch version of the object. Does not copy data.