API Reference

This page provides the complete API reference for all public classes, functions, and types in the urdf library.

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Core Types

The urdf.core.types module provides coordinate transformation classes and NumPy array aliases for vector and matrix typing.

types

Attributes:

Name	Type	Description
RigidTransform		A rigid transformation in 3D space, representing rotation and translation.

Attributes

RigidTransform module-attribute

RigidTransform = RigidTransform

A rigid transformation in 3D space, representing rotation and translation.

See scipy.spatial.transform.RigidTransform in the SciPy Documentation.

Type Aliases

Vec2

Vec2 = ndarray[tuple[Literal[2]], dtype[floating]]

A 2-dimensional floating-point vector.

Vec3

Vec3 = ndarray[tuple[Literal[3]], dtype[floating]]

A 3-dimensional floating-point vector.

Vec4

Vec4 = ndarray[tuple[Literal[4]], dtype[floating]]

A 4-dimensional floating-point vector.

Vec6

Vec6 = ndarray[tuple[Literal[6]], dtype[floating]]

A 6-dimensional floating-point vector.

Mat3

Mat3 = ndarray[tuple[Literal[3], Literal[3]], dtype[floating]]

A 3x3 floating-point matrix.

Mat4

Mat4 = ndarray[tuple[Literal[4], Literal[4]], dtype[floating]]

A 4x4 floating-point matrix.

---

Dynamics

The urdf.dynamics.inertia module contains representation models for rigid body physical properties, notably inertia tensors.

inertia

Classes:

Name	Description
InertiaTensor	An inertia tensor is a 3x3 matrix that describes the inertial properties of a rigid body.

Type Aliases

Classes

InertiaTensor dataclass

InertiaTensor(moments: Vec3, products: Vec3 = (lambda: zeros(3))())

An inertia tensor is a 3x3 matrix that describes the inertial properties of a rigid body.

This link's moments of inertia ixx, iyy, izz and products of inertia ixy, ixz, iyz are expressed about Co (the link's center of mass) for the unit vectors Ĉx, Ĉy, Ĉz fixed in the center-of-mass frame C.

Methods:

Name	Description
zero	Create a zero inertia tensor.
identity	Create an identity inertia tensor.
from_entries	Create an inertia tensor from its entries.
from_moments	Create an inertia tensor from its moments of inertia.
from_products	Create an inertia tensor from its products of inertia.
from_components	Create an inertia tensor from its components.
from_matrix	Create an inertia tensor from an inertia matrix.
from_voigt	Create an inertia tensor from its Voigt notation.
as_matrix	Convert the inertia tensor to an inertia matrix.
as_components	Convert the inertia tensor to its components vector.
as_voigt	Convert the inertia tensor to its Voigt notation.

Attributes:

Name	Type	Description
moments	Vec3	The moments of inertia (ixx, iyy, izz).
products	Vec3	The products of inertia (ixy, ixz, iyz).
ixx	float	The moment of inertia about the x-axis.
iyy	float	The moment of inertia about the y-axis.
izz	float	The moment of inertia about the z-axis.
ixy	float	The product of inertia about the x- and y-axes.
ixz	float	The product of inertia about the x- and z-axes.
iyz	float	The product of inertia about the y- and z-axes.

Attributes

moments instance-attribute

moments: Vec3

The moments of inertia (ixx, iyy, izz).

products class-attribute instance-attribute

products: Vec3 = field(default_factory=lambda: zeros(3))

The products of inertia (ixy, ixz, iyz).

ixx property

ixx: float

The moment of inertia about the x-axis.

iyy property

iyy: float

The moment of inertia about the y-axis.

izz property

izz: float

The moment of inertia about the z-axis.

ixy property

ixy: float

The product of inertia about the x- and y-axes.

ixz property

ixz: float

The product of inertia about the x- and z-axes.

iyz property

iyz: float

The product of inertia about the y- and z-axes.

Functions

zero classmethod

zero() -> InertiaTensor

Create a zero inertia tensor.

identity classmethod

identity() -> InertiaTensor

Create an identity inertia tensor.

from_entries classmethod

from_entries(
    *, ixx: float, ixy: float, ixz: float, iyy: float, iyz: float, izz: float
) -> InertiaTensor

Create an inertia tensor from its entries.

Parameters:

Name	Type	Description	Default
ixx	float	The moment of inertia about the x-axis.	required
ixy	float	The product of inertia about the x- and y-axes.	required
ixz	float	The product of inertia about the x- and z-axes.	required
iyy	float	The moment of inertia about the y-axis.	required
iyz	float	The product of inertia about the y- and z-axes.	required
izz	float	The moment of inertia about the z-axis.	required

from_moments classmethod

from_moments(moments: Vec3 | float) -> InertiaTensor

Create an inertia tensor from its moments of inertia.

Parameters:

Name	Type	Description	Default
moments	Vec3 | float	The moments of inertia (ixx, iyy, izz) or a single float value.	required

from_products classmethod

from_products(products: Vec3 | float) -> InertiaTensor

Create an inertia tensor from its products of inertia.

Parameters:

Name	Type	Description	Default
products	Vec3 | float	The products of inertia (ixy, ixz, iyz) or a single float value.	required

from_components classmethod

from_components(moments: Vec3 | float, products: Vec3 | float) -> InertiaTensor

Create an inertia tensor from its components.

Parameters:

Name	Type	Description	Default
moments	Vec3 | float	The moments of inertia (ixx, iyy, izz) or a single float value.	required
products	Vec3 | float	The products of inertia (ixy, ixz, iyz) or a single float value.	required

Returns:

Type	Description
InertiaTensor	The inertia tensor.

from_matrix classmethod

from_matrix(matrix: Mat3) -> InertiaTensor

Create an inertia tensor from an inertia matrix.

The inertia matrix is expressed in the following form:

[ ixx ixy ixz ]
[ ixy iyy iyz ]
[ ixz iyz izz ]

where ixx, iyy, izz are the moments of inertia and ixy, ixz, iyz are the products of inertia.

Parameters:

Name	Type	Description	Default
matrix	Mat3	The inertia matrix.	required

Returns:

Type	Description
InertiaTensor	The inertia tensor.

from_voigt classmethod

from_voigt(voigt: Vec6) -> InertiaTensor

Create an inertia tensor from its Voigt notation.

The Voigt notation is expressed in the following form:

[ ixx iyy izz iyz ixz ixy ]

where ixx, iyy, izz are the moments of inertia and ixy, ixz, iyz are the products of inertia.

as_matrix

as_matrix() -> Mat3

Convert the inertia tensor to an inertia matrix.

The inertia matrix is expressed in the following form:

[ ixx ixy ixz ]
[ ixy iyy iyz ]
[ ixz iyz izz ]

as_components

as_components() -> tuple[Vec3, Vec3]

Convert the inertia tensor to its components vector.

Returns:

Type	Description
tuple[Vec3, Vec3]	A tuple of the moments of inertia (ixx, iyy, izz) and the products of inertia (ixy, ixz, iyz).

as_voigt

as_voigt() -> Vec6

Convert the inertia tensor to its Voigt notation.

Returns:

Type	Description
Vec6	The Voigt notation of the inertia tensor (ixx, iyy, izz, iyz, ixz, ixy).

---

Kinematics

The urdf.kinematics.kinematic_chain module defines the core skeleton structure, linkage, articulation, and various joint subclasses.

kinematic_chain

Classes:

Name	Description
JointType	The type of joint that connects two links.
LinkId	Base class for link identifiers.
JointId	Base class for joint identifiers.
Link	A link in a kinematic chain.
JointDynamics	The dynamics of a joint.
JointEffortLimits	The effort and velocity limits of a joint.
JointPositionLimits	The effort, velocity, and position limits of a bounded scalar joint.
Joint	A joint that connects two links.
AxialJoint	A joint defined with an axis.
ScalarAxialJoint	A one-degree-of-freedom joint defined by a scalar coordinate along or around an axis.
NonAxialJoint	A joint that does not use an axis in its definition.
RevoluteJoint	A revolute joint that rotates around an axis and has lower and upper position limits.
ContinuousJoint	A continuous joint that rotates around an axis and has no lower or upper position limits.
PrismaticJoint	A prismatic joint that slides along an axis and has lower and upper position limits.
PlanarJoint	A planar joint that allows motion in a plane perpendicular to the axis.
FixedJoint	A fixed joint that rigidly connects the parent link to the child link.
FloatingJoint	A floating joint that allows motion for all 6 degrees of freedom.
Linkage	A collection of links that are connected to form a kinematic chain.
Articulation	A collection of joints that are connected to form a kinematic chain.
Skeleton	A skeleton is a collection of links and joints that are connected to form a kinematic chain.

Attributes

Type Aliases

AnyJoint

AnyJoint = (
    RevoluteJoint[LinkIdT, JointIdT]
    | ContinuousJoint[LinkIdT, JointIdT]
    | PrismaticJoint[LinkIdT, JointIdT]
    | PlanarJoint[LinkIdT, JointIdT]
    | FixedJoint[LinkIdT, JointIdT]
    | FloatingJoint[LinkIdT, JointIdT]
)

Any concrete joint type in a kinematic chain.

Classes

JointType

Bases: StrEnum

The type of joint that connects two links.

Members:

Name	Type	Description
REVOLUTE	str	A hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits.
CONTINUOUS	str	A continuous hinge joint that rotates around the axis and has no upper and lower limits.
PRISMATIC	str	A sliding joint that slides along the axis and has a limited range specified by the upper and lower limits.
FIXED	str	A fixed joint that does not move.
FLOATING	str	A floating joint that allows motion for all 6 degrees of freedom.
PLANAR	str	A planar joint that allows motion in a plane perpendicular to the axis.

REVOLUTE member

REVOLUTE = 'revolute'

A hinge joint that rotates along the axis and has a limited range specified by the upper and lower limits.

CONTINUOUS member

CONTINUOUS = 'continuous'

A continuous hinge joint that rotates around the axis and has no upper and lower limits.

PRISMATIC member

PRISMATIC = 'prismatic'

A sliding joint that slides along the axis and has a limited range specified by the upper and lower limits.

FIXED member

FIXED = 'fixed'

A fixed joint that does not move.

FLOATING member

FLOATING = 'floating'

A floating joint that allows motion for all 6 degrees of freedom.

PLANAR member

PLANAR = 'planar'

A planar joint that allows motion in a plane perpendicular to the axis.

LinkId

Bases: StrEnum

Base class for link identifiers.

JointId

Bases: StrEnum

Base class for joint identifiers.

Link dataclass

Link(
    *,
    id: LinkIdT,
    name: str,
    mass: float = 0.0,
    origin: RigidTransform = identity(),
    inertia: InertiaTensor = zero(),
)

A link in a kinematic chain.

Attributes:

Name	Type	Description
id	LinkIdT	The identifier of the link within a skeleton.
name	str	The name of the link.
mass	float	The mass of the link.
origin	RigidTransform	The position and orientation of the link's center of mass frame relative to the link frame.
inertia	InertiaTensor	The inertia tensor of the link.

Attributes

id instance-attribute

id: LinkIdT

The identifier of the link within a skeleton.

name instance-attribute

name: str

The name of the link.

mass class-attribute instance-attribute

mass: float = 0.0

The mass of the link.

origin class-attribute instance-attribute

origin: RigidTransform = field(default_factory=identity)

The position and orientation of the link's center of mass frame relative to the link frame.

inertia class-attribute instance-attribute

inertia: InertiaTensor = field(default_factory=zero)

The inertia tensor of the link.

JointDynamics dataclass

JointDynamics(*, damping: float = 0.0, friction: float = 0.0)

The dynamics of a joint.

Attributes:

Name	Type	Description
damping	float	The physical damping value of the joint.
friction	float	The physical static friction value of the joint.

Attributes

damping class-attribute instance-attribute

damping: float = 0.0

The physical damping value of the joint.

For prismatic joints, this is expressed in newton-seconds per metre [N∙s/m]. For revolute joints, this is expressed in newton-metre-seconds per radian [N∙m∙s/rad].

friction class-attribute instance-attribute

friction: float = 0.0

The physical static friction value of the joint.

For prismatic joints, this is expressed in newtons [N]. For revolute joints, this is expressed in newton-metres [N∙m].

JointEffortLimits dataclass

JointEffortLimits(*, effort: float, velocity: float)

The effort and velocity limits of a joint.

Attributes:

Name	Type	Description
effort	float	The effort limit of the joint.
velocity	float	The bound of the magnitude of the joint velocity.

Attributes

effort instance-attribute

effort: float

The effort limit of the joint.

For revolute and continuous joints, the effort limit is expressed in newton-metres [N∙m]. For prismatic joints, the effort limit is expressed in newtons [N].

velocity instance-attribute

velocity: float

The bound of the magnitude of the joint velocity.

For revolute and continuous joints, the velocity limit is expressed in radians per second [rad/s]. For prismatic joints, the velocity limit is expressed in metres per second [m/s].

JointPositionLimits dataclass

JointPositionLimits(*, effort: float, velocity: float, lower: float, upper: float)

Bases: JointEffortLimits

The effort, velocity, and position limits of a bounded scalar joint.

Attributes:

Name	Type	Description
lower	float	The lower position limit of the joint.
upper	float	The upper position limit of the joint.

Attributes

lower instance-attribute

lower: float

The lower position limit of the joint.

For revolute joints, the lower limit is expressed in radians [rad]. For prismatic joints, the lower limit is expressed in metres [m].

upper instance-attribute

upper: float

The upper position limit of the joint.

For revolute joints, the upper limit is expressed in radians [rad]. For prismatic joints, the upper limit is expressed in metres [m].

Joint dataclass

Joint(
    *,
    id: JointIdT,
    name: str,
    type: JointType,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
)

A joint that connects two links.

Attributes:

Name	Type	Description
id	JointIdT	The identifier of the joint within a skeleton.
name	str	The name of the joint.
type	JointType	The type of joint.
parent	LinkIdT	The identifier of the parent link.
child	LinkIdT	The identifier of the child link.
origin	RigidTransform	The transform from the parent link frame to the joint frame.
dynamics	JointDynamics	The dynamics of the joint.

Attributes

id instance-attribute

id: JointIdT

The identifier of the joint within a skeleton.

name instance-attribute

name: str

The name of the joint.

type instance-attribute

type: JointType

The type of joint.

parent instance-attribute

parent: LinkIdT

The identifier of the parent link.

child instance-attribute

child: LinkIdT

The identifier of the child link.

origin class-attribute instance-attribute

origin: RigidTransform = field(default_factory=identity)

The transform from the parent link frame to the joint frame.

The child link frame is located at the joint frame unless the consuming model defines an additional child offset.

dynamics class-attribute instance-attribute

dynamics: JointDynamics = field(default_factory=JointDynamics)

The dynamics of the joint.

AxialJoint dataclass

AxialJoint(
    *,
    id: JointIdT,
    name: str,
    type: JointType,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
    axis: Vec3,
)

Bases: Joint[LinkIdT, JointIdT]

A joint defined with an axis.

Attributes:

Name	Type	Description
axis	Vec3	The joint axis specified in the joint frame.

Attributes

axis instance-attribute

axis: Vec3

The joint axis specified in the joint frame.

This is the axis of rotation for revolute and continuous joints, the axis of translation for prismatic joints, and the surface normal for planar joints. The axis is specified in the joint frame of reference.

ScalarAxialJoint dataclass

ScalarAxialJoint(
    *,
    id: JointIdT,
    name: str,
    type: JointType,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
    axis: Vec3,
)

Bases: AxialJoint[LinkIdT, JointIdT]

A one-degree-of-freedom joint defined by a scalar coordinate along or around an axis.

NonAxialJoint dataclass

NonAxialJoint(
    *,
    id: JointIdT,
    name: str,
    type: JointType,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
)

Bases: Joint[LinkIdT, JointIdT]

A joint that does not use an axis in its definition.

RevoluteJoint dataclass

RevoluteJoint(
    *,
    id: JointIdT,
    name: str,
    type: Literal[REVOLUTE] = REVOLUTE,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
    axis: Vec3,
    limits: JointPositionLimits,
)

Bases: ScalarAxialJoint[LinkIdT, JointIdT]

A revolute joint that rotates around an axis and has lower and upper position limits.

Attributes:

Name	Type	Description
type	Literal[REVOLUTE]	The type of the joint.
limits	JointPositionLimits	The effort, velocity, and position limits of the joint.

Attributes

type class-attribute instance-attribute

type: Literal[REVOLUTE] = REVOLUTE

The type of the joint.

limits instance-attribute

limits: JointPositionLimits

The effort, velocity, and position limits of the joint.

ContinuousJoint dataclass

ContinuousJoint(
    *,
    id: JointIdT,
    name: str,
    type: Literal[CONTINUOUS] = CONTINUOUS,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
    axis: Vec3,
    limits: JointEffortLimits,
)

Bases: ScalarAxialJoint[LinkIdT, JointIdT]

A continuous joint that rotates around an axis and has no lower or upper position limits.

Attributes:

Name	Type	Description
type	Literal[CONTINUOUS]	The type of the joint.
limits	JointEffortLimits	The effort and velocity limits of the joint.

Attributes

type class-attribute instance-attribute

type: Literal[CONTINUOUS] = CONTINUOUS

The type of the joint.

limits instance-attribute

limits: JointEffortLimits

The effort and velocity limits of the joint.

PrismaticJoint dataclass

PrismaticJoint(
    *,
    id: JointIdT,
    name: str,
    type: Literal[PRISMATIC] = PRISMATIC,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
    axis: Vec3,
    limits: JointPositionLimits,
)

Bases: ScalarAxialJoint[LinkIdT, JointIdT]

A prismatic joint that slides along an axis and has lower and upper position limits.

Attributes:

Name	Type	Description
type	Literal[PRISMATIC]	The type of the joint.
limits	JointPositionLimits	The effort, velocity, and position limits of the joint.

Attributes

type class-attribute instance-attribute

type: Literal[PRISMATIC] = PRISMATIC

The type of the joint.

limits instance-attribute

limits: JointPositionLimits

The effort, velocity, and position limits of the joint.

PlanarJoint dataclass

PlanarJoint(
    *,
    id: JointIdT,
    name: str,
    type: Literal[PLANAR] = PLANAR,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
    axis: Vec3,
)

Bases: AxialJoint[LinkIdT, JointIdT]

A planar joint that allows motion in a plane perpendicular to the axis.

Attributes:

Name	Type	Description
type	Literal[PLANAR]	The type of the joint.

Attributes

type class-attribute instance-attribute

type: Literal[PLANAR] = PLANAR

The type of the joint.

FixedJoint dataclass

FixedJoint(
    *,
    id: JointIdT,
    name: str,
    type: Literal[FIXED] = FIXED,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
)

Bases: NonAxialJoint[LinkIdT, JointIdT]

A fixed joint that rigidly connects the parent link to the child link.

Attributes:

Name	Type	Description
type	Literal[FIXED]	The type of the joint.

Attributes

type class-attribute instance-attribute

type: Literal[FIXED] = FIXED

The type of the joint.

FloatingJoint dataclass

FloatingJoint(
    *,
    id: JointIdT,
    name: str,
    type: Literal[FLOATING] = FLOATING,
    parent: LinkIdT,
    child: LinkIdT,
    origin: RigidTransform = identity(),
    dynamics: JointDynamics = JointDynamics(),
)

Bases: NonAxialJoint[LinkIdT, JointIdT]

A floating joint that allows motion for all 6 degrees of freedom.

Attributes:

Name	Type	Description
type	Literal[FLOATING]	The type of the joint.

Attributes

type class-attribute instance-attribute

type: Literal[FLOATING] = FLOATING

The type of the joint.

Linkage dataclass

Linkage(*, links: dict[LinkIdT, Link[LinkIdT]])

A collection of links that are connected to form a kinematic chain.

Attributes:

Name	Type	Description
links	dict[LinkIdT, Link[LinkIdT]]	The links in the kinematic chain, keyed by identifier.

Attributes

links instance-attribute

links: dict[LinkIdT, Link[LinkIdT]]

The links in the kinematic chain, keyed by identifier.

Articulation dataclass

Articulation(*, joints: dict[JointIdT, AnyJoint[LinkIdT, JointIdT]])

A collection of joints that are connected to form a kinematic chain.

Attributes:

Name	Type	Description
joints	dict[JointIdT, AnyJoint[LinkIdT, JointIdT]]	The joints in the kinematic chain, keyed by identifier.

Attributes

joints instance-attribute

joints: dict[JointIdT, AnyJoint[LinkIdT, JointIdT]]

The joints in the kinematic chain, keyed by identifier.

Skeleton dataclass

Skeleton(*, linkage: Linkage[LinkIdT], articulation: Articulation[LinkIdT, JointIdT])

A skeleton is a collection of links and joints that are connected to form a kinematic chain.

Methods:

Name	Description
parent_link	Return the parent link of a joint.
child_link	Return the child link of a joint.

Attributes:

Name	Type	Description
linkage	Linkage[LinkIdT]	The links in the skeleton.
articulation	Articulation[LinkIdT, JointIdT]	The joints in the skeleton.

Attributes

linkage instance-attribute

linkage: Linkage[LinkIdT]

The links in the skeleton.

articulation instance-attribute

articulation: Articulation[LinkIdT, JointIdT]

The joints in the skeleton.

Functions

parent_link

parent_link(joint: Joint[LinkIdT, JointIdT]) -> Link[LinkIdT]

Return the parent link of a joint.

child_link

child_link(joint: Joint[LinkIdT, JointIdT]) -> Link[LinkIdT]

Return the child link of a joint.

---

Parser & Code Generation

The urdf.parser module parses URDF XML descriptions and exports them as generated code.

parser

Modules:

Name	Description
codegen

Classes:

Name	Description
Origin	A URDF origin expressed as xyz translation and rpy rotation.
Inertia	A URDF inertia matrix represented by its six unique entries.
LinkDefinition	A link parsed from a URDF file.
JointLimit	A scalar joint limit parsed from a URDF joint.
JointDefinition	A joint parsed from a URDF file.
RobotDefinition	A robot definition parsed from a URDF file.

Functions:

Name	Description
parse_urdf	Parse a URDF file into a robot definition.
export_robot_definition_code	Export Python robot definition code from a URDF file.
write_robot_definition_code	Write Python robot definition code exported from a URDF file.
regenerate_registry_files	Regenerate the models init.py, registry.py, and robots init.py files.
sync_assets	Synchronize all URDF assets with the generated Python definitions and registry.

Classes

Origin dataclass

Origin(
    *,
    xyz: tuple[float, float, float] = (0.0, 0.0, 0.0),
    rpy: tuple[float, float, float] = (0.0, 0.0, 0.0),
)

A URDF origin expressed as xyz translation and rpy rotation.

Attributes:

Name	Type	Description
xyz	tuple[float, float, float]	The translation component of the origin.
rpy	tuple[float, float, float]	The roll-pitch-yaw rotation component of the origin.

Attributes

xyz class-attribute instance-attribute

xyz: tuple[float, float, float] = (0.0, 0.0, 0.0)

The translation component of the origin.

rpy class-attribute instance-attribute

rpy: tuple[float, float, float] = (0.0, 0.0, 0.0)

The roll-pitch-yaw rotation component of the origin.

Inertia dataclass

Inertia(*, ixx: float, ixy: float, ixz: float, iyy: float, iyz: float, izz: float)

A URDF inertia matrix represented by its six unique entries.

Attributes:

Name	Type	Description
ixx	float	The moment of inertia about the x-axis.
ixy	float	The product of inertia about the x- and y-axes.
ixz	float	The product of inertia about the x- and z-axes.
iyy	float	The moment of inertia about the y-axis.
iyz	float	The product of inertia about the y- and z-axes.
izz	float	The moment of inertia about the z-axis.

Attributes

ixx instance-attribute

ixx: float

The moment of inertia about the x-axis.

ixy instance-attribute

ixy: float

The product of inertia about the x- and y-axes.

ixz instance-attribute

ixz: float

The product of inertia about the x- and z-axes.

iyy instance-attribute

iyy: float

The moment of inertia about the y-axis.

iyz instance-attribute

iyz: float

The product of inertia about the y- and z-axes.

izz instance-attribute

izz: float

The moment of inertia about the z-axis.

LinkDefinition dataclass

LinkDefinition(*, name: str, mass: float, origin: Origin, inertia: Inertia | None)

A link parsed from a URDF file.

Attributes:

Name	Type	Description
name	str	The URDF link name.
mass	float	The mass of the link.
origin	Origin	The inertial origin of the link.
inertia	Inertia | None	The inertia tensor of the link, if one is specified.

Attributes

name instance-attribute

name: str

The URDF link name.

mass instance-attribute

mass: float

The mass of the link.

origin instance-attribute

origin: Origin

The inertial origin of the link.

inertia instance-attribute

inertia: Inertia | None

The inertia tensor of the link, if one is specified.

JointLimit dataclass

JointLimit(*, lower: float, upper: float, effort: float, velocity: float)

A scalar joint limit parsed from a URDF joint.

Attributes:

Name	Type	Description
lower	float	The lower position limit.
upper	float	The upper position limit.
effort	float	The effort limit.
velocity	float	The velocity limit.

Attributes

lower instance-attribute

lower: float

The lower position limit.

upper instance-attribute

upper: float

The upper position limit.

effort instance-attribute

effort: float

The effort limit.

velocity instance-attribute

velocity: float

The velocity limit.

JointDefinition dataclass

JointDefinition(
    *,
    name: str,
    type: str,
    parent: str,
    child: str,
    origin: Origin,
    axis: tuple[float, float, float] | None,
    limit: JointLimit | None,
)

A joint parsed from a URDF file.

Attributes:

Name	Type	Description
name	str	The URDF joint name.
type	str	The URDF joint type.
parent	str	The URDF parent link name.
child	str	The URDF child link name.
origin	Origin	The joint origin relative to the parent link frame.
axis	tuple[float, float, float] | None	The joint axis, if the joint is axis-defined.
limit	JointLimit | None	The joint limit, if the joint has scalar limits.

Attributes

name instance-attribute

name: str

The URDF joint name.

type instance-attribute

type: str

The URDF joint type.

parent instance-attribute

parent: str

The URDF parent link name.

child instance-attribute

child: str

The URDF child link name.

origin instance-attribute

origin: Origin

The joint origin relative to the parent link frame.

axis instance-attribute

axis: tuple[float, float, float] | None

The joint axis, if the joint is axis-defined.

limit instance-attribute

limit: JointLimit | None

The joint limit, if the joint has scalar limits.

RobotDefinition dataclass

RobotDefinition(
    *, name: str, links: tuple[LinkDefinition, ...], joints: tuple[JointDefinition, ...]
)

A robot definition parsed from a URDF file.

Attributes:

Name	Type	Description
name	str	The URDF robot name.
links	tuple[LinkDefinition, ...]	The links in the robot.
joints	tuple[JointDefinition, ...]	The joints in the robot.

Attributes

name instance-attribute

name: str

The URDF robot name.

links instance-attribute

links: tuple[LinkDefinition, ...]

The links in the robot.

joints instance-attribute

joints: tuple[JointDefinition, ...]

The joints in the robot.

Functions

parse_urdf

parse_urdf(path: str | Path) -> RobotDefinition

Parse a URDF file into a robot definition.

Parameters:

Name	Type	Description	Default
path	str | Path	The path to the URDF file.	required

Returns:

Type	Description
RobotDefinition	The parsed RobotDefinition object.

Raises:

Type	Description
ValueError	If the root XML tag is not or contains malformed data.

export_robot_definition_code

export_robot_definition_code(
    urdf_path: str | Path,
    *,
    class_prefix: str | None = None,
    constant_prefix: str | None = None,
) -> str

Export Python robot definition code from a URDF file.

Parameters:

Name	Type	Description	Default
urdf_path	str | Path	The path to the URDF file.	required
class_prefix	str | None	The prefix to use for generated Python classes. Defaults to a PascalCase version of the URDF robot name.	None
constant_prefix	str | None	The prefix to use for generated Python constants. Defaults to an upper snake case version of the generated class prefix.	None

Returns:

Type	Description
str	Python source code defining the robot's typed link identifiers, joint identifiers, linkage, articulation, and
str	skeleton.

write_robot_definition_code

write_robot_definition_code(
    urdf_path: str | Path,
    output_path: str | Path,
    *,
    class_prefix: str | None = None,
    constant_prefix: str | None = None,
) -> None

Write Python robot definition code exported from a URDF file.

Parameters:

Name	Type	Description	Default
urdf_path	str | Path	The path to the URDF file.	required
output_path	str | Path	The path to write the generated Python module to.	required
class_prefix	str | None	The prefix to use for generated Python classes.	None
constant_prefix	str | None	The prefix to use for generated Python constants.	None

regenerate_registry_files

regenerate_registry_files() -> None

Regenerate the models init.py, registry.py, and robots init.py files.

sync_assets

sync_assets() -> None

Synchronize all URDF assets with the generated Python definitions and registry.

codegen

Functions:

Name	Description
export_robot_definition_code	Export a URDF as a Python robot definition.
write_robot_definition_code	Write a Python robot definition generated from a URDF.
extract_model_info	Extract class prefix, constant prefix, and display name from a generated robot model file.
regenerate_registry_files	Regenerate the models init.py, registry.py, and robots init.py files.
sync_assets	Synchronize all URDF assets with the generated Python definitions and registry.

Classes

Functions

export_robot_definition_code

export_robot_definition_code(
    urdf_path: str | Path,
    *,
    class_prefix: str | None = None,
    constant_prefix: str | None = None,
) -> str

Export a URDF as a Python robot definition.

write_robot_definition_code

write_robot_definition_code(
    urdf_path: str | Path,
    output_path: str | Path,
    *,
    class_prefix: str | None = None,
    constant_prefix: str | None = None,
) -> None

Write a Python robot definition generated from a URDF.

extract_model_info

extract_model_info(file_path: Path) -> dict[str, str] | None

Extract class prefix, constant prefix, and display name from a generated robot model file.

Parameters:

Name	Type	Description	Default
file_path	Path	The path to the Python file of the robot model.	required

Returns:

Type	Description
dict[str, str] | None	A dictionary containing the extracted 'module_name', 'class_prefix', 'constant_prefix', and
dict[str, str] | None	'display_name', or None if it's not a valid generated robot model.

regenerate_registry_files

regenerate_registry_files() -> None

Regenerate the models init.py, registry.py, and robots init.py files.

sync_assets

sync_assets() -> None

Synchronize all URDF assets with the generated Python definitions and registry.

---

Built-in Robots

The urdf.robots module exposes all built-in robot model definitions and their corresponding identifier classes.

robots

Robots module containing all generated robot model definitions.

Modules:

Name	Description
models	Generated robot model definitions.
registry
utils

Classes:

Name	Description
UnitreeG1_23DOFJointId	Joint identifiers for the Unitree G1 23-DOF robot.
UnitreeG1_23DOFLinkId	Link identifiers for the Unitree G1 23-DOF robot.
UnitreeG1_29DOFJointId	Joint identifiers for the Unitree G1 29-DOF robot.
UnitreeG1_29DOFLinkId	Link identifiers for the Unitree G1 29-DOF robot.
UnitreeH1JointId	Joint identifiers for the Unitree H1 robot.
UnitreeH1LinkId	Link identifiers for the Unitree H1 robot.
UnitreeH1WithHandJointId	Joint identifiers for the Unitree H1 with Hand robot.
UnitreeH1WithHandLinkId	Link identifiers for the Unitree H1 with Hand robot.
BoosterT1LocomotionJointId	Joint identifiers for the Booster T1 Locomotion robot.
BoosterT1LocomotionLinkId	Link identifiers for the Booster T1 Locomotion robot.
BoosterT1SerialJointId	Joint identifiers for the Booster T1 Serial robot.
BoosterT1SerialLinkId	Link identifiers for the Booster T1 Serial robot.
AgiBotX1JointId	Joint identifiers for the AgiBot X1 robot.
AgiBotX1LinkId	Link identifiers for the AgiBot X1 robot.
Robot	A robot model with kinematics and metadata.
RobotId	Identifiers for built-in robot definitions.

Functions:

Name	Description
get_robot	Return the robot model for the given robot identifier.
get_skeleton	Return the skeleton for the given robot identifier.
register_robot	Register a robot definition for runtime lookup.
registered_robot_ids	Return the identifiers of all registered robots.
unregister_robot	Remove and return a runtime robot definition.

Attributes:

Name	Type	Description
UNITREE_G1_23DOF		The kinematic chain for the Unitree G1 23-DOF robot.
UNITREE_G1_23DOF_ARTICULATION		The articulation for the Unitree G1 23-DOF robot.
UNITREE_G1_23DOF_LINKAGE		The linkage for the Unitree G1 23-DOF robot.
UNITREE_G1_29DOF		The kinematic chain for the Unitree G1 29-DOF robot.
UNITREE_G1_29DOF_ARTICULATION		The articulation for the Unitree G1 29-DOF robot.
UNITREE_G1_29DOF_LINKAGE		The linkage for the Unitree G1 29-DOF robot.
UNITREE_H1		The kinematic chain for the Unitree H1 robot.
UNITREE_H1_ARTICULATION		The articulation for the Unitree H1 robot.
UNITREE_H1_LINKAGE		The linkage for the Unitree H1 robot.
UNITREE_H1_WITH_HAND		The kinematic chain for the Unitree H1 with Hand robot.
UNITREE_H1_WITH_HAND_ARTICULATION		The articulation for the Unitree H1 with Hand robot.
UNITREE_H1_WITH_HAND_LINKAGE		The linkage for the Unitree H1 with Hand robot.
BOOSTER_T1_LOCOMOTION		The kinematic chain for the Booster T1 Locomotion robot.
BOOSTER_T1_LOCOMOTION_ARTICULATION		The articulation for the Booster T1 Locomotion robot.
BOOSTER_T1_LOCOMOTION_LINKAGE		The linkage for the Booster T1 Locomotion robot.
BOOSTER_T1_SERIAL		The kinematic chain for the Booster T1 Serial robot.
BOOSTER_T1_SERIAL_ARTICULATION		The articulation for the Booster T1 Serial robot.
BOOSTER_T1_SERIAL_LINKAGE		The linkage for the Booster T1 Serial robot.
AGIBOT_X1		The kinematic chain for the AgiBot X1 robot.
AGIBOT_X1_ARTICULATION		The articulation for the AgiBot X1 robot.
AGIBOT_X1_LINKAGE		The linkage for the AgiBot X1 robot.
UNITREE_G1_23DOF_ROBOT		The robot model for the Unitree G1 23-DOF robot.
UNITREE_G1_29DOF_ROBOT		The robot model for the Unitree G1 29-DOF robot.
UNITREE_H1_ROBOT		The robot model for the Unitree H1 robot.
UNITREE_H1_WITH_HAND_ROBOT		The robot model for the Unitree H1 with Hand robot.
BOOSTER_T1_LOCOMOTION_ROBOT		The robot model for the Booster T1 Locomotion robot.
BOOSTER_T1_SERIAL_ROBOT		The robot model for the Booster T1 Serial robot.
AGIBOT_X1_ROBOT		The robot model for the AgiBot X1 robot.

Attributes

UNITREE_G1_23DOF module-attribute

UNITREE_G1_23DOF = Skeleton[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId](
    linkage=UNITREE_G1_23DOF_LINKAGE, articulation=UNITREE_G1_23DOF_ARTICULATION
)

The kinematic chain for the Unitree G1 23-DOF robot.

UNITREE_G1_23DOF_ARTICULATION module-attribute

UNITREE_G1_23DOF_ARTICULATION = Articulation[
    UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId
](joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())})

The articulation for the Unitree G1 23-DOF robot.

UNITREE_G1_23DOF_LINKAGE module-attribute

UNITREE_G1_23DOF_LINKAGE = Linkage[UnitreeG1_23DOFLinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the Unitree G1 23-DOF robot.

UNITREE_G1_29DOF module-attribute

UNITREE_G1_29DOF = Skeleton[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId](
    linkage=UNITREE_G1_29DOF_LINKAGE, articulation=UNITREE_G1_29DOF_ARTICULATION
)

The kinematic chain for the Unitree G1 29-DOF robot.

UNITREE_G1_29DOF_ARTICULATION module-attribute

UNITREE_G1_29DOF_ARTICULATION = Articulation[
    UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId
](joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())})

The articulation for the Unitree G1 29-DOF robot.

UNITREE_G1_29DOF_LINKAGE module-attribute

UNITREE_G1_29DOF_LINKAGE = Linkage[UnitreeG1_29DOFLinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the Unitree G1 29-DOF robot.

UNITREE_H1 module-attribute

UNITREE_H1 = Skeleton[UnitreeH1LinkId, UnitreeH1JointId](
    linkage=UNITREE_H1_LINKAGE, articulation=UNITREE_H1_ARTICULATION
)

The kinematic chain for the Unitree H1 robot.

UNITREE_H1_ARTICULATION module-attribute

UNITREE_H1_ARTICULATION = Articulation[UnitreeH1LinkId, UnitreeH1JointId](
    joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())}
)

The articulation for the Unitree H1 robot.

UNITREE_H1_LINKAGE module-attribute

UNITREE_H1_LINKAGE = Linkage[UnitreeH1LinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the Unitree H1 robot.

UNITREE_H1_WITH_HAND module-attribute

UNITREE_H1_WITH_HAND = Skeleton[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId](
    linkage=UNITREE_H1_WITH_HAND_LINKAGE, articulation=UNITREE_H1_WITH_HAND_ARTICULATION
)

The kinematic chain for the Unitree H1 with Hand robot.

UNITREE_H1_WITH_HAND_ARTICULATION module-attribute

UNITREE_H1_WITH_HAND_ARTICULATION = Articulation[
    UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId
](joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())})

The articulation for the Unitree H1 with Hand robot.

UNITREE_H1_WITH_HAND_LINKAGE module-attribute

UNITREE_H1_WITH_HAND_LINKAGE = Linkage[UnitreeH1WithHandLinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the Unitree H1 with Hand robot.

BOOSTER_T1_LOCOMOTION module-attribute

BOOSTER_T1_LOCOMOTION = Skeleton[BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId](
    linkage=BOOSTER_T1_LOCOMOTION_LINKAGE,
    articulation=BOOSTER_T1_LOCOMOTION_ARTICULATION,
)

The kinematic chain for the Booster T1 Locomotion robot.

BOOSTER_T1_LOCOMOTION_ARTICULATION module-attribute

BOOSTER_T1_LOCOMOTION_ARTICULATION = Articulation[
    BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId
](joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())})

The articulation for the Booster T1 Locomotion robot.

BOOSTER_T1_LOCOMOTION_LINKAGE module-attribute

BOOSTER_T1_LOCOMOTION_LINKAGE = Linkage[BoosterT1LocomotionLinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the Booster T1 Locomotion robot.

BOOSTER_T1_SERIAL module-attribute

BOOSTER_T1_SERIAL = Skeleton[BoosterT1SerialLinkId, BoosterT1SerialJointId](
    linkage=BOOSTER_T1_SERIAL_LINKAGE, articulation=BOOSTER_T1_SERIAL_ARTICULATION
)

The kinematic chain for the Booster T1 Serial robot.

BOOSTER_T1_SERIAL_ARTICULATION module-attribute

BOOSTER_T1_SERIAL_ARTICULATION = Articulation[
    BoosterT1SerialLinkId, BoosterT1SerialJointId
](joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())})

The articulation for the Booster T1 Serial robot.

BOOSTER_T1_SERIAL_LINKAGE module-attribute

BOOSTER_T1_SERIAL_LINKAGE = Linkage[BoosterT1SerialLinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the Booster T1 Serial robot.

AGIBOT_X1 module-attribute

AGIBOT_X1 = Skeleton[AgiBotX1LinkId, AgiBotX1JointId](
    linkage=AGIBOT_X1_LINKAGE, articulation=AGIBOT_X1_ARTICULATION
)

The kinematic chain for the AgiBot X1 robot.

AGIBOT_X1_ARTICULATION module-attribute

AGIBOT_X1_ARTICULATION = Articulation[AgiBotX1LinkId, AgiBotX1JointId](
    joints={joint_id: (joint_from_spec(joint_id, spec)) for joint_id, spec in (items())}
)

The articulation for the AgiBot X1 robot.

AGIBOT_X1_LINKAGE module-attribute

AGIBOT_X1_LINKAGE = Linkage[AgiBotX1LinkId](
    links={link_id: (link_from_spec(link_id, spec)) for link_id, spec in (items())}
)

The linkage for the AgiBot X1 robot.

UNITREE_G1_23DOF_ROBOT module-attribute

UNITREE_G1_23DOF_ROBOT = Robot[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId](
    id=UNITREE_G1_23DOF, name="Unitree G1 23-DOF", skeleton=UNITREE_G1_23DOF
)

The robot model for the Unitree G1 23-DOF robot.

UNITREE_G1_29DOF_ROBOT module-attribute

UNITREE_G1_29DOF_ROBOT = Robot[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId](
    id=UNITREE_G1_29DOF, name="Unitree G1 29-DOF", skeleton=UNITREE_G1_29DOF
)

The robot model for the Unitree G1 29-DOF robot.

UNITREE_H1_ROBOT module-attribute

UNITREE_H1_ROBOT = Robot[UnitreeH1LinkId, UnitreeH1JointId](
    id=UNITREE_H1, name="Unitree H1", skeleton=UNITREE_H1
)

The robot model for the Unitree H1 robot.

UNITREE_H1_WITH_HAND_ROBOT module-attribute

UNITREE_H1_WITH_HAND_ROBOT = Robot[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId](
    id=UNITREE_H1_WITH_HAND, name="Unitree H1 with Hand", skeleton=UNITREE_H1_WITH_HAND
)

The robot model for the Unitree H1 with Hand robot.

BOOSTER_T1_LOCOMOTION_ROBOT module-attribute

BOOSTER_T1_LOCOMOTION_ROBOT = Robot[
    BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId
](
    id=BOOSTER_T1_LOCOMOTION,
    name="Booster T1 Locomotion",
    skeleton=BOOSTER_T1_LOCOMOTION,
)

The robot model for the Booster T1 Locomotion robot.

BOOSTER_T1_SERIAL_ROBOT module-attribute

BOOSTER_T1_SERIAL_ROBOT = Robot[BoosterT1SerialLinkId, BoosterT1SerialJointId](
    id=BOOSTER_T1_SERIAL, name="Booster T1 Serial", skeleton=BOOSTER_T1_SERIAL
)

The robot model for the Booster T1 Serial robot.

AGIBOT_X1_ROBOT module-attribute

AGIBOT_X1_ROBOT = Robot[AgiBotX1LinkId, AgiBotX1JointId](
    id=AGIBOT_X1, name="AgiBot X1", skeleton=AGIBOT_X1
)

The robot model for the AgiBot X1 robot.

Type Aliases

UnitreeG1_23DOFJoint

UnitreeG1_23DOFJoint = (
    FixedJoint[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId]
    | RevoluteJoint[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId]
)

A joint in the Unitree G1 23-DOF robot.

UnitreeG1_23DOFLink

UnitreeG1_23DOFLink = Link[UnitreeG1_23DOFLinkId]

A link in the Unitree G1 23-DOF robot.

UnitreeG1_29DOFJoint

UnitreeG1_29DOFJoint = (
    FixedJoint[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId]
    | RevoluteJoint[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId]
)

A joint in the Unitree G1 29-DOF robot.

UnitreeG1_29DOFLink

UnitreeG1_29DOFLink = Link[UnitreeG1_29DOFLinkId]

A link in the Unitree G1 29-DOF robot.

UnitreeH1Joint

UnitreeH1Joint = (
    FixedJoint[UnitreeH1LinkId, UnitreeH1JointId]
    | RevoluteJoint[UnitreeH1LinkId, UnitreeH1JointId]
)

A joint in the Unitree H1 robot.

UnitreeH1Link

UnitreeH1Link = Link[UnitreeH1LinkId]

A link in the Unitree H1 robot.

UnitreeH1WithHandJoint

UnitreeH1WithHandJoint = (
    FixedJoint[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId]
    | RevoluteJoint[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId]
)

A joint in the Unitree H1 with Hand robot.

UnitreeH1WithHandLink

UnitreeH1WithHandLink = Link[UnitreeH1WithHandLinkId]

A link in the Unitree H1 with Hand robot.

BoosterT1LocomotionJoint

BoosterT1LocomotionJoint = (
    FixedJoint[BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId]
    | RevoluteJoint[BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId]
)

A joint in the Booster T1 Locomotion robot.

BoosterT1LocomotionLink

BoosterT1LocomotionLink = Link[BoosterT1LocomotionLinkId]

A link in the Booster T1 Locomotion robot.

BoosterT1SerialJoint

BoosterT1SerialJoint = RevoluteJoint[BoosterT1SerialLinkId, BoosterT1SerialJointId]

A joint in the Booster T1 Serial robot.

BoosterT1SerialLink

BoosterT1SerialLink = Link[BoosterT1SerialLinkId]

A link in the Booster T1 Serial robot.

AgiBotX1Joint

AgiBotX1Joint = (
    FixedJoint[AgiBotX1LinkId, AgiBotX1JointId]
    | RevoluteJoint[AgiBotX1LinkId, AgiBotX1JointId]
)

A joint in the AgiBot X1 robot.

AgiBotX1Link

AgiBotX1Link = Link[AgiBotX1LinkId]

A link in the AgiBot X1 robot.

AnyRobot

AnyRobot = Robot[Any, Any]

A robot whose concrete link and joint identifier types are erased.

AnySkeleton

AnySkeleton = Skeleton[Any, Any]

A skeleton whose concrete link and joint identifier types are erased.

UnitreeG1_23DOFRobot

UnitreeG1_23DOFRobot = Robot[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId]

The robot type for the Unitree G1 23-DOF robot.

UnitreeG1_23DOFSkeleton

UnitreeG1_23DOFSkeleton = Skeleton[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId]

The skeleton type for the Unitree G1 23-DOF robot.

UnitreeG1_29DOFRobot

UnitreeG1_29DOFRobot = Robot[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId]

The robot type for the Unitree G1 29-DOF robot.

UnitreeG1_29DOFSkeleton

UnitreeG1_29DOFSkeleton = Skeleton[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId]

The skeleton type for the Unitree G1 29-DOF robot.

UnitreeH1Robot

UnitreeH1Robot = Robot[UnitreeH1LinkId, UnitreeH1JointId]

The robot type for the Unitree H1 robot.

UnitreeH1Skeleton

UnitreeH1Skeleton = Skeleton[UnitreeH1LinkId, UnitreeH1JointId]

The skeleton type for the Unitree H1 robot.

UnitreeH1WithHandRobot

UnitreeH1WithHandRobot = Robot[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId]

The robot type for the Unitree H1 with Hand robot.

UnitreeH1WithHandSkeleton

UnitreeH1WithHandSkeleton = Skeleton[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId]

The skeleton type for the Unitree H1 with Hand robot.

BoosterT1LocomotionRobot

BoosterT1LocomotionRobot = Robot[BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId]

The robot type for the Booster T1 Locomotion robot.

BoosterT1LocomotionSkeleton

BoosterT1LocomotionSkeleton = Skeleton[
    BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId
]

The skeleton type for the Booster T1 Locomotion robot.

BoosterT1SerialRobot

BoosterT1SerialRobot = Robot[BoosterT1SerialLinkId, BoosterT1SerialJointId]

The robot type for the Booster T1 Serial robot.

BoosterT1SerialSkeleton

BoosterT1SerialSkeleton = Skeleton[BoosterT1SerialLinkId, BoosterT1SerialJointId]

The skeleton type for the Booster T1 Serial robot.

AgiBotX1Robot

AgiBotX1Robot = Robot[AgiBotX1LinkId, AgiBotX1JointId]

The robot type for the AgiBot X1 robot.

AgiBotX1Skeleton

AgiBotX1Skeleton = Skeleton[AgiBotX1LinkId, AgiBotX1JointId]

The skeleton type for the AgiBot X1 robot.

Classes

UnitreeG1_23DOFJointId

Bases: JointId

Joint identifiers for the Unitree G1 23-DOF robot.

Attributes:

Name	Type	Description
PELVIS_CONTOUR	str	The pelvis contour joint.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_KNEE	str	The left knee joint.
LEFT_ANKLE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_ROLL	str	The left ankle roll joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_KNEE	str	The right knee joint.
RIGHT_ANKLE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_ROLL	str	The right ankle roll joint.
WAIST_YAW_FIXED	str	The waist yaw fixed joint.
WAIST_YAW	str	The waist yaw joint.
LOGO	str	The logo joint.
HEAD	str	The head joint.
WAIST_SUPPORT	str	The waist support joint.
IMU_IN_TORSO	str	The imu in torso joint.
IMU_IN_PELVIS	str	The imu in pelvis joint.
D435	str	The d435 joint.
MID360	str	The mid360 joint.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_SHOULDER_YAW	str	The left shoulder yaw joint.
LEFT_ELBOW	str	The left elbow joint.
LEFT_WRIST_ROLL	str	The left wrist roll joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw joint.
RIGHT_ELBOW	str	The right elbow joint.
RIGHT_WRIST_ROLL	str	The right wrist roll joint.

Attributes

PELVIS_CONTOUR class-attribute instance-attribute

PELVIS_CONTOUR: str = 'pelvis_contour_joint'

The pelvis contour joint.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_joint'

The left hip pitch joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_joint'

The left hip roll joint.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_joint'

The left hip yaw joint.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_joint'

The left knee joint.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'left_ankle_pitch_joint'

The left ankle pitch joint.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'left_ankle_roll_joint'

The left ankle roll joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_joint'

The right hip pitch joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_joint'

The right hip roll joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_joint'

The right hip yaw joint.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_joint'

The right knee joint.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'right_ankle_pitch_joint'

The right ankle pitch joint.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'right_ankle_roll_joint'

The right ankle roll joint.

WAIST_YAW_FIXED class-attribute instance-attribute

WAIST_YAW_FIXED: str = 'waist_yaw_fixed_joint'

The waist yaw fixed joint.

WAIST_YAW class-attribute instance-attribute

WAIST_YAW: str = 'waist_yaw_joint'

The waist yaw joint.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_joint'

The logo joint.

HEAD class-attribute instance-attribute

HEAD: str = 'head_joint'

The head joint.

WAIST_SUPPORT class-attribute instance-attribute

WAIST_SUPPORT: str = 'waist_support_joint'

The waist support joint.

IMU_IN_TORSO class-attribute instance-attribute

IMU_IN_TORSO: str = 'imu_in_torso_joint'

The imu in torso joint.

IMU_IN_PELVIS class-attribute instance-attribute

IMU_IN_PELVIS: str = 'imu_in_pelvis_joint'

The imu in pelvis joint.

D435 class-attribute instance-attribute

D435: str = 'd435_joint'

The d435 joint.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_joint'

The mid360 joint.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_joint'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_joint'

The left shoulder roll joint.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_joint'

The left shoulder yaw joint.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_joint'

The left elbow joint.

LEFT_WRIST_ROLL class-attribute instance-attribute

LEFT_WRIST_ROLL: str = 'left_wrist_roll_joint'

The left wrist roll joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_joint'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_joint'

The right shoulder roll joint.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_joint'

The right shoulder yaw joint.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_joint'

The right elbow joint.

RIGHT_WRIST_ROLL class-attribute instance-attribute

RIGHT_WRIST_ROLL: str = 'right_wrist_roll_joint'

The right wrist roll joint.

UnitreeG1_23DOFLinkId

Bases: LinkId

Link identifiers for the Unitree G1 23-DOF robot.

Attributes:

Name	Type	Description
PELVIS	str	The pelvis link.
PELVIS_CONTOUR	str	The pelvis contour link.
LEFT_HIP_PITCH	str	The left hip pitch link.
LEFT_HIP_ROLL	str	The left hip roll link.
LEFT_HIP_YAW	str	The left hip yaw link.
LEFT_KNEE	str	The left knee link.
LEFT_ANKLE_PITCH	str	The left ankle pitch link.
LEFT_ANKLE_ROLL	str	The left ankle roll link.
RIGHT_HIP_PITCH	str	The right hip pitch link.
RIGHT_HIP_ROLL	str	The right hip roll link.
RIGHT_HIP_YAW	str	The right hip yaw link.
RIGHT_KNEE	str	The right knee link.
RIGHT_ANKLE_PITCH	str	The right ankle pitch link.
RIGHT_ANKLE_ROLL	str	The right ankle roll link.
WAIST_YAW_FIXED	str	The waist yaw fixed link.
TORSO	str	The torso link.
LOGO	str	The logo link.
HEAD	str	The head link.
WAIST_SUPPORT	str	The waist support link.
IMU_IN_TORSO	str	The imu in torso link.
IMU_IN_PELVIS	str	The imu in pelvis link.
D435	str	The d435 link.
MID360	str	The mid360 link.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch link.
LEFT_SHOULDER_ROLL	str	The left shoulder roll link.
LEFT_SHOULDER_YAW	str	The left shoulder yaw link.
LEFT_ELBOW	str	The left elbow link.
LEFT_WRIST_ROLL_RUBBER_HAND	str	The left wrist roll rubber hand link.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch link.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll link.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw link.
RIGHT_ELBOW	str	The right elbow link.
RIGHT_WRIST_ROLL_RUBBER_HAND	str	The right wrist roll rubber hand link.

Attributes

PELVIS class-attribute instance-attribute

PELVIS: str = 'pelvis'

The pelvis link.

PELVIS_CONTOUR class-attribute instance-attribute

PELVIS_CONTOUR: str = 'pelvis_contour_link'

The pelvis contour link.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_link'

The left hip pitch link.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_link'

The left hip roll link.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_link'

The left hip yaw link.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_link'

The left knee link.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'left_ankle_pitch_link'

The left ankle pitch link.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'left_ankle_roll_link'

The left ankle roll link.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_link'

The right hip pitch link.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_link'

The right hip roll link.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_link'

The right hip yaw link.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_link'

The right knee link.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'right_ankle_pitch_link'

The right ankle pitch link.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'right_ankle_roll_link'

The right ankle roll link.

WAIST_YAW_FIXED class-attribute instance-attribute

WAIST_YAW_FIXED: str = 'waist_yaw_fixed_link'

The waist yaw fixed link.

TORSO class-attribute instance-attribute

TORSO: str = 'torso_link'

The torso link.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_link'

The logo link.

HEAD class-attribute instance-attribute

HEAD: str = 'head_link'

The head link.

WAIST_SUPPORT class-attribute instance-attribute

WAIST_SUPPORT: str = 'waist_support_link'

The waist support link.

IMU_IN_TORSO class-attribute instance-attribute

IMU_IN_TORSO: str = 'imu_in_torso'

The imu in torso link.

IMU_IN_PELVIS class-attribute instance-attribute

IMU_IN_PELVIS: str = 'imu_in_pelvis'

The imu in pelvis link.

D435 class-attribute instance-attribute

D435: str = 'd435_link'

The d435 link.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_link'

The mid360 link.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_link'

The left shoulder pitch link.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_link'

The left shoulder roll link.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_link'

The left shoulder yaw link.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_link'

The left elbow link.

LEFT_WRIST_ROLL_RUBBER_HAND class-attribute instance-attribute

LEFT_WRIST_ROLL_RUBBER_HAND: str = 'left_wrist_roll_rubber_hand'

The left wrist roll rubber hand link.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_link'

The right shoulder pitch link.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_link'

The right shoulder roll link.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_link'

The right shoulder yaw link.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_link'

The right elbow link.

RIGHT_WRIST_ROLL_RUBBER_HAND class-attribute instance-attribute

RIGHT_WRIST_ROLL_RUBBER_HAND: str = 'right_wrist_roll_rubber_hand'

The right wrist roll rubber hand link.

UnitreeG1_29DOFJointId

Bases: JointId

Joint identifiers for the Unitree G1 29-DOF robot.

Attributes:

Name	Type	Description
PELVIS_CONTOUR	str	The pelvis contour joint.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_KNEE	str	The left knee joint.
LEFT_ANKLE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_ROLL	str	The left ankle roll joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_KNEE	str	The right knee joint.
RIGHT_ANKLE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_ROLL	str	The right ankle roll joint.
WAIST_YAW	str	The waist yaw joint.
WAIST_ROLL	str	Joint with ID waist_roll_joint.
WAIST_PITCH	str	Joint with ID waist_pitch_joint.
LOGO	str	The logo joint.
HEAD	str	The head joint.
WAIST_SUPPORT	str	The waist support joint.
IMU_IN_TORSO	str	The imu in torso joint.
IMU_IN_PELVIS	str	The imu in pelvis joint.
D435	str	The d435 joint.
MID360	str	The mid360 joint.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_SHOULDER_YAW	str	The left shoulder yaw joint.
LEFT_ELBOW	str	The left elbow joint.
LEFT_WRIST_ROLL	str	The left wrist roll joint.
LEFT_WRIST_PITCH	str	Joint with ID left_wrist_pitch_joint.
LEFT_WRIST_YAW	str	Joint with ID left_wrist_yaw_joint.
LEFT_HAND_PALM	str	Joint with ID left_hand_palm_joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw joint.
RIGHT_ELBOW	str	The right elbow joint.
RIGHT_WRIST_ROLL	str	The right wrist roll joint.
RIGHT_WRIST_PITCH	str	Joint with ID right_wrist_pitch_joint.
RIGHT_WRIST_YAW	str	Joint with ID right_wrist_yaw_joint.
RIGHT_HAND_PALM	str	Joint with ID right_hand_palm_joint.

Attributes

PELVIS_CONTOUR class-attribute instance-attribute

PELVIS_CONTOUR: str = 'pelvis_contour_joint'

The pelvis contour joint.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_joint'

The left hip pitch joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_joint'

The left hip roll joint.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_joint'

The left hip yaw joint.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_joint'

The left knee joint.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'left_ankle_pitch_joint'

The left ankle pitch joint.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'left_ankle_roll_joint'

The left ankle roll joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_joint'

The right hip pitch joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_joint'

The right hip roll joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_joint'

The right hip yaw joint.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_joint'

The right knee joint.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'right_ankle_pitch_joint'

The right ankle pitch joint.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'right_ankle_roll_joint'

The right ankle roll joint.

WAIST_YAW class-attribute instance-attribute

WAIST_YAW: str = 'waist_yaw_joint'

The waist yaw joint.

WAIST_ROLL class-attribute instance-attribute

WAIST_ROLL: str = 'waist_roll_joint'

Joint with ID waist_roll_joint.

WAIST_PITCH class-attribute instance-attribute

WAIST_PITCH: str = 'waist_pitch_joint'

Joint with ID waist_pitch_joint.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_joint'

The logo joint.

HEAD class-attribute instance-attribute

HEAD: str = 'head_joint'

The head joint.

WAIST_SUPPORT class-attribute instance-attribute

WAIST_SUPPORT: str = 'waist_support_joint'

The waist support joint.

IMU_IN_TORSO class-attribute instance-attribute

IMU_IN_TORSO: str = 'imu_in_torso_joint'

The imu in torso joint.

IMU_IN_PELVIS class-attribute instance-attribute

IMU_IN_PELVIS: str = 'imu_in_pelvis_joint'

The imu in pelvis joint.

D435 class-attribute instance-attribute

D435: str = 'd435_joint'

The d435 joint.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_joint'

The mid360 joint.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_joint'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_joint'

The left shoulder roll joint.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_joint'

The left shoulder yaw joint.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_joint'

The left elbow joint.

LEFT_WRIST_ROLL class-attribute instance-attribute

LEFT_WRIST_ROLL: str = 'left_wrist_roll_joint'

The left wrist roll joint.

LEFT_WRIST_PITCH class-attribute instance-attribute

LEFT_WRIST_PITCH: str = 'left_wrist_pitch_joint'

Joint with ID left_wrist_pitch_joint.

LEFT_WRIST_YAW class-attribute instance-attribute

LEFT_WRIST_YAW: str = 'left_wrist_yaw_joint'

Joint with ID left_wrist_yaw_joint.

LEFT_HAND_PALM class-attribute instance-attribute

LEFT_HAND_PALM: str = 'left_hand_palm_joint'

Joint with ID left_hand_palm_joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_joint'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_joint'

The right shoulder roll joint.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_joint'

The right shoulder yaw joint.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_joint'

The right elbow joint.

RIGHT_WRIST_ROLL class-attribute instance-attribute

RIGHT_WRIST_ROLL: str = 'right_wrist_roll_joint'

The right wrist roll joint.

RIGHT_WRIST_PITCH class-attribute instance-attribute

RIGHT_WRIST_PITCH: str = 'right_wrist_pitch_joint'

Joint with ID right_wrist_pitch_joint.

RIGHT_WRIST_YAW class-attribute instance-attribute

RIGHT_WRIST_YAW: str = 'right_wrist_yaw_joint'

Joint with ID right_wrist_yaw_joint.

RIGHT_HAND_PALM class-attribute instance-attribute

RIGHT_HAND_PALM: str = 'right_hand_palm_joint'

Joint with ID right_hand_palm_joint.

UnitreeG1_29DOFLinkId

Bases: LinkId

Link identifiers for the Unitree G1 29-DOF robot.

Attributes:

Name	Type	Description
PELVIS	str	The pelvis link.
PELVIS_CONTOUR	str	The pelvis contour link.
LEFT_HIP_PITCH	str	The left hip pitch link.
LEFT_HIP_ROLL	str	The left hip roll link.
LEFT_HIP_YAW	str	The left hip yaw link.
LEFT_KNEE	str	The left knee link.
LEFT_ANKLE_PITCH	str	The left ankle pitch link.
LEFT_ANKLE_ROLL	str	The left ankle roll link.
RIGHT_HIP_PITCH	str	The right hip pitch link.
RIGHT_HIP_ROLL	str	The right hip roll link.
RIGHT_HIP_YAW	str	The right hip yaw link.
RIGHT_KNEE	str	The right knee link.
RIGHT_ANKLE_PITCH	str	The right ankle pitch link.
RIGHT_ANKLE_ROLL	str	The right ankle roll link.
WAIST_YAW	str	Link with ID waist_yaw_link.
WAIST_ROLL	str	Link with ID waist_roll_link.
TORSO	str	The torso link.
LOGO	str	The logo link.
HEAD	str	The head link.
WAIST_SUPPORT	str	The waist support link.
IMU_IN_TORSO	str	The imu in torso link.
IMU_IN_PELVIS	str	The imu in pelvis link.
D435	str	The d435 link.
MID360	str	The mid360 link.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch link.
LEFT_SHOULDER_ROLL	str	The left shoulder roll link.
LEFT_SHOULDER_YAW	str	The left shoulder yaw link.
LEFT_ELBOW	str	The left elbow link.
LEFT_WRIST_ROLL	str	Link with ID left_wrist_roll_link.
LEFT_WRIST_PITCH	str	Link with ID left_wrist_pitch_link.
LEFT_WRIST_YAW	str	Link with ID left_wrist_yaw_link.
LEFT_RUBBER_HAND	str	Link with ID left_rubber_hand.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch link.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll link.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw link.
RIGHT_ELBOW	str	The right elbow link.
RIGHT_WRIST_ROLL	str	Link with ID right_wrist_roll_link.
RIGHT_WRIST_PITCH	str	Link with ID right_wrist_pitch_link.
RIGHT_WRIST_YAW	str	Link with ID right_wrist_yaw_link.
RIGHT_RUBBER_HAND	str	Link with ID right_rubber_hand.

Attributes

PELVIS class-attribute instance-attribute

PELVIS: str = 'pelvis'

The pelvis link.

PELVIS_CONTOUR class-attribute instance-attribute

PELVIS_CONTOUR: str = 'pelvis_contour_link'

The pelvis contour link.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_link'

The left hip pitch link.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_link'

The left hip roll link.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_link'

The left hip yaw link.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_link'

The left knee link.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'left_ankle_pitch_link'

The left ankle pitch link.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'left_ankle_roll_link'

The left ankle roll link.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_link'

The right hip pitch link.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_link'

The right hip roll link.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_link'

The right hip yaw link.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_link'

The right knee link.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'right_ankle_pitch_link'

The right ankle pitch link.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'right_ankle_roll_link'

The right ankle roll link.

WAIST_YAW class-attribute instance-attribute

WAIST_YAW: str = 'waist_yaw_link'

Link with ID waist_yaw_link.

WAIST_ROLL class-attribute instance-attribute

WAIST_ROLL: str = 'waist_roll_link'

Link with ID waist_roll_link.

TORSO class-attribute instance-attribute

TORSO: str = 'torso_link'

The torso link.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_link'

The logo link.

HEAD class-attribute instance-attribute

HEAD: str = 'head_link'

The head link.

WAIST_SUPPORT class-attribute instance-attribute

WAIST_SUPPORT: str = 'waist_support_link'

The waist support link.

IMU_IN_TORSO class-attribute instance-attribute

IMU_IN_TORSO: str = 'imu_in_torso'

The imu in torso link.

IMU_IN_PELVIS class-attribute instance-attribute

IMU_IN_PELVIS: str = 'imu_in_pelvis'

The imu in pelvis link.

D435 class-attribute instance-attribute

D435: str = 'd435_link'

The d435 link.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_link'

The mid360 link.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_link'

The left shoulder pitch link.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_link'

The left shoulder roll link.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_link'

The left shoulder yaw link.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_link'

The left elbow link.

LEFT_WRIST_ROLL class-attribute instance-attribute

LEFT_WRIST_ROLL: str = 'left_wrist_roll_link'

Link with ID left_wrist_roll_link.

LEFT_WRIST_PITCH class-attribute instance-attribute

LEFT_WRIST_PITCH: str = 'left_wrist_pitch_link'

Link with ID left_wrist_pitch_link.

LEFT_WRIST_YAW class-attribute instance-attribute

LEFT_WRIST_YAW: str = 'left_wrist_yaw_link'

Link with ID left_wrist_yaw_link.

LEFT_RUBBER_HAND class-attribute instance-attribute

LEFT_RUBBER_HAND: str = 'left_rubber_hand'

Link with ID left_rubber_hand.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_link'

The right shoulder pitch link.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_link'

The right shoulder roll link.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_link'

The right shoulder yaw link.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_link'

The right elbow link.

RIGHT_WRIST_ROLL class-attribute instance-attribute

RIGHT_WRIST_ROLL: str = 'right_wrist_roll_link'

Link with ID right_wrist_roll_link.

RIGHT_WRIST_PITCH class-attribute instance-attribute

RIGHT_WRIST_PITCH: str = 'right_wrist_pitch_link'

Link with ID right_wrist_pitch_link.

RIGHT_WRIST_YAW class-attribute instance-attribute

RIGHT_WRIST_YAW: str = 'right_wrist_yaw_link'

Link with ID right_wrist_yaw_link.

RIGHT_RUBBER_HAND class-attribute instance-attribute

RIGHT_RUBBER_HAND: str = 'right_rubber_hand'

Link with ID right_rubber_hand.

UnitreeH1JointId

Bases: JointId

Joint identifiers for the Unitree H1 robot.

Attributes:

Name	Type	Description
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_KNEE	str	The left knee joint.
LEFT_ANKLE	str	Joint with ID left_ankle_joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_KNEE	str	The right knee joint.
RIGHT_ANKLE	str	Joint with ID right_ankle_joint.
TORSO	str	Joint with ID torso_joint.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_SHOULDER_YAW	str	The left shoulder yaw joint.
LEFT_ELBOW	str	The left elbow joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw joint.
RIGHT_ELBOW	str	The right elbow joint.
IMU	str	Joint with ID imu_joint.
LOGO	str	The logo joint.
D435_LEFT_IMAGER	str	Joint with ID d435_left_imager_joint.
D435_RGB_MODULE	str	Joint with ID d435_rgb_module_joint.
MID360	str	The mid360 joint.

Attributes

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_joint'

The left hip yaw joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_joint'

The left hip roll joint.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_joint'

The left hip pitch joint.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_joint'

The left knee joint.

LEFT_ANKLE class-attribute instance-attribute

LEFT_ANKLE: str = 'left_ankle_joint'

Joint with ID left_ankle_joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_joint'

The right hip yaw joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_joint'

The right hip roll joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_joint'

The right hip pitch joint.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_joint'

The right knee joint.

RIGHT_ANKLE class-attribute instance-attribute

RIGHT_ANKLE: str = 'right_ankle_joint'

Joint with ID right_ankle_joint.

TORSO class-attribute instance-attribute

TORSO: str = 'torso_joint'

Joint with ID torso_joint.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_joint'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_joint'

The left shoulder roll joint.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_joint'

The left shoulder yaw joint.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_joint'

The left elbow joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_joint'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_joint'

The right shoulder roll joint.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_joint'

The right shoulder yaw joint.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_joint'

The right elbow joint.

IMU class-attribute instance-attribute

IMU: str = 'imu_joint'

Joint with ID imu_joint.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_joint'

The logo joint.

D435_LEFT_IMAGER class-attribute instance-attribute

D435_LEFT_IMAGER: str = 'd435_left_imager_joint'

Joint with ID d435_left_imager_joint.

D435_RGB_MODULE class-attribute instance-attribute

D435_RGB_MODULE: str = 'd435_rgb_module_joint'

Joint with ID d435_rgb_module_joint.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_joint'

The mid360 joint.

UnitreeH1LinkId

Bases: LinkId

Link identifiers for the Unitree H1 robot.

Attributes:

Name	Type	Description
PELVIS	str	The pelvis link.
LEFT_HIP_YAW	str	The left hip yaw link.
LEFT_HIP_ROLL	str	The left hip roll link.
LEFT_HIP_PITCH	str	The left hip pitch link.
LEFT_KNEE	str	The left knee link.
LEFT_ANKLE	str	Link with ID left_ankle_link.
RIGHT_HIP_YAW	str	The right hip yaw link.
RIGHT_HIP_ROLL	str	The right hip roll link.
RIGHT_HIP_PITCH	str	The right hip pitch link.
RIGHT_KNEE	str	The right knee link.
RIGHT_ANKLE	str	Link with ID right_ankle_link.
TORSO	str	The torso link.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch link.
LEFT_SHOULDER_ROLL	str	The left shoulder roll link.
LEFT_SHOULDER_YAW	str	The left shoulder yaw link.
LEFT_ELBOW	str	The left elbow link.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch link.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll link.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw link.
RIGHT_ELBOW	str	The right elbow link.
IMU	str	Link with ID imu_link.
LOGO	str	The logo link.
D435_LEFT_IMAGER	str	Link with ID d435_left_imager_link.
D435_RGB_MODULE	str	Link with ID d435_rgb_module_link.
MID360	str	The mid360 link.

Attributes

PELVIS class-attribute instance-attribute

PELVIS: str = 'pelvis'

The pelvis link.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_link'

The left hip yaw link.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_link'

The left hip roll link.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_link'

The left hip pitch link.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_link'

The left knee link.

LEFT_ANKLE class-attribute instance-attribute

LEFT_ANKLE: str = 'left_ankle_link'

Link with ID left_ankle_link.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_link'

The right hip yaw link.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_link'

The right hip roll link.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_link'

The right hip pitch link.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_link'

The right knee link.

RIGHT_ANKLE class-attribute instance-attribute

RIGHT_ANKLE: str = 'right_ankle_link'

Link with ID right_ankle_link.

TORSO class-attribute instance-attribute

TORSO: str = 'torso_link'

The torso link.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_link'

The left shoulder pitch link.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_link'

The left shoulder roll link.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_link'

The left shoulder yaw link.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_link'

The left elbow link.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_link'

The right shoulder pitch link.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_link'

The right shoulder roll link.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_link'

The right shoulder yaw link.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_link'

The right elbow link.

IMU class-attribute instance-attribute

IMU: str = 'imu_link'

Link with ID imu_link.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_link'

The logo link.

D435_LEFT_IMAGER class-attribute instance-attribute

D435_LEFT_IMAGER: str = 'd435_left_imager_link'

Link with ID d435_left_imager_link.

D435_RGB_MODULE class-attribute instance-attribute

D435_RGB_MODULE: str = 'd435_rgb_module_link'

Link with ID d435_rgb_module_link.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_link'

The mid360 link.

UnitreeH1WithHandJointId

Bases: JointId

Joint identifiers for the Unitree H1 with Hand robot.

Attributes:

Name	Type	Description
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_KNEE	str	The left knee joint.
LEFT_ANKLE	str	Joint with ID left_ankle_joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_KNEE	str	The right knee joint.
RIGHT_ANKLE	str	Joint with ID right_ankle_joint.
TORSO	str	Joint with ID torso_joint.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_SHOULDER_YAW	str	The left shoulder yaw joint.
LEFT_ELBOW	str	The left elbow joint.
LEFT_HAND	str	Joint with ID left_hand_joint.
L_BASE_LINK	str	Joint with ID L_base_link_joint.
L_THUMB_PROXIMAL_YAW	str	Joint with ID L_thumb_proximal_yaw_joint.
L_THUMB_PROXIMAL_PITCH	str	Joint with ID L_thumb_proximal_pitch_joint.
L_THUMB_INTERMEDIATE	str	Joint with ID L_thumb_intermediate_joint.
L_THUMB_DISTAL	str	Joint with ID L_thumb_distal_joint.
L_INDEX_PROXIMAL	str	Joint with ID L_index_proximal_joint.
L_INDEX_INTERMEDIATE	str	Joint with ID L_index_intermediate_joint.
L_MIDDLE_PROXIMAL	str	Joint with ID L_middle_proximal_joint.
L_MIDDLE_INTERMEDIATE	str	Joint with ID L_middle_intermediate_joint.
L_RING_PROXIMAL	str	Joint with ID L_ring_proximal_joint.
L_RING_INTERMEDIATE	str	Joint with ID L_ring_intermediate_joint.
L_PINKY_PROXIMAL	str	Joint with ID L_pinky_proximal_joint.
L_PINKY_INTERMEDIATE	str	Joint with ID L_pinky_intermediate_joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw joint.
RIGHT_ELBOW	str	The right elbow joint.
RIGHT_HAND	str	Joint with ID right_hand_joint.
R_BASE_LINK	str	Joint with ID R_base_link_joint.
R_THUMB_PROXIMAL_YAW	str	Joint with ID R_thumb_proximal_yaw_joint.
R_THUMB_PROXIMAL_PITCH	str	Joint with ID R_thumb_proximal_pitch_joint.
R_THUMB_INTERMEDIATE	str	Joint with ID R_thumb_intermediate_joint.
R_THUMB_DISTAL	str	Joint with ID R_thumb_distal_joint.
R_INDEX_PROXIMAL	str	Joint with ID R_index_proximal_joint.
R_INDEX_INTERMEDIATE	str	Joint with ID R_index_intermediate_joint.
R_MIDDLE_PROXIMAL	str	Joint with ID R_middle_proximal_joint.
R_MIDDLE_INTERMEDIATE	str	Joint with ID R_middle_intermediate_joint.
R_RING_PROXIMAL	str	Joint with ID R_ring_proximal_joint.
R_RING_INTERMEDIATE	str	Joint with ID R_ring_intermediate_joint.
R_PINKY_PROXIMAL	str	Joint with ID R_pinky_proximal_joint.
R_PINKY_INTERMEDIATE	str	Joint with ID R_pinky_intermediate_joint.
LOGO	str	The logo joint.
D435_LEFT_IMAGER	str	Joint with ID d435_left_imager_joint.
D435_RGB_MODULE	str	Joint with ID d435_rgb_module_joint.
MID360	str	The mid360 joint.

Attributes

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_joint'

The left hip yaw joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_joint'

The left hip roll joint.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_joint'

The left hip pitch joint.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_joint'

The left knee joint.

LEFT_ANKLE class-attribute instance-attribute

LEFT_ANKLE: str = 'left_ankle_joint'

Joint with ID left_ankle_joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_joint'

The right hip yaw joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_joint'

The right hip roll joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_joint'

The right hip pitch joint.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_joint'

The right knee joint.

RIGHT_ANKLE class-attribute instance-attribute

RIGHT_ANKLE: str = 'right_ankle_joint'

Joint with ID right_ankle_joint.

TORSO class-attribute instance-attribute

TORSO: str = 'torso_joint'

Joint with ID torso_joint.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_joint'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_joint'

The left shoulder roll joint.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_joint'

The left shoulder yaw joint.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_joint'

The left elbow joint.

LEFT_HAND class-attribute instance-attribute

LEFT_HAND: str = 'left_hand_joint'

Joint with ID left_hand_joint.

L_BASE_LINK class-attribute instance-attribute

L_BASE_LINK: str = 'L_base_link_joint'

Joint with ID L_base_link_joint.

L_THUMB_PROXIMAL_YAW class-attribute instance-attribute

L_THUMB_PROXIMAL_YAW: str = 'L_thumb_proximal_yaw_joint'

Joint with ID L_thumb_proximal_yaw_joint.

L_THUMB_PROXIMAL_PITCH class-attribute instance-attribute

L_THUMB_PROXIMAL_PITCH: str = 'L_thumb_proximal_pitch_joint'

Joint with ID L_thumb_proximal_pitch_joint.

L_THUMB_INTERMEDIATE class-attribute instance-attribute

L_THUMB_INTERMEDIATE: str = 'L_thumb_intermediate_joint'

Joint with ID L_thumb_intermediate_joint.

L_THUMB_DISTAL class-attribute instance-attribute

L_THUMB_DISTAL: str = 'L_thumb_distal_joint'

Joint with ID L_thumb_distal_joint.

L_INDEX_PROXIMAL class-attribute instance-attribute

L_INDEX_PROXIMAL: str = 'L_index_proximal_joint'

Joint with ID L_index_proximal_joint.

L_INDEX_INTERMEDIATE class-attribute instance-attribute

L_INDEX_INTERMEDIATE: str = 'L_index_intermediate_joint'

Joint with ID L_index_intermediate_joint.

L_MIDDLE_PROXIMAL class-attribute instance-attribute

L_MIDDLE_PROXIMAL: str = 'L_middle_proximal_joint'

Joint with ID L_middle_proximal_joint.

L_MIDDLE_INTERMEDIATE class-attribute instance-attribute

L_MIDDLE_INTERMEDIATE: str = 'L_middle_intermediate_joint'

Joint with ID L_middle_intermediate_joint.

L_RING_PROXIMAL class-attribute instance-attribute

L_RING_PROXIMAL: str = 'L_ring_proximal_joint'

Joint with ID L_ring_proximal_joint.

L_RING_INTERMEDIATE class-attribute instance-attribute

L_RING_INTERMEDIATE: str = 'L_ring_intermediate_joint'

Joint with ID L_ring_intermediate_joint.

L_PINKY_PROXIMAL class-attribute instance-attribute

L_PINKY_PROXIMAL: str = 'L_pinky_proximal_joint'

Joint with ID L_pinky_proximal_joint.

L_PINKY_INTERMEDIATE class-attribute instance-attribute

L_PINKY_INTERMEDIATE: str = 'L_pinky_intermediate_joint'

Joint with ID L_pinky_intermediate_joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_joint'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_joint'

The right shoulder roll joint.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_joint'

The right shoulder yaw joint.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_joint'

The right elbow joint.

RIGHT_HAND class-attribute instance-attribute

RIGHT_HAND: str = 'right_hand_joint'

Joint with ID right_hand_joint.

R_BASE_LINK class-attribute instance-attribute

R_BASE_LINK: str = 'R_base_link_joint'

Joint with ID R_base_link_joint.

R_THUMB_PROXIMAL_YAW class-attribute instance-attribute

R_THUMB_PROXIMAL_YAW: str = 'R_thumb_proximal_yaw_joint'

Joint with ID R_thumb_proximal_yaw_joint.

R_THUMB_PROXIMAL_PITCH class-attribute instance-attribute

R_THUMB_PROXIMAL_PITCH: str = 'R_thumb_proximal_pitch_joint'

Joint with ID R_thumb_proximal_pitch_joint.

R_THUMB_INTERMEDIATE class-attribute instance-attribute

R_THUMB_INTERMEDIATE: str = 'R_thumb_intermediate_joint'

Joint with ID R_thumb_intermediate_joint.

R_THUMB_DISTAL class-attribute instance-attribute

R_THUMB_DISTAL: str = 'R_thumb_distal_joint'

Joint with ID R_thumb_distal_joint.

R_INDEX_PROXIMAL class-attribute instance-attribute

R_INDEX_PROXIMAL: str = 'R_index_proximal_joint'

Joint with ID R_index_proximal_joint.

R_INDEX_INTERMEDIATE class-attribute instance-attribute

R_INDEX_INTERMEDIATE: str = 'R_index_intermediate_joint'

Joint with ID R_index_intermediate_joint.

R_MIDDLE_PROXIMAL class-attribute instance-attribute

R_MIDDLE_PROXIMAL: str = 'R_middle_proximal_joint'

Joint with ID R_middle_proximal_joint.

R_MIDDLE_INTERMEDIATE class-attribute instance-attribute

R_MIDDLE_INTERMEDIATE: str = 'R_middle_intermediate_joint'

Joint with ID R_middle_intermediate_joint.

R_RING_PROXIMAL class-attribute instance-attribute

R_RING_PROXIMAL: str = 'R_ring_proximal_joint'

Joint with ID R_ring_proximal_joint.

R_RING_INTERMEDIATE class-attribute instance-attribute

R_RING_INTERMEDIATE: str = 'R_ring_intermediate_joint'

Joint with ID R_ring_intermediate_joint.

R_PINKY_PROXIMAL class-attribute instance-attribute

R_PINKY_PROXIMAL: str = 'R_pinky_proximal_joint'

Joint with ID R_pinky_proximal_joint.

R_PINKY_INTERMEDIATE class-attribute instance-attribute

R_PINKY_INTERMEDIATE: str = 'R_pinky_intermediate_joint'

Joint with ID R_pinky_intermediate_joint.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_joint'

The logo joint.

D435_LEFT_IMAGER class-attribute instance-attribute

D435_LEFT_IMAGER: str = 'd435_left_imager_joint'

Joint with ID d435_left_imager_joint.

D435_RGB_MODULE class-attribute instance-attribute

D435_RGB_MODULE: str = 'd435_rgb_module_joint'

Joint with ID d435_rgb_module_joint.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_joint'

The mid360 joint.

UnitreeH1WithHandLinkId

Bases: LinkId

Link identifiers for the Unitree H1 with Hand robot.

Attributes:

Name	Type	Description
PELVIS	str	The pelvis link.
LEFT_HIP_YAW	str	The left hip yaw link.
LEFT_HIP_ROLL	str	The left hip roll link.
LEFT_HIP_PITCH	str	The left hip pitch link.
LEFT_KNEE	str	The left knee link.
LEFT_ANKLE	str	Link with ID left_ankle_link.
RIGHT_HIP_YAW	str	The right hip yaw link.
RIGHT_HIP_ROLL	str	The right hip roll link.
RIGHT_HIP_PITCH	str	The right hip pitch link.
RIGHT_KNEE	str	The right knee link.
RIGHT_ANKLE	str	Link with ID right_ankle_link.
TORSO	str	The torso link.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch link.
LEFT_SHOULDER_ROLL	str	The left shoulder roll link.
LEFT_SHOULDER_YAW	str	The left shoulder yaw link.
LEFT_ELBOW	str	The left elbow link.
LEFT_HAND	str	Link with ID left_hand_link.
L_HAND_BASE	str	Link with ID L_hand_base_link.
L_THUMB_PROXIMAL_BASE	str	Link with ID L_thumb_proximal_base.
L_THUMB_PROXIMAL	str	Link with ID L_thumb_proximal.
L_THUMB_INTERMEDIATE	str	Link with ID L_thumb_intermediate.
L_THUMB_DISTAL	str	Link with ID L_thumb_distal.
L_INDEX_PROXIMAL	str	Link with ID L_index_proximal.
L_INDEX_INTERMEDIATE	str	Link with ID L_index_intermediate.
L_MIDDLE_PROXIMAL	str	Link with ID L_middle_proximal.
L_MIDDLE_INTERMEDIATE	str	Link with ID L_middle_intermediate.
L_RING_PROXIMAL	str	Link with ID L_ring_proximal.
L_RING_INTERMEDIATE	str	Link with ID L_ring_intermediate.
L_PINKY_PROXIMAL	str	Link with ID L_pinky_proximal.
L_PINKY_INTERMEDIATE	str	Link with ID L_pinky_intermediate.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch link.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll link.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw link.
RIGHT_ELBOW	str	The right elbow link.
RIGHT_HAND	str	Link with ID right_hand_link.
R_HAND_BASE	str	Link with ID R_hand_base_link.
R_THUMB_PROXIMAL_BASE	str	Link with ID R_thumb_proximal_base.
R_THUMB_PROXIMAL	str	Link with ID R_thumb_proximal.
R_THUMB_INTERMEDIATE	str	Link with ID R_thumb_intermediate.
R_THUMB_DISTAL	str	Link with ID R_thumb_distal.
R_INDEX_PROXIMAL	str	Link with ID R_index_proximal.
R_INDEX_INTERMEDIATE	str	Link with ID R_index_intermediate.
R_MIDDLE_PROXIMAL	str	Link with ID R_middle_proximal.
R_MIDDLE_INTERMEDIATE	str	Link with ID R_middle_intermediate.
R_RING_PROXIMAL	str	Link with ID R_ring_proximal.
R_RING_INTERMEDIATE	str	Link with ID R_ring_intermediate.
R_PINKY_PROXIMAL	str	Link with ID R_pinky_proximal.
R_PINKY_INTERMEDIATE	str	Link with ID R_pinky_intermediate.
LOGO	str	The logo link.
D435_LEFT_IMAGER	str	Link with ID d435_left_imager_link.
D435_RGB_MODULE	str	Link with ID d435_rgb_module_link.
MID360	str	The mid360 link.

Attributes

PELVIS class-attribute instance-attribute

PELVIS: str = 'pelvis'

The pelvis link.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_link'

The left hip yaw link.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_link'

The left hip roll link.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_link'

The left hip pitch link.

LEFT_KNEE class-attribute instance-attribute

LEFT_KNEE: str = 'left_knee_link'

The left knee link.

LEFT_ANKLE class-attribute instance-attribute

LEFT_ANKLE: str = 'left_ankle_link'

Link with ID left_ankle_link.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_link'

The right hip yaw link.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_link'

The right hip roll link.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_link'

The right hip pitch link.

RIGHT_KNEE class-attribute instance-attribute

RIGHT_KNEE: str = 'right_knee_link'

The right knee link.

RIGHT_ANKLE class-attribute instance-attribute

RIGHT_ANKLE: str = 'right_ankle_link'

Link with ID right_ankle_link.

TORSO class-attribute instance-attribute

TORSO: str = 'torso_link'

The torso link.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_link'

The left shoulder pitch link.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_link'

The left shoulder roll link.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_link'

The left shoulder yaw link.

LEFT_ELBOW class-attribute instance-attribute

LEFT_ELBOW: str = 'left_elbow_link'

The left elbow link.

LEFT_HAND class-attribute instance-attribute

LEFT_HAND: str = 'left_hand_link'

Link with ID left_hand_link.

L_HAND_BASE class-attribute instance-attribute

L_HAND_BASE: str = 'L_hand_base_link'

Link with ID L_hand_base_link.

L_THUMB_PROXIMAL_BASE class-attribute instance-attribute

L_THUMB_PROXIMAL_BASE: str = 'L_thumb_proximal_base'

Link with ID L_thumb_proximal_base.

L_THUMB_PROXIMAL class-attribute instance-attribute

L_THUMB_PROXIMAL: str = 'L_thumb_proximal'

Link with ID L_thumb_proximal.

L_THUMB_INTERMEDIATE class-attribute instance-attribute

L_THUMB_INTERMEDIATE: str = 'L_thumb_intermediate'

Link with ID L_thumb_intermediate.

L_THUMB_DISTAL class-attribute instance-attribute

L_THUMB_DISTAL: str = 'L_thumb_distal'

Link with ID L_thumb_distal.

L_INDEX_PROXIMAL class-attribute instance-attribute

L_INDEX_PROXIMAL: str = 'L_index_proximal'

Link with ID L_index_proximal.

L_INDEX_INTERMEDIATE class-attribute instance-attribute

L_INDEX_INTERMEDIATE: str = 'L_index_intermediate'

Link with ID L_index_intermediate.

L_MIDDLE_PROXIMAL class-attribute instance-attribute

L_MIDDLE_PROXIMAL: str = 'L_middle_proximal'

Link with ID L_middle_proximal.

L_MIDDLE_INTERMEDIATE class-attribute instance-attribute

L_MIDDLE_INTERMEDIATE: str = 'L_middle_intermediate'

Link with ID L_middle_intermediate.

L_RING_PROXIMAL class-attribute instance-attribute

L_RING_PROXIMAL: str = 'L_ring_proximal'

Link with ID L_ring_proximal.

L_RING_INTERMEDIATE class-attribute instance-attribute

L_RING_INTERMEDIATE: str = 'L_ring_intermediate'

Link with ID L_ring_intermediate.

L_PINKY_PROXIMAL class-attribute instance-attribute

L_PINKY_PROXIMAL: str = 'L_pinky_proximal'

Link with ID L_pinky_proximal.

L_PINKY_INTERMEDIATE class-attribute instance-attribute

L_PINKY_INTERMEDIATE: str = 'L_pinky_intermediate'

Link with ID L_pinky_intermediate.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_link'

The right shoulder pitch link.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_link'

The right shoulder roll link.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_link'

The right shoulder yaw link.

RIGHT_ELBOW class-attribute instance-attribute

RIGHT_ELBOW: str = 'right_elbow_link'

The right elbow link.

RIGHT_HAND class-attribute instance-attribute

RIGHT_HAND: str = 'right_hand_link'

Link with ID right_hand_link.

R_HAND_BASE class-attribute instance-attribute

R_HAND_BASE: str = 'R_hand_base_link'

Link with ID R_hand_base_link.

R_THUMB_PROXIMAL_BASE class-attribute instance-attribute

R_THUMB_PROXIMAL_BASE: str = 'R_thumb_proximal_base'

Link with ID R_thumb_proximal_base.

R_THUMB_PROXIMAL class-attribute instance-attribute

R_THUMB_PROXIMAL: str = 'R_thumb_proximal'

Link with ID R_thumb_proximal.

R_THUMB_INTERMEDIATE class-attribute instance-attribute

R_THUMB_INTERMEDIATE: str = 'R_thumb_intermediate'

Link with ID R_thumb_intermediate.

R_THUMB_DISTAL class-attribute instance-attribute

R_THUMB_DISTAL: str = 'R_thumb_distal'

Link with ID R_thumb_distal.

R_INDEX_PROXIMAL class-attribute instance-attribute

R_INDEX_PROXIMAL: str = 'R_index_proximal'

Link with ID R_index_proximal.

R_INDEX_INTERMEDIATE class-attribute instance-attribute

R_INDEX_INTERMEDIATE: str = 'R_index_intermediate'

Link with ID R_index_intermediate.

R_MIDDLE_PROXIMAL class-attribute instance-attribute

R_MIDDLE_PROXIMAL: str = 'R_middle_proximal'

Link with ID R_middle_proximal.

R_MIDDLE_INTERMEDIATE class-attribute instance-attribute

R_MIDDLE_INTERMEDIATE: str = 'R_middle_intermediate'

Link with ID R_middle_intermediate.

R_RING_PROXIMAL class-attribute instance-attribute

R_RING_PROXIMAL: str = 'R_ring_proximal'

Link with ID R_ring_proximal.

R_RING_INTERMEDIATE class-attribute instance-attribute

R_RING_INTERMEDIATE: str = 'R_ring_intermediate'

Link with ID R_ring_intermediate.

R_PINKY_PROXIMAL class-attribute instance-attribute

R_PINKY_PROXIMAL: str = 'R_pinky_proximal'

Link with ID R_pinky_proximal.

R_PINKY_INTERMEDIATE class-attribute instance-attribute

R_PINKY_INTERMEDIATE: str = 'R_pinky_intermediate'

Link with ID R_pinky_intermediate.

LOGO class-attribute instance-attribute

LOGO: str = 'logo_link'

The logo link.

D435_LEFT_IMAGER class-attribute instance-attribute

D435_LEFT_IMAGER: str = 'd435_left_imager_link'

Link with ID d435_left_imager_link.

D435_RGB_MODULE class-attribute instance-attribute

D435_RGB_MODULE: str = 'd435_rgb_module_link'

Link with ID d435_rgb_module_link.

MID360 class-attribute instance-attribute

MID360: str = 'mid360_link'

The mid360 link.

BoosterT1LocomotionJointId

Bases: JointId

Joint identifiers for the Booster T1 Locomotion robot.

Attributes:

Name	Type	Description
AAHEAD_YAW	str	Joint with ID AAHead_yaw.
HEAD_PITCH	str	Joint with ID Head_pitch.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_ELBOW_PITCH	str	Joint with ID Left_Elbow_Pitch.
LEFT_ELBOW_YAW	str	The left elbow joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_ELBOW_PITCH	str	Joint with ID Right_Elbow_Pitch.
RIGHT_ELBOW_YAW	str	The right elbow joint.
WAIST	str	Joint with ID Waist.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_KNEE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_ROLL	str	The left ankle roll joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_KNEE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_ROLL	str	The right ankle roll joint.

Attributes

AAHEAD_YAW class-attribute instance-attribute

AAHEAD_YAW: str = 'AAHead_yaw'

Joint with ID AAHead_yaw.

HEAD_PITCH class-attribute instance-attribute

HEAD_PITCH: str = 'Head_pitch'

Joint with ID Head_pitch.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'Left_Shoulder_Pitch'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'Left_Shoulder_Roll'

The left shoulder roll joint.

LEFT_ELBOW_PITCH class-attribute instance-attribute

LEFT_ELBOW_PITCH: str = 'Left_Elbow_Pitch'

Joint with ID Left_Elbow_Pitch.

LEFT_ELBOW_YAW class-attribute instance-attribute

LEFT_ELBOW_YAW: str = 'Left_Elbow_Yaw'

The left elbow joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'Right_Shoulder_Pitch'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'Right_Shoulder_Roll'

The right shoulder roll joint.

RIGHT_ELBOW_PITCH class-attribute instance-attribute

RIGHT_ELBOW_PITCH: str = 'Right_Elbow_Pitch'

Joint with ID Right_Elbow_Pitch.

RIGHT_ELBOW_YAW class-attribute instance-attribute

RIGHT_ELBOW_YAW: str = 'Right_Elbow_Yaw'

The right elbow joint.

WAIST class-attribute instance-attribute

WAIST: str = 'Waist'

Joint with ID Waist.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'Left_Hip_Pitch'

The left hip pitch joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'Left_Hip_Roll'

The left hip roll joint.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'Left_Hip_Yaw'

The left hip yaw joint.

LEFT_KNEE_PITCH class-attribute instance-attribute

LEFT_KNEE_PITCH: str = 'Left_Knee_Pitch'

The left ankle pitch joint.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'Left_Ankle_Pitch'

The left ankle pitch joint.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'Left_Ankle_Roll'

The left ankle roll joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'Right_Hip_Pitch'

The right hip pitch joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'Right_Hip_Roll'

The right hip roll joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'Right_Hip_Yaw'

The right hip yaw joint.

RIGHT_KNEE_PITCH class-attribute instance-attribute

RIGHT_KNEE_PITCH: str = 'Right_Knee_Pitch'

The right ankle pitch joint.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'Right_Ankle_Pitch'

The right ankle pitch joint.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'Right_Ankle_Roll'

The right ankle roll joint.

BoosterT1LocomotionLinkId

Bases: LinkId

Link identifiers for the Booster T1 Locomotion robot.

Attributes:

Name	Type	Description
TRUNK	str	Link with ID Trunk.
H1	str	Link with ID H1.
H2	str	Link with ID H2.
AL1	str	Link with ID AL1.
AL2	str	Link with ID AL2.
AL3	str	Link with ID AL3.
LEFT_HAND	str	Link with ID left_hand_link.
AR1	str	Link with ID AR1.
AR2	str	Link with ID AR2.
AR3	str	Link with ID AR3.
RIGHT_HAND	str	Link with ID right_hand_link.
WAIST	str	Link with ID Waist.
HIP_PITCH_LEFT	str	Link with ID Hip_Pitch_Left.
HIP_ROLL_LEFT	str	Link with ID Hip_Roll_Left.
HIP_YAW_LEFT	str	Link with ID Hip_Yaw_Left.
SHANK_LEFT	str	Link with ID Shank_Left.
ANKLE_CROSS_LEFT	str	Link with ID Ankle_Cross_Left.
LEFT_FOOT	str	Link with ID left_foot_link.
HIP_PITCH_RIGHT	str	Link with ID Hip_Pitch_Right.
HIP_ROLL_RIGHT	str	Link with ID Hip_Roll_Right.
HIP_YAW_RIGHT	str	Link with ID Hip_Yaw_Right.
SHANK_RIGHT	str	Link with ID Shank_Right.
ANKLE_CROSS_RIGHT	str	Link with ID Ankle_Cross_Right.
RIGHT_FOOT	str	Link with ID right_foot_link.

Attributes

TRUNK class-attribute instance-attribute

TRUNK: str = 'Trunk'

Link with ID Trunk.

H1 class-attribute instance-attribute

H1: str = 'H1'

Link with ID H1.

H2 class-attribute instance-attribute

H2: str = 'H2'

Link with ID H2.

AL1 class-attribute instance-attribute

AL1: str = 'AL1'

Link with ID AL1.

AL2 class-attribute instance-attribute

AL2: str = 'AL2'

Link with ID AL2.

AL3 class-attribute instance-attribute

AL3: str = 'AL3'

Link with ID AL3.

LEFT_HAND class-attribute instance-attribute

LEFT_HAND: str = 'left_hand_link'

Link with ID left_hand_link.

AR1 class-attribute instance-attribute

AR1: str = 'AR1'

Link with ID AR1.

AR2 class-attribute instance-attribute

AR2: str = 'AR2'

Link with ID AR2.

AR3 class-attribute instance-attribute

AR3: str = 'AR3'

Link with ID AR3.

RIGHT_HAND class-attribute instance-attribute

RIGHT_HAND: str = 'right_hand_link'

Link with ID right_hand_link.

WAIST class-attribute instance-attribute

WAIST: str = 'Waist'

Link with ID Waist.

HIP_PITCH_LEFT class-attribute instance-attribute

HIP_PITCH_LEFT: str = 'Hip_Pitch_Left'

Link with ID Hip_Pitch_Left.

HIP_ROLL_LEFT class-attribute instance-attribute

HIP_ROLL_LEFT: str = 'Hip_Roll_Left'

Link with ID Hip_Roll_Left.

HIP_YAW_LEFT class-attribute instance-attribute

HIP_YAW_LEFT: str = 'Hip_Yaw_Left'

Link with ID Hip_Yaw_Left.

SHANK_LEFT class-attribute instance-attribute

SHANK_LEFT: str = 'Shank_Left'

Link with ID Shank_Left.

ANKLE_CROSS_LEFT class-attribute instance-attribute

ANKLE_CROSS_LEFT: str = 'Ankle_Cross_Left'

Link with ID Ankle_Cross_Left.

LEFT_FOOT class-attribute instance-attribute

LEFT_FOOT: str = 'left_foot_link'

Link with ID left_foot_link.

HIP_PITCH_RIGHT class-attribute instance-attribute

HIP_PITCH_RIGHT: str = 'Hip_Pitch_Right'

Link with ID Hip_Pitch_Right.

HIP_ROLL_RIGHT class-attribute instance-attribute

HIP_ROLL_RIGHT: str = 'Hip_Roll_Right'

Link with ID Hip_Roll_Right.

HIP_YAW_RIGHT class-attribute instance-attribute

HIP_YAW_RIGHT: str = 'Hip_Yaw_Right'

Link with ID Hip_Yaw_Right.

SHANK_RIGHT class-attribute instance-attribute

SHANK_RIGHT: str = 'Shank_Right'

Link with ID Shank_Right.

ANKLE_CROSS_RIGHT class-attribute instance-attribute

ANKLE_CROSS_RIGHT: str = 'Ankle_Cross_Right'

Link with ID Ankle_Cross_Right.

RIGHT_FOOT class-attribute instance-attribute

RIGHT_FOOT: str = 'right_foot_link'

Link with ID right_foot_link.

BoosterT1SerialJointId

Bases: JointId

Joint identifiers for the Booster T1 Serial robot.

Attributes:

Name	Type	Description
AAHEAD_YAW	str	Joint with ID AAHead_yaw.
HEAD_PITCH	str	Joint with ID Head_pitch.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_ELBOW_PITCH	str	Joint with ID Left_Elbow_Pitch.
LEFT_ELBOW_YAW	str	The left elbow joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_ELBOW_PITCH	str	Joint with ID Right_Elbow_Pitch.
RIGHT_ELBOW_YAW	str	The right elbow joint.
WAIST	str	Joint with ID Waist.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_KNEE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_ROLL	str	The left ankle roll joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_KNEE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_ROLL	str	The right ankle roll joint.

Attributes

AAHEAD_YAW class-attribute instance-attribute

AAHEAD_YAW: str = 'AAHead_yaw'

Joint with ID AAHead_yaw.

HEAD_PITCH class-attribute instance-attribute

HEAD_PITCH: str = 'Head_pitch'

Joint with ID Head_pitch.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'Left_Shoulder_Pitch'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'Left_Shoulder_Roll'

The left shoulder roll joint.

LEFT_ELBOW_PITCH class-attribute instance-attribute

LEFT_ELBOW_PITCH: str = 'Left_Elbow_Pitch'

Joint with ID Left_Elbow_Pitch.

LEFT_ELBOW_YAW class-attribute instance-attribute

LEFT_ELBOW_YAW: str = 'Left_Elbow_Yaw'

The left elbow joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'Right_Shoulder_Pitch'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'Right_Shoulder_Roll'

The right shoulder roll joint.

RIGHT_ELBOW_PITCH class-attribute instance-attribute

RIGHT_ELBOW_PITCH: str = 'Right_Elbow_Pitch'

Joint with ID Right_Elbow_Pitch.

RIGHT_ELBOW_YAW class-attribute instance-attribute

RIGHT_ELBOW_YAW: str = 'Right_Elbow_Yaw'

The right elbow joint.

WAIST class-attribute instance-attribute

WAIST: str = 'Waist'

Joint with ID Waist.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'Left_Hip_Pitch'

The left hip pitch joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'Left_Hip_Roll'

The left hip roll joint.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'Left_Hip_Yaw'

The left hip yaw joint.

LEFT_KNEE_PITCH class-attribute instance-attribute

LEFT_KNEE_PITCH: str = 'Left_Knee_Pitch'

The left ankle pitch joint.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'Left_Ankle_Pitch'

The left ankle pitch joint.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'Left_Ankle_Roll'

The left ankle roll joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'Right_Hip_Pitch'

The right hip pitch joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'Right_Hip_Roll'

The right hip roll joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'Right_Hip_Yaw'

The right hip yaw joint.

RIGHT_KNEE_PITCH class-attribute instance-attribute

RIGHT_KNEE_PITCH: str = 'Right_Knee_Pitch'

The right ankle pitch joint.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'Right_Ankle_Pitch'

The right ankle pitch joint.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'Right_Ankle_Roll'

The right ankle roll joint.

BoosterT1SerialLinkId

Bases: LinkId

Link identifiers for the Booster T1 Serial robot.

Attributes:

Name	Type	Description
TRUNK	str	Link with ID Trunk.
H1	str	Link with ID H1.
H2	str	Link with ID H2.
AL1	str	Link with ID AL1.
AL2	str	Link with ID AL2.
AL3	str	Link with ID AL3.
LEFT_HAND	str	Link with ID left_hand_link.
AR1	str	Link with ID AR1.
AR2	str	Link with ID AR2.
AR3	str	Link with ID AR3.
RIGHT_HAND	str	Link with ID right_hand_link.
WAIST	str	Link with ID Waist.
HIP_PITCH_LEFT	str	Link with ID Hip_Pitch_Left.
HIP_ROLL_LEFT	str	Link with ID Hip_Roll_Left.
HIP_YAW_LEFT	str	Link with ID Hip_Yaw_Left.
SHANK_LEFT	str	Link with ID Shank_Left.
ANKLE_CROSS_LEFT	str	Link with ID Ankle_Cross_Left.
LEFT_FOOT	str	Link with ID left_foot_link.
HIP_PITCH_RIGHT	str	Link with ID Hip_Pitch_Right.
HIP_ROLL_RIGHT	str	Link with ID Hip_Roll_Right.
HIP_YAW_RIGHT	str	Link with ID Hip_Yaw_Right.
SHANK_RIGHT	str	Link with ID Shank_Right.
ANKLE_CROSS_RIGHT	str	Link with ID Ankle_Cross_Right.
RIGHT_FOOT	str	Link with ID right_foot_link.

Attributes

TRUNK class-attribute instance-attribute

TRUNK: str = 'Trunk'

Link with ID Trunk.

H1 class-attribute instance-attribute

H1: str = 'H1'

Link with ID H1.

H2 class-attribute instance-attribute

H2: str = 'H2'

Link with ID H2.

AL1 class-attribute instance-attribute

AL1: str = 'AL1'

Link with ID AL1.

AL2 class-attribute instance-attribute

AL2: str = 'AL2'

Link with ID AL2.

AL3 class-attribute instance-attribute

AL3: str = 'AL3'

Link with ID AL3.

LEFT_HAND class-attribute instance-attribute

LEFT_HAND: str = 'left_hand_link'

Link with ID left_hand_link.

AR1 class-attribute instance-attribute

AR1: str = 'AR1'

Link with ID AR1.

AR2 class-attribute instance-attribute

AR2: str = 'AR2'

Link with ID AR2.

AR3 class-attribute instance-attribute

AR3: str = 'AR3'

Link with ID AR3.

RIGHT_HAND class-attribute instance-attribute

RIGHT_HAND: str = 'right_hand_link'

Link with ID right_hand_link.

WAIST class-attribute instance-attribute

WAIST: str = 'Waist'

Link with ID Waist.

HIP_PITCH_LEFT class-attribute instance-attribute

HIP_PITCH_LEFT: str = 'Hip_Pitch_Left'

Link with ID Hip_Pitch_Left.

HIP_ROLL_LEFT class-attribute instance-attribute

HIP_ROLL_LEFT: str = 'Hip_Roll_Left'

Link with ID Hip_Roll_Left.

HIP_YAW_LEFT class-attribute instance-attribute

HIP_YAW_LEFT: str = 'Hip_Yaw_Left'

Link with ID Hip_Yaw_Left.

SHANK_LEFT class-attribute instance-attribute

SHANK_LEFT: str = 'Shank_Left'

Link with ID Shank_Left.

ANKLE_CROSS_LEFT class-attribute instance-attribute

ANKLE_CROSS_LEFT: str = 'Ankle_Cross_Left'

Link with ID Ankle_Cross_Left.

LEFT_FOOT class-attribute instance-attribute

LEFT_FOOT: str = 'left_foot_link'

Link with ID left_foot_link.

HIP_PITCH_RIGHT class-attribute instance-attribute

HIP_PITCH_RIGHT: str = 'Hip_Pitch_Right'

Link with ID Hip_Pitch_Right.

HIP_ROLL_RIGHT class-attribute instance-attribute

HIP_ROLL_RIGHT: str = 'Hip_Roll_Right'

Link with ID Hip_Roll_Right.

HIP_YAW_RIGHT class-attribute instance-attribute

HIP_YAW_RIGHT: str = 'Hip_Yaw_Right'

Link with ID Hip_Yaw_Right.

SHANK_RIGHT class-attribute instance-attribute

SHANK_RIGHT: str = 'Shank_Right'

Link with ID Shank_Right.

ANKLE_CROSS_RIGHT class-attribute instance-attribute

ANKLE_CROSS_RIGHT: str = 'Ankle_Cross_Right'

Link with ID Ankle_Cross_Right.

RIGHT_FOOT class-attribute instance-attribute

RIGHT_FOOT: str = 'right_foot_link'

Link with ID right_foot_link.

AgiBotX1JointId

Bases: JointId

Joint identifiers for the AgiBot X1 robot.

Attributes:

Name	Type	Description
LUMBER_YAW	str	Joint with ID lumber_yaw_joint.
LUMBER_ROLL	str	Joint with ID lumber_roll_joint.
LUMBER_PITCH	str	Joint with ID lumber_pitch_joint.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch joint.
LEFT_SHOULDER_ROLL	str	The left shoulder roll joint.
LEFT_SHOULDER_YAW	str	The left shoulder yaw joint.
LEFT_ELBOW_PITCH	str	Joint with ID left_elbow_pitch_joint.
LEFT_ELBOW_YAW	str	The left elbow joint.
LEFT_WRIST_PITCH	str	Joint with ID left_wrist_pitch_joint.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch joint.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll joint.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw joint.
RIGHT_ELBOW_PITCH	str	Joint with ID right_elbow_pitch_joint.
RIGHT_ELBOW_YAW	str	The right elbow joint.
RIGHT_WRIST_PITCH	str	Joint with ID right_wrist_pitch_joint.
WAIST_MOTOR_A_LINK	str	Joint with ID waist_motor_a_link_joint.
WAIST_MOTOR_A_BALL	str	Joint with ID waist_motor_a_ball_joint.
WAIST_MOTOR_A_LOOP	str	Joint with ID waist_motor_a_loop_joint.
WAIST_MOTOR_B_LINK	str	Joint with ID waist_motor_b_link_joint.
WAIST_MOTOR_B_BALL	str	Joint with ID waist_motor_b_ball_joint.
WAIST_MOTOR_B_LOOP	str	Joint with ID waist_motor_b_loop_joint.
LEFT_HIP_PITCH	str	The left hip pitch joint.
LEFT_HIP_ROLL	str	The left hip roll joint.
LEFT_HIP_YAW	str	The left hip yaw joint.
LEFT_KNEE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_PITCH	str	The left ankle pitch joint.
LEFT_ANKLE_ROLL	str	The left ankle roll joint.
LEG_L_TOE_A_LINK	str	Joint with ID leg_l_toe_a_link_joint.
LEG_L_TOE_A_BALL	str	Joint with ID leg_l_toe_a_ball_joint.
LEG_L_TOE_A_LOOP	str	Joint with ID leg_l_toe_a_loop_joint.
LEG_L_TOE_B_LINK	str	Joint with ID leg_l_toe_b_link_joint.
LEG_L_TOE_B_BALL	str	Joint with ID leg_l_toe_b_ball_joint.
LEG_L_TOE_B_LOOP	str	Joint with ID leg_l_toe_b_loop_joint.
RIGHT_HIP_PITCH	str	The right hip pitch joint.
RIGHT_HIP_ROLL	str	The right hip roll joint.
RIGHT_HIP_YAW	str	The right hip yaw joint.
RIGHT_KNEE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_PITCH	str	The right ankle pitch joint.
RIGHT_ANKLE_ROLL	str	The right ankle roll joint.
LEG_R_TOE_A_LINK	str	Joint with ID leg_r_toe_a_link_joint.
LEG_R_TOE_A_BALL	str	Joint with ID leg_r_toe_a_ball_joint.
LEG_R_TOE_A_LOOP	str	Joint with ID leg_r_toe_a_loop_joint.
LEG_R_TOE_B_LINK	str	Joint with ID leg_r_toe_b_link_joint.
LEG_R_TOE_B_BALL	str	Joint with ID leg_r_toe_b_ball_joint.
LEG_R_TOE_B_LOOP	str	Joint with ID leg_r_toe_b_loop_joint.
ARM_R_WRIST_A_BALL	str	Joint with ID arm_r_wrist_a_ball_joint.
ARM_R_WRIST_MOTOR_A_LINK	str	Joint with ID arm_r_wrist_motor_a_link_joint.
ARM_R_WRIST_A_LOOP	str	Joint with ID arm_r_wrist_a_loop_joint.
ARM_R_WRIST_B_BALL	str	Joint with ID arm_r_wrist_b_ball_joint.
ARM_R_WRIST_MOTOR_B_LINK	str	Joint with ID arm_r_wrist_motor_b_link_joint.
ARM_R_WRIST_B_LOOP	str	Joint with ID arm_r_wrist_b_loop_joint.
ARM_L_WRIST_A_BALL	str	Joint with ID arm_l_wrist_a_ball_joint.
ARM_L_WRIST_MOTOR_A_LINK	str	Joint with ID arm_l_wrist_motor_a_link_joint.
ARM_L_WRIST_A_LOOP	str	Joint with ID arm_l_wrist_a_loop_joint.
ARM_L_WRIST_B_BALL	str	Joint with ID arm_l_wrist_b_ball_joint.
ARM_L_WRIST_MOTOR_B_LINK	str	Joint with ID arm_l_wrist_motor_b_link_joint.
ARM_L_WRIST_B_LOOP	str	Joint with ID arm_l_wrist_b_loop_joint.

Attributes

LUMBER_YAW class-attribute instance-attribute

LUMBER_YAW: str = 'lumber_yaw_joint'

Joint with ID lumber_yaw_joint.

LUMBER_ROLL class-attribute instance-attribute

LUMBER_ROLL: str = 'lumber_roll_joint'

Joint with ID lumber_roll_joint.

LUMBER_PITCH class-attribute instance-attribute

LUMBER_PITCH: str = 'lumber_pitch_joint'

Joint with ID lumber_pitch_joint.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch_joint'

The left shoulder pitch joint.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll_joint'

The left shoulder roll joint.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw_joint'

The left shoulder yaw joint.

LEFT_ELBOW_PITCH class-attribute instance-attribute

LEFT_ELBOW_PITCH: str = 'left_elbow_pitch_joint'

Joint with ID left_elbow_pitch_joint.

LEFT_ELBOW_YAW class-attribute instance-attribute

LEFT_ELBOW_YAW: str = 'left_elbow_yaw_joint'

The left elbow joint.

LEFT_WRIST_PITCH class-attribute instance-attribute

LEFT_WRIST_PITCH: str = 'left_wrist_pitch_joint'

Joint with ID left_wrist_pitch_joint.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch_joint'

The right shoulder pitch joint.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll_joint'

The right shoulder roll joint.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw_joint'

The right shoulder yaw joint.

RIGHT_ELBOW_PITCH class-attribute instance-attribute

RIGHT_ELBOW_PITCH: str = 'right_elbow_pitch_joint'

Joint with ID right_elbow_pitch_joint.

RIGHT_ELBOW_YAW class-attribute instance-attribute

RIGHT_ELBOW_YAW: str = 'right_elbow_yaw_joint'

The right elbow joint.

RIGHT_WRIST_PITCH class-attribute instance-attribute

RIGHT_WRIST_PITCH: str = 'right_wrist_pitch_joint'

Joint with ID right_wrist_pitch_joint.

WAIST_MOTOR_A_LINK class-attribute instance-attribute

WAIST_MOTOR_A_LINK: str = 'waist_motor_a_link_joint'

Joint with ID waist_motor_a_link_joint.

WAIST_MOTOR_A_BALL class-attribute instance-attribute

WAIST_MOTOR_A_BALL: str = 'waist_motor_a_ball_joint'

Joint with ID waist_motor_a_ball_joint.

WAIST_MOTOR_A_LOOP class-attribute instance-attribute

WAIST_MOTOR_A_LOOP: str = 'waist_motor_a_loop_joint'

Joint with ID waist_motor_a_loop_joint.

WAIST_MOTOR_B_LINK class-attribute instance-attribute

WAIST_MOTOR_B_LINK: str = 'waist_motor_b_link_joint'

Joint with ID waist_motor_b_link_joint.

WAIST_MOTOR_B_BALL class-attribute instance-attribute

WAIST_MOTOR_B_BALL: str = 'waist_motor_b_ball_joint'

Joint with ID waist_motor_b_ball_joint.

WAIST_MOTOR_B_LOOP class-attribute instance-attribute

WAIST_MOTOR_B_LOOP: str = 'waist_motor_b_loop_joint'

Joint with ID waist_motor_b_loop_joint.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch_joint'

The left hip pitch joint.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll_joint'

The left hip roll joint.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw_joint'

The left hip yaw joint.

LEFT_KNEE_PITCH class-attribute instance-attribute

LEFT_KNEE_PITCH: str = 'left_knee_pitch_joint'

The left ankle pitch joint.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'left_ankle_pitch_joint'

The left ankle pitch joint.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'left_ankle_roll_joint'

The left ankle roll joint.

LEG_L_TOE_A_LINK class-attribute instance-attribute

LEG_L_TOE_A_LINK: str = 'leg_l_toe_a_link_joint'

Joint with ID leg_l_toe_a_link_joint.

LEG_L_TOE_A_BALL class-attribute instance-attribute

LEG_L_TOE_A_BALL: str = 'leg_l_toe_a_ball_joint'

Joint with ID leg_l_toe_a_ball_joint.

LEG_L_TOE_A_LOOP class-attribute instance-attribute

LEG_L_TOE_A_LOOP: str = 'leg_l_toe_a_loop_joint'

Joint with ID leg_l_toe_a_loop_joint.

LEG_L_TOE_B_LINK class-attribute instance-attribute

LEG_L_TOE_B_LINK: str = 'leg_l_toe_b_link_joint'

Joint with ID leg_l_toe_b_link_joint.

LEG_L_TOE_B_BALL class-attribute instance-attribute

LEG_L_TOE_B_BALL: str = 'leg_l_toe_b_ball_joint'

Joint with ID leg_l_toe_b_ball_joint.

LEG_L_TOE_B_LOOP class-attribute instance-attribute

LEG_L_TOE_B_LOOP: str = 'leg_l_toe_b_loop_joint'

Joint with ID leg_l_toe_b_loop_joint.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch_joint'

The right hip pitch joint.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll_joint'

The right hip roll joint.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw_joint'

The right hip yaw joint.

RIGHT_KNEE_PITCH class-attribute instance-attribute

RIGHT_KNEE_PITCH: str = 'right_knee_pitch_joint'

The right ankle pitch joint.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'right_ankle_pitch_joint'

The right ankle pitch joint.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'right_ankle_roll_joint'

The right ankle roll joint.

LEG_R_TOE_A_LINK class-attribute instance-attribute

LEG_R_TOE_A_LINK: str = 'leg_r_toe_a_link_joint'

Joint with ID leg_r_toe_a_link_joint.

LEG_R_TOE_A_BALL class-attribute instance-attribute

LEG_R_TOE_A_BALL: str = 'leg_r_toe_a_ball_joint'

Joint with ID leg_r_toe_a_ball_joint.

LEG_R_TOE_A_LOOP class-attribute instance-attribute

LEG_R_TOE_A_LOOP: str = 'leg_r_toe_a_loop_joint'

Joint with ID leg_r_toe_a_loop_joint.

LEG_R_TOE_B_LINK class-attribute instance-attribute

LEG_R_TOE_B_LINK: str = 'leg_r_toe_b_link_joint'

Joint with ID leg_r_toe_b_link_joint.

LEG_R_TOE_B_BALL class-attribute instance-attribute

LEG_R_TOE_B_BALL: str = 'leg_r_toe_b_ball_joint'

Joint with ID leg_r_toe_b_ball_joint.

LEG_R_TOE_B_LOOP class-attribute instance-attribute

LEG_R_TOE_B_LOOP: str = 'leg_r_toe_b_loop_joint'

Joint with ID leg_r_toe_b_loop_joint.

ARM_R_WRIST_A_BALL class-attribute instance-attribute

ARM_R_WRIST_A_BALL: str = 'arm_r_wrist_a_ball_joint'

Joint with ID arm_r_wrist_a_ball_joint.

ARM_R_WRIST_MOTOR_A_LINK class-attribute instance-attribute

ARM_R_WRIST_MOTOR_A_LINK: str = 'arm_r_wrist_motor_a_link_joint'

Joint with ID arm_r_wrist_motor_a_link_joint.

ARM_R_WRIST_A_LOOP class-attribute instance-attribute

ARM_R_WRIST_A_LOOP: str = 'arm_r_wrist_a_loop_joint'

Joint with ID arm_r_wrist_a_loop_joint.

ARM_R_WRIST_B_BALL class-attribute instance-attribute

ARM_R_WRIST_B_BALL: str = 'arm_r_wrist_b_ball_joint'

Joint with ID arm_r_wrist_b_ball_joint.

ARM_R_WRIST_MOTOR_B_LINK class-attribute instance-attribute

ARM_R_WRIST_MOTOR_B_LINK: str = 'arm_r_wrist_motor_b_link_joint'

Joint with ID arm_r_wrist_motor_b_link_joint.

ARM_R_WRIST_B_LOOP class-attribute instance-attribute

ARM_R_WRIST_B_LOOP: str = 'arm_r_wrist_b_loop_joint'

Joint with ID arm_r_wrist_b_loop_joint.

ARM_L_WRIST_A_BALL class-attribute instance-attribute

ARM_L_WRIST_A_BALL: str = 'arm_l_wrist_a_ball_joint'

Joint with ID arm_l_wrist_a_ball_joint.

ARM_L_WRIST_MOTOR_A_LINK class-attribute instance-attribute

ARM_L_WRIST_MOTOR_A_LINK: str = 'arm_l_wrist_motor_a_link_joint'

Joint with ID arm_l_wrist_motor_a_link_joint.

ARM_L_WRIST_A_LOOP class-attribute instance-attribute

ARM_L_WRIST_A_LOOP: str = 'arm_l_wrist_a_loop_joint'

Joint with ID arm_l_wrist_a_loop_joint.

ARM_L_WRIST_B_BALL class-attribute instance-attribute

ARM_L_WRIST_B_BALL: str = 'arm_l_wrist_b_ball_joint'

Joint with ID arm_l_wrist_b_ball_joint.

ARM_L_WRIST_MOTOR_B_LINK class-attribute instance-attribute

ARM_L_WRIST_MOTOR_B_LINK: str = 'arm_l_wrist_motor_b_link_joint'

Joint with ID arm_l_wrist_motor_b_link_joint.

ARM_L_WRIST_B_LOOP class-attribute instance-attribute

ARM_L_WRIST_B_LOOP: str = 'arm_l_wrist_b_loop_joint'

Joint with ID arm_l_wrist_b_loop_joint.

AgiBotX1LinkId

Bases: LinkId

Link identifiers for the AgiBot X1 robot.

Attributes:

Name	Type	Description
BASE	str	Link with ID base_link.
LUMBER_YAW	str	Link with ID lumber_yaw.
LUMBER_ROLL	str	Link with ID lumber_roll.
LUMBER_PITCH	str	Link with ID lumber_pitch.
LEFT_SHOULDER_PITCH	str	The left shoulder pitch link.
LEFT_SHOULDER_ROLL	str	The left shoulder roll link.
LEFT_SHOULDER_YAW	str	The left shoulder yaw link.
LEFT_ELBOW_PITCH	str	Link with ID left_elbow_pitch.
LEFT_ELBOW_YAW	str	The left elbow link.
LEFT_WRIST_PITCH	str	Link with ID left_wrist_pitch.
RIGHT_SHOULDER_PITCH	str	The right shoulder pitch link.
RIGHT_SHOULDER_ROLL	str	The right shoulder roll link.
RIGHT_SHOULDER_YAW	str	The right shoulder yaw link.
RIGHT_ELBOW_PITCH	str	Link with ID right_elbow_pitch.
RIGHT_ELBOW_YAW	str	The right elbow link.
RIGHT_WRIST_PITCH	str	Link with ID right_wrist_pitch.
WAIST_MOTOR_A	str	Link with ID waist_motor_a_link.
WAIST_MOTOR_A_BALL	str	Link with ID waist_motor_a_ball.
WAIST_MOTOR_A_LOOP	str	Link with ID waist_motor_a_loop.
WAIST_MOTOR_B	str	Link with ID waist_motor_b_link.
WAIST_MOTOR_B_BALL	str	Link with ID waist_motor_b_ball.
WAIST_MOTOR_B_LOOP	str	Link with ID waist_motor_b_loop.
LEFT_HIP_PITCH	str	The left hip pitch link.
LEFT_HIP_ROLL	str	The left hip roll link.
LEFT_HIP_YAW	str	The left hip yaw link.
LEFT_KNEE_PITCH	str	The left ankle pitch link.
LEFT_ANKLE_PITCH	str	The left ankle pitch link.
LEFT_ANKLE_ROLL	str	The left ankle roll link.
LEG_L_TOE_A	str	Link with ID leg_l_toe_a_link.
LEG_L_TOE_A_BALL	str	Link with ID leg_l_toe_a_ball.
LEG_L_TOE_A_LOOP	str	Link with ID leg_l_toe_a_loop.
LEG_L_TOE_B	str	Link with ID leg_l_toe_b_link.
LEG_L_TOE_B_BALL	str	Link with ID leg_l_toe_b_ball.
LEG_L_TOE_B_LOOP	str	Link with ID leg_l_toe_b_loop.
RIGHT_HIP_PITCH	str	The right hip pitch link.
RIGHT_HIP_ROLL	str	The right hip roll link.
RIGHT_HIP_YAW	str	The right hip yaw link.
RIGHT_KNEE_PITCH	str	The right ankle pitch link.
RIGHT_ANKLE_PITCH	str	The right ankle pitch link.
RIGHT_ANKLE_ROLL	str	The right ankle roll link.
LEG_R_TOE_A	str	Link with ID leg_r_toe_a_link.
LEG_R_TOE_A_BALL	str	Link with ID leg_r_toe_a_ball.
LEG_R_TOE_A_LOOP	str	Link with ID leg_r_toe_a_loop.
LEG_R_TOE_B	str	Link with ID leg_r_toe_b_link.
LEG_R_TOE_B_BALL	str	Link with ID leg_r_toe_b_ball.
LEG_R_TOE_B_LOOP	str	Link with ID leg_r_toe_b_loop.
ARM_R_WRIST_A_BALL	str	Link with ID arm_r_wrist_a_ball.
ARM_R_WRIST_MOTOR_A	str	Link with ID arm_r_wrist_motor_a_link.
ARM_R_WRIST_A_LOOP	str	Link with ID arm_r_wrist_a_loop.
ARM_R_WRIST_B_BALL	str	Link with ID arm_r_wrist_b_ball.
ARM_R_WRIST_MOTOR_B	str	Link with ID arm_r_wrist_motor_b_link.
ARM_R_WRIST_B_LOOP	str	Link with ID arm_r_wrist_b_loop.
ARM_L_WRIST_A_BALL	str	Link with ID arm_l_wrist_a_ball.
ARM_L_WRIST_MOTOR_A	str	Link with ID arm_l_wrist_motor_a_link.
ARM_L_WRIST_A_LOOP	str	Link with ID arm_l_wrist_a_loop.
ARM_L_WRIST_B_BALL	str	Link with ID arm_l_wrist_b_ball.
ARM_L_WRIST_MOTOR_B	str	Link with ID arm_l_wrist_motor_b_link.
ARM_L_WRIST_B_LOOP	str	Link with ID arm_l_wrist_b_loop.

Attributes

BASE class-attribute instance-attribute

BASE: str = 'base_link'

Link with ID base_link.

LUMBER_YAW class-attribute instance-attribute

LUMBER_YAW: str = 'lumber_yaw'

Link with ID lumber_yaw.

LUMBER_ROLL class-attribute instance-attribute

LUMBER_ROLL: str = 'lumber_roll'

Link with ID lumber_roll.

LUMBER_PITCH class-attribute instance-attribute

LUMBER_PITCH: str = 'lumber_pitch'

Link with ID lumber_pitch.

LEFT_SHOULDER_PITCH class-attribute instance-attribute

LEFT_SHOULDER_PITCH: str = 'left_shoulder_pitch'

The left shoulder pitch link.

LEFT_SHOULDER_ROLL class-attribute instance-attribute

LEFT_SHOULDER_ROLL: str = 'left_shoulder_roll'

The left shoulder roll link.

LEFT_SHOULDER_YAW class-attribute instance-attribute

LEFT_SHOULDER_YAW: str = 'left_shoulder_yaw'

The left shoulder yaw link.

LEFT_ELBOW_PITCH class-attribute instance-attribute

LEFT_ELBOW_PITCH: str = 'left_elbow_pitch'

Link with ID left_elbow_pitch.

LEFT_ELBOW_YAW class-attribute instance-attribute

LEFT_ELBOW_YAW: str = 'left_elbow_yaw'

The left elbow link.

LEFT_WRIST_PITCH class-attribute instance-attribute

LEFT_WRIST_PITCH: str = 'left_wrist_pitch'

Link with ID left_wrist_pitch.

RIGHT_SHOULDER_PITCH class-attribute instance-attribute

RIGHT_SHOULDER_PITCH: str = 'right_shoulder_pitch'

The right shoulder pitch link.

RIGHT_SHOULDER_ROLL class-attribute instance-attribute

RIGHT_SHOULDER_ROLL: str = 'right_shoulder_roll'

The right shoulder roll link.

RIGHT_SHOULDER_YAW class-attribute instance-attribute

RIGHT_SHOULDER_YAW: str = 'right_shoulder_yaw'

The right shoulder yaw link.

RIGHT_ELBOW_PITCH class-attribute instance-attribute

RIGHT_ELBOW_PITCH: str = 'right_elbow_pitch'

Link with ID right_elbow_pitch.

RIGHT_ELBOW_YAW class-attribute instance-attribute

RIGHT_ELBOW_YAW: str = 'right_elbow_yaw'

The right elbow link.

RIGHT_WRIST_PITCH class-attribute instance-attribute

RIGHT_WRIST_PITCH: str = 'right_wrist_pitch'

Link with ID right_wrist_pitch.

WAIST_MOTOR_A class-attribute instance-attribute

WAIST_MOTOR_A: str = 'waist_motor_a_link'

Link with ID waist_motor_a_link.

WAIST_MOTOR_A_BALL class-attribute instance-attribute

WAIST_MOTOR_A_BALL: str = 'waist_motor_a_ball'

Link with ID waist_motor_a_ball.

WAIST_MOTOR_A_LOOP class-attribute instance-attribute

WAIST_MOTOR_A_LOOP: str = 'waist_motor_a_loop'

Link with ID waist_motor_a_loop.

WAIST_MOTOR_B class-attribute instance-attribute

WAIST_MOTOR_B: str = 'waist_motor_b_link'

Link with ID waist_motor_b_link.

WAIST_MOTOR_B_BALL class-attribute instance-attribute

WAIST_MOTOR_B_BALL: str = 'waist_motor_b_ball'

Link with ID waist_motor_b_ball.

WAIST_MOTOR_B_LOOP class-attribute instance-attribute

WAIST_MOTOR_B_LOOP: str = 'waist_motor_b_loop'

Link with ID waist_motor_b_loop.

LEFT_HIP_PITCH class-attribute instance-attribute

LEFT_HIP_PITCH: str = 'left_hip_pitch'

The left hip pitch link.

LEFT_HIP_ROLL class-attribute instance-attribute

LEFT_HIP_ROLL: str = 'left_hip_roll'

The left hip roll link.

LEFT_HIP_YAW class-attribute instance-attribute

LEFT_HIP_YAW: str = 'left_hip_yaw'

The left hip yaw link.

LEFT_KNEE_PITCH class-attribute instance-attribute

LEFT_KNEE_PITCH: str = 'left_knee_pitch'

The left ankle pitch link.

LEFT_ANKLE_PITCH class-attribute instance-attribute

LEFT_ANKLE_PITCH: str = 'left_ankle_pitch'

The left ankle pitch link.

LEFT_ANKLE_ROLL class-attribute instance-attribute

LEFT_ANKLE_ROLL: str = 'left_ankle_roll'

The left ankle roll link.

LEG_L_TOE_A class-attribute instance-attribute

LEG_L_TOE_A: str = 'leg_l_toe_a_link'

Link with ID leg_l_toe_a_link.

LEG_L_TOE_A_BALL class-attribute instance-attribute

LEG_L_TOE_A_BALL: str = 'leg_l_toe_a_ball'

Link with ID leg_l_toe_a_ball.

LEG_L_TOE_A_LOOP class-attribute instance-attribute

LEG_L_TOE_A_LOOP: str = 'leg_l_toe_a_loop'

Link with ID leg_l_toe_a_loop.

LEG_L_TOE_B class-attribute instance-attribute

LEG_L_TOE_B: str = 'leg_l_toe_b_link'

Link with ID leg_l_toe_b_link.

LEG_L_TOE_B_BALL class-attribute instance-attribute

LEG_L_TOE_B_BALL: str = 'leg_l_toe_b_ball'

Link with ID leg_l_toe_b_ball.

LEG_L_TOE_B_LOOP class-attribute instance-attribute

LEG_L_TOE_B_LOOP: str = 'leg_l_toe_b_loop'

Link with ID leg_l_toe_b_loop.

RIGHT_HIP_PITCH class-attribute instance-attribute

RIGHT_HIP_PITCH: str = 'right_hip_pitch'

The right hip pitch link.

RIGHT_HIP_ROLL class-attribute instance-attribute

RIGHT_HIP_ROLL: str = 'right_hip_roll'

The right hip roll link.

RIGHT_HIP_YAW class-attribute instance-attribute

RIGHT_HIP_YAW: str = 'right_hip_yaw'

The right hip yaw link.

RIGHT_KNEE_PITCH class-attribute instance-attribute

RIGHT_KNEE_PITCH: str = 'right_knee_pitch'

The right ankle pitch link.

RIGHT_ANKLE_PITCH class-attribute instance-attribute

RIGHT_ANKLE_PITCH: str = 'right_ankle_pitch'

The right ankle pitch link.

RIGHT_ANKLE_ROLL class-attribute instance-attribute

RIGHT_ANKLE_ROLL: str = 'right_ankle_roll'

The right ankle roll link.

LEG_R_TOE_A class-attribute instance-attribute

LEG_R_TOE_A: str = 'leg_r_toe_a_link'

Link with ID leg_r_toe_a_link.

LEG_R_TOE_A_BALL class-attribute instance-attribute

LEG_R_TOE_A_BALL: str = 'leg_r_toe_a_ball'

Link with ID leg_r_toe_a_ball.

LEG_R_TOE_A_LOOP class-attribute instance-attribute

LEG_R_TOE_A_LOOP: str = 'leg_r_toe_a_loop'

Link with ID leg_r_toe_a_loop.

LEG_R_TOE_B class-attribute instance-attribute

LEG_R_TOE_B: str = 'leg_r_toe_b_link'

Link with ID leg_r_toe_b_link.

LEG_R_TOE_B_BALL class-attribute instance-attribute

LEG_R_TOE_B_BALL: str = 'leg_r_toe_b_ball'

Link with ID leg_r_toe_b_ball.

LEG_R_TOE_B_LOOP class-attribute instance-attribute

LEG_R_TOE_B_LOOP: str = 'leg_r_toe_b_loop'

Link with ID leg_r_toe_b_loop.

ARM_R_WRIST_A_BALL class-attribute instance-attribute

ARM_R_WRIST_A_BALL: str = 'arm_r_wrist_a_ball'

Link with ID arm_r_wrist_a_ball.

ARM_R_WRIST_MOTOR_A class-attribute instance-attribute

ARM_R_WRIST_MOTOR_A: str = 'arm_r_wrist_motor_a_link'

Link with ID arm_r_wrist_motor_a_link.

ARM_R_WRIST_A_LOOP class-attribute instance-attribute

ARM_R_WRIST_A_LOOP: str = 'arm_r_wrist_a_loop'

Link with ID arm_r_wrist_a_loop.

ARM_R_WRIST_B_BALL class-attribute instance-attribute

ARM_R_WRIST_B_BALL: str = 'arm_r_wrist_b_ball'

Link with ID arm_r_wrist_b_ball.

ARM_R_WRIST_MOTOR_B class-attribute instance-attribute

ARM_R_WRIST_MOTOR_B: str = 'arm_r_wrist_motor_b_link'

Link with ID arm_r_wrist_motor_b_link.

ARM_R_WRIST_B_LOOP class-attribute instance-attribute

ARM_R_WRIST_B_LOOP: str = 'arm_r_wrist_b_loop'

Link with ID arm_r_wrist_b_loop.

ARM_L_WRIST_A_BALL class-attribute instance-attribute

ARM_L_WRIST_A_BALL: str = 'arm_l_wrist_a_ball'

Link with ID arm_l_wrist_a_ball.

ARM_L_WRIST_MOTOR_A class-attribute instance-attribute

ARM_L_WRIST_MOTOR_A: str = 'arm_l_wrist_motor_a_link'

Link with ID arm_l_wrist_motor_a_link.

ARM_L_WRIST_A_LOOP class-attribute instance-attribute

ARM_L_WRIST_A_LOOP: str = 'arm_l_wrist_a_loop'

Link with ID arm_l_wrist_a_loop.

ARM_L_WRIST_B_BALL class-attribute instance-attribute

ARM_L_WRIST_B_BALL: str = 'arm_l_wrist_b_ball'

Link with ID arm_l_wrist_b_ball.

ARM_L_WRIST_MOTOR_B class-attribute instance-attribute

ARM_L_WRIST_MOTOR_B: str = 'arm_l_wrist_motor_b_link'

Link with ID arm_l_wrist_motor_b_link.

ARM_L_WRIST_B_LOOP class-attribute instance-attribute

ARM_L_WRIST_B_LOOP: str = 'arm_l_wrist_b_loop'

Link with ID arm_l_wrist_b_loop.

Robot dataclass

Robot(*, id: str, name: str, skeleton: Skeleton[LinkIdT, JointIdT])

A robot model with kinematics and metadata.

Attributes:

Name	Type	Description
id	str	The identifier of the robot.
name	str	The human-readable name of the robot.
skeleton	Skeleton[LinkIdT, JointIdT]	The kinematic chain of the robot.

Attributes

id instance-attribute

id: str

The identifier of the robot.

name instance-attribute

name: str

The human-readable name of the robot.

skeleton instance-attribute

skeleton: Skeleton[LinkIdT, JointIdT]

The kinematic chain of the robot.

RobotId

Bases: StrEnum

Identifiers for built-in robot definitions.

Members:

Name	Type	Description
UNITREE_G1_23DOF	str	The Unitree G1 23-DOF humanoid robot.
UNITREE_G1_29DOF	str	The Unitree G1 29-DOF humanoid robot.
UNITREE_H1	str	The Unitree H1 humanoid robot.
UNITREE_H1_WITH_HAND	str	The Unitree H1 humanoid robot with a hand.
BOOSTER_T1_LOCOMOTION	str	The Booster T1 humanoid robot with head, arms, and waist fixed (12 actuated leg DOFs).
BOOSTER_T1_SERIAL	str	The Booster T1 humanoid robot with all 23 DOFs actuated.
AGIBOT_X1	str	The AgiBot X1 humanoid robot.

UNITREE_G1_23DOF member

UNITREE_G1_23DOF = 'unitree_g1_23dof'

The Unitree G1 23-DOF humanoid robot.

UNITREE_G1_29DOF member

UNITREE_G1_29DOF = 'unitree_g1_29dof'

The Unitree G1 29-DOF humanoid robot.

UNITREE_H1 member

UNITREE_H1 = 'unitree_h1'

The Unitree H1 humanoid robot.

UNITREE_H1_WITH_HAND member

UNITREE_H1_WITH_HAND = 'unitree_h1_with_hand'

The Unitree H1 humanoid robot with a hand.

BOOSTER_T1_LOCOMOTION member

BOOSTER_T1_LOCOMOTION = 'booster_t1_locomotion'

The Booster T1 humanoid robot with head, arms, and waist fixed (12 actuated leg DOFs).

BOOSTER_T1_SERIAL member

BOOSTER_T1_SERIAL = 'booster_t1_serial'

The Booster T1 humanoid robot with all 23 DOFs actuated.

AGIBOT_X1 member

AGIBOT_X1 = 'agibot_x1'

The AgiBot X1 humanoid robot.

Functions

get_robot

get_robot(robot_id: Literal[UNITREE_G1_23DOF]) -> UnitreeG1_23DOFRobot

get_robot(robot_id: Literal[UNITREE_G1_29DOF]) -> UnitreeG1_29DOFRobot

get_robot(robot_id: Literal[UNITREE_H1]) -> UnitreeH1Robot

get_robot(robot_id: Literal[UNITREE_H1_WITH_HAND]) -> UnitreeH1WithHandRobot

get_robot(robot_id: Literal[BOOSTER_T1_LOCOMOTION]) -> BoosterT1LocomotionRobot

get_robot(robot_id: Literal[BOOSTER_T1_SERIAL]) -> BoosterT1SerialRobot

get_robot(robot_id: Literal[AGIBOT_X1]) -> AgiBotX1Robot

get_robot(robot_id: str) -> AnyRobot

get_robot(robot_id: str) -> AnyRobot

Return the robot model for the given robot identifier.

get_skeleton

get_skeleton(robot_id: Literal[UNITREE_G1_23DOF]) -> UnitreeG1_23DOFSkeleton

get_skeleton(robot_id: Literal[UNITREE_G1_29DOF]) -> UnitreeG1_29DOFSkeleton

get_skeleton(robot_id: Literal[UNITREE_H1]) -> UnitreeH1Skeleton

get_skeleton(robot_id: Literal[UNITREE_H1_WITH_HAND]) -> UnitreeH1WithHandSkeleton

get_skeleton(robot_id: Literal[BOOSTER_T1_LOCOMOTION]) -> BoosterT1LocomotionSkeleton

get_skeleton(robot_id: Literal[BOOSTER_T1_SERIAL]) -> BoosterT1SerialSkeleton

get_skeleton(robot_id: Literal[AGIBOT_X1]) -> AgiBotX1Skeleton

get_skeleton(robot_id: str) -> AnySkeleton

get_skeleton(robot_id: str) -> AnySkeleton

Return the skeleton for the given robot identifier.

register_robot

register_robot(robot: AnyRobot, *, replace: bool = False) -> None

Register a robot definition for runtime lookup.

registered_robot_ids

registered_robot_ids() -> frozenset[str]

Return the identifiers of all registered robots.

unregister_robot

unregister_robot(robot_id: str, *, allow_builtin: bool = False) -> AnyRobot

Remove and return a runtime robot definition.

---

Robot Registry

The urdf.robots.registry module manages runtime lookup and custom robot registration.

registry

Classes:

Name	Description
RobotId	Identifiers for built-in robot definitions.
Robot	A robot model with kinematics and metadata.

Functions:

Name	Description
get_robot	Return the robot model for the given robot identifier.
get_skeleton	Return the skeleton for the given robot identifier.
register_robot	Register a robot definition for runtime lookup.
unregister_robot	Remove and return a runtime robot definition.
registered_robot_ids	Return the identifiers of all registered robots.

Attributes:

Name	Type	Description
UNITREE_G1_23DOF_ROBOT		The robot model for the Unitree G1 23-DOF robot.
UNITREE_G1_29DOF_ROBOT		The robot model for the Unitree G1 29-DOF robot.
UNITREE_H1_ROBOT		The robot model for the Unitree H1 robot.
UNITREE_H1_WITH_HAND_ROBOT		The robot model for the Unitree H1 with Hand robot.
BOOSTER_T1_LOCOMOTION_ROBOT		The robot model for the Booster T1 Locomotion robot.
BOOSTER_T1_SERIAL_ROBOT		The robot model for the Booster T1 Serial robot.
AGIBOT_X1_ROBOT		The robot model for the AgiBot X1 robot.

Attributes

UNITREE_G1_23DOF_ROBOT module-attribute

UNITREE_G1_23DOF_ROBOT = Robot[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId](
    id=UNITREE_G1_23DOF, name="Unitree G1 23-DOF", skeleton=UNITREE_G1_23DOF
)

The robot model for the Unitree G1 23-DOF robot.

UNITREE_G1_29DOF_ROBOT module-attribute

UNITREE_G1_29DOF_ROBOT = Robot[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId](
    id=UNITREE_G1_29DOF, name="Unitree G1 29-DOF", skeleton=UNITREE_G1_29DOF
)

The robot model for the Unitree G1 29-DOF robot.

UNITREE_H1_ROBOT module-attribute

UNITREE_H1_ROBOT = Robot[UnitreeH1LinkId, UnitreeH1JointId](
    id=UNITREE_H1, name="Unitree H1", skeleton=UNITREE_H1
)

The robot model for the Unitree H1 robot.

UNITREE_H1_WITH_HAND_ROBOT module-attribute

UNITREE_H1_WITH_HAND_ROBOT = Robot[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId](
    id=UNITREE_H1_WITH_HAND, name="Unitree H1 with Hand", skeleton=UNITREE_H1_WITH_HAND
)

The robot model for the Unitree H1 with Hand robot.

BOOSTER_T1_LOCOMOTION_ROBOT module-attribute

BOOSTER_T1_LOCOMOTION_ROBOT = Robot[
    BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId
](
    id=BOOSTER_T1_LOCOMOTION,
    name="Booster T1 Locomotion",
    skeleton=BOOSTER_T1_LOCOMOTION,
)

The robot model for the Booster T1 Locomotion robot.

BOOSTER_T1_SERIAL_ROBOT module-attribute

BOOSTER_T1_SERIAL_ROBOT = Robot[BoosterT1SerialLinkId, BoosterT1SerialJointId](
    id=BOOSTER_T1_SERIAL, name="Booster T1 Serial", skeleton=BOOSTER_T1_SERIAL
)

The robot model for the Booster T1 Serial robot.

AGIBOT_X1_ROBOT module-attribute

AGIBOT_X1_ROBOT = Robot[AgiBotX1LinkId, AgiBotX1JointId](
    id=AGIBOT_X1, name="AgiBot X1", skeleton=AGIBOT_X1
)

The robot model for the AgiBot X1 robot.

Type Aliases

AnyRobot

AnyRobot = Robot[Any, Any]

A robot whose concrete link and joint identifier types are erased.

UnitreeG1_23DOFRobot

UnitreeG1_23DOFRobot = Robot[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId]

The robot type for the Unitree G1 23-DOF robot.

UnitreeG1_23DOFSkeleton

UnitreeG1_23DOFSkeleton = Skeleton[UnitreeG1_23DOFLinkId, UnitreeG1_23DOFJointId]

The skeleton type for the Unitree G1 23-DOF robot.

UnitreeG1_29DOFRobot

UnitreeG1_29DOFRobot = Robot[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId]

The robot type for the Unitree G1 29-DOF robot.

UnitreeG1_29DOFSkeleton

UnitreeG1_29DOFSkeleton = Skeleton[UnitreeG1_29DOFLinkId, UnitreeG1_29DOFJointId]

The skeleton type for the Unitree G1 29-DOF robot.

UnitreeH1Robot

UnitreeH1Robot = Robot[UnitreeH1LinkId, UnitreeH1JointId]

The robot type for the Unitree H1 robot.

UnitreeH1Skeleton

UnitreeH1Skeleton = Skeleton[UnitreeH1LinkId, UnitreeH1JointId]

The skeleton type for the Unitree H1 robot.

UnitreeH1WithHandRobot

UnitreeH1WithHandRobot = Robot[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId]

The robot type for the Unitree H1 with Hand robot.

UnitreeH1WithHandSkeleton

UnitreeH1WithHandSkeleton = Skeleton[UnitreeH1WithHandLinkId, UnitreeH1WithHandJointId]

The skeleton type for the Unitree H1 with Hand robot.

BoosterT1LocomotionRobot

BoosterT1LocomotionRobot = Robot[BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId]

The robot type for the Booster T1 Locomotion robot.

BoosterT1LocomotionSkeleton

BoosterT1LocomotionSkeleton = Skeleton[
    BoosterT1LocomotionLinkId, BoosterT1LocomotionJointId
]

The skeleton type for the Booster T1 Locomotion robot.

BoosterT1SerialRobot

BoosterT1SerialRobot = Robot[BoosterT1SerialLinkId, BoosterT1SerialJointId]

The robot type for the Booster T1 Serial robot.

BoosterT1SerialSkeleton

BoosterT1SerialSkeleton = Skeleton[BoosterT1SerialLinkId, BoosterT1SerialJointId]

The skeleton type for the Booster T1 Serial robot.

AgiBotX1Robot

AgiBotX1Robot = Robot[AgiBotX1LinkId, AgiBotX1JointId]

The robot type for the AgiBot X1 robot.

AgiBotX1Skeleton

AgiBotX1Skeleton = Skeleton[AgiBotX1LinkId, AgiBotX1JointId]

The skeleton type for the AgiBot X1 robot.

AnySkeleton

AnySkeleton = Skeleton[Any, Any]

A skeleton whose concrete link and joint identifier types are erased.

Classes

RobotId

Bases: StrEnum

Identifiers for built-in robot definitions.

Members:

Name	Type	Description
UNITREE_G1_23DOF	str	The Unitree G1 23-DOF humanoid robot.
UNITREE_G1_29DOF	str	The Unitree G1 29-DOF humanoid robot.
UNITREE_H1	str	The Unitree H1 humanoid robot.
UNITREE_H1_WITH_HAND	str	The Unitree H1 humanoid robot with a hand.
BOOSTER_T1_LOCOMOTION	str	The Booster T1 humanoid robot with head, arms, and waist fixed (12 actuated leg DOFs).
BOOSTER_T1_SERIAL	str	The Booster T1 humanoid robot with all 23 DOFs actuated.
AGIBOT_X1	str	The AgiBot X1 humanoid robot.

UNITREE_G1_23DOF member

UNITREE_G1_23DOF = 'unitree_g1_23dof'

The Unitree G1 23-DOF humanoid robot.

UNITREE_G1_29DOF member

UNITREE_G1_29DOF = 'unitree_g1_29dof'

The Unitree G1 29-DOF humanoid robot.

UNITREE_H1 member

UNITREE_H1 = 'unitree_h1'

The Unitree H1 humanoid robot.

UNITREE_H1_WITH_HAND member

UNITREE_H1_WITH_HAND = 'unitree_h1_with_hand'

The Unitree H1 humanoid robot with a hand.

BOOSTER_T1_LOCOMOTION member

BOOSTER_T1_LOCOMOTION = 'booster_t1_locomotion'

The Booster T1 humanoid robot with head, arms, and waist fixed (12 actuated leg DOFs).

BOOSTER_T1_SERIAL member

BOOSTER_T1_SERIAL = 'booster_t1_serial'

The Booster T1 humanoid robot with all 23 DOFs actuated.

AGIBOT_X1 member

AGIBOT_X1 = 'agibot_x1'

The AgiBot X1 humanoid robot.

Robot dataclass

Robot(*, id: str, name: str, skeleton: Skeleton[LinkIdT, JointIdT])

A robot model with kinematics and metadata.

Attributes:

Name	Type	Description
id	str	The identifier of the robot.
name	str	The human-readable name of the robot.
skeleton	Skeleton[LinkIdT, JointIdT]	The kinematic chain of the robot.

Attributes

id instance-attribute

id: str

The identifier of the robot.

name instance-attribute

name: str

The human-readable name of the robot.

skeleton instance-attribute

skeleton: Skeleton[LinkIdT, JointIdT]

The kinematic chain of the robot.

Functions

get_robot

get_robot(robot_id: Literal[UNITREE_G1_23DOF]) -> UnitreeG1_23DOFRobot

get_robot(robot_id: Literal[UNITREE_G1_29DOF]) -> UnitreeG1_29DOFRobot

get_robot(robot_id: Literal[UNITREE_H1]) -> UnitreeH1Robot

get_robot(robot_id: Literal[UNITREE_H1_WITH_HAND]) -> UnitreeH1WithHandRobot

get_robot(robot_id: Literal[BOOSTER_T1_LOCOMOTION]) -> BoosterT1LocomotionRobot

get_robot(robot_id: Literal[BOOSTER_T1_SERIAL]) -> BoosterT1SerialRobot

get_robot(robot_id: Literal[AGIBOT_X1]) -> AgiBotX1Robot

get_robot(robot_id: str) -> AnyRobot

get_robot(robot_id: str) -> AnyRobot

Return the robot model for the given robot identifier.

get_skeleton

get_skeleton(robot_id: Literal[UNITREE_G1_23DOF]) -> UnitreeG1_23DOFSkeleton

get_skeleton(robot_id: Literal[UNITREE_G1_29DOF]) -> UnitreeG1_29DOFSkeleton

get_skeleton(robot_id: Literal[UNITREE_H1]) -> UnitreeH1Skeleton

get_skeleton(robot_id: Literal[UNITREE_H1_WITH_HAND]) -> UnitreeH1WithHandSkeleton

get_skeleton(robot_id: Literal[BOOSTER_T1_LOCOMOTION]) -> BoosterT1LocomotionSkeleton

get_skeleton(robot_id: Literal[BOOSTER_T1_SERIAL]) -> BoosterT1SerialSkeleton

get_skeleton(robot_id: Literal[AGIBOT_X1]) -> AgiBotX1Skeleton

get_skeleton(robot_id: str) -> AnySkeleton

get_skeleton(robot_id: str) -> AnySkeleton

Return the skeleton for the given robot identifier.

register_robot

register_robot(robot: AnyRobot, *, replace: bool = False) -> None

Register a robot definition for runtime lookup.

unregister_robot

unregister_robot(robot_id: str, *, allow_builtin: bool = False) -> AnyRobot

Remove and return a runtime robot definition.

registered_robot_ids

registered_robot_ids() -> frozenset[str]

Return the identifiers of all registered robots.

---

Robot Construction Utilities

The urdf.robots.utils module provides shared conversion helpers that inflate specifications into runtime kinematic objects.

utils

Functions:

Name	Description
transform_from_origin	Create a rigid transform from URDF xyz/rpy values.
inertia_from_spec	Create an inertia tensor from URDF inertia entries.
link_from_spec	Create a link from a URDF-derived link spec.
joint_from_spec	Create a joint from a URDF-derived joint spec.

Attributes

Type Aliases

InertiaSpec

InertiaSpec = tuple[float, float, float, float, float, float]

URDF inertia entries ordered as ixx, ixy, ixz, iyy, iyz, izz.

OriginSpec

OriginSpec = tuple[tuple[float, float, float], tuple[float, float, float]]

URDF origin entries ordered as xyz and rpy.

LinkSpec

LinkSpec = tuple[str, float, OriginSpec, InertiaSpec | None]

URDF-derived inertial data for a link.

JointLimitSpec

JointLimitSpec = tuple[float, float, float, float]

URDF joint limits ordered as lower, upper, effort, and velocity.

JointTypeSpec

JointTypeSpec = Literal[
    "continuous", "fixed", "floating", "planar", "prismatic", "revolute"
]

A supported URDF joint type.

JointSpec

JointSpec = tuple[
    str,
    JointTypeSpec,
    LinkIdT,
    LinkIdT,
    OriginSpec,
    tuple[float, float, float] | None,
    JointLimitSpec | None,
]

URDF-derived data for a joint.

FixedOrRevoluteJointSpec

FixedOrRevoluteJointSpec = tuple[
    str,
    LinkIdT,
    LinkIdT,
    OriginSpec,
    tuple[float, float, float] | None,
    JointLimitSpec | None,
]

URDF-derived data for a fixed or revolute joint.

Classes

Functions

transform_from_origin

transform_from_origin(
    origin: OriginSpec = ((0.0, 0.0, 0.0), (0.0, 0.0, 0.0)),
) -> RigidTransform

Create a rigid transform from URDF xyz/rpy values.

Parameters:

Name	Type	Description	Default
origin	OriginSpec	The translation (xyz) and rotation (rpy roll-pitch-yaw) specification.	((0.0, 0.0, 0.0), (0.0, 0.0, 0.0))

Returns:

Type	Description
RigidTransform	The instantiated RigidTransform.

inertia_from_spec

inertia_from_spec(spec: InertiaSpec | None) -> InertiaTensor

Create an inertia tensor from URDF inertia entries.

Parameters:

Name	Type	Description	Default
spec	InertiaSpec | None	The six unique inertia matrix entries (ixx, ixy, ixz, iyy, iyz, izz), or None.	required

Returns:

Type	Description
InertiaTensor	The instantiated InertiaTensor, defaulting to zero if spec is None.

link_from_spec

link_from_spec(link_id: LinkIdT, spec: LinkSpec) -> Link[LinkIdT]

Create a link from a URDF-derived link spec.

Parameters:

Name	Type	Description	Default
link_id	LinkIdT	The unique identifier for the link.	required
spec	LinkSpec	The link specification containing name, mass, origin, and inertia.	required

Returns:

Type	Description
Link[LinkIdT]	The instantiated Link object.

joint_from_spec

joint_from_spec(
    joint_id: JointIdT, spec: JointSpec[LinkIdT] | FixedOrRevoluteJointSpec[LinkIdT]
) -> AnyJoint[LinkIdT, JointIdT]

Create a joint from a URDF-derived joint spec.

Parameters:

Name	Type	Description	Default
joint_id	JointIdT	The unique identifier for the joint.	required
spec	JointSpec[LinkIdT] | FixedOrRevoluteJointSpec[LinkIdT]	The joint specification. It can be a full JointSpec (7-tuple) or a FixedOrRevoluteJointSpec (6-tuple, which infers fixed if axis is None, otherwise revolute).	required

Returns:

Type	Description
AnyJoint[LinkIdT, JointIdT]	The instantiated concrete Joint object (e.g., FixedJoint, RevoluteJoint, PrismaticJoint, etc.).

Raises:

Type	Description
ValueError	If an axial joint is missing an axis, if a limited joint is missing limits, or if the joint type is unsupported.