zonopyrobots.robots.armrobot.ZonoArmRobotLink#
- class zonopyrobots.robots.armrobot.ZonoArmRobotLink[source]#
Bases:
objectArm Robot Link definition for use with zonopy
This class provides additional information about the link that is useful for zonotopes. This includes the link mass, center of mass, and inertia tensor. It also includes the zonotope for the bounding box of the link.
- 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.
- bounding_pz#
The zonotope for the bounding box of the link
- mass#
The mass of the link
- center_mass#
The center of mass of the link in the link frame
- inertia#
The inertia tensor of the link in the link frame
Methods
__init__()numpy()Convert and return a numpy version of the object.
to([device])Convert and return a torch version of the object.
Attributes
- bounding_pz#
- center_mass#
- device#
- inertia#
- mass#
- np#
- tensor#