Language

unisim.backend.drake.properties.ExpectedNativeProperties¶

class unisim.backend.drake.properties.ExpectedNativeProperties[source]¶

Bases: object

Portable source values used only to audit Drake readback.

Parameters:

body_names (tuple[str, ...])
body_masses (ndarray)
body_coms (ndarray)
body_inertias (ndarray)
geometry_names (tuple[str, ...])
geometry_body_indices (ndarray)
geometry_types (tuple[str, ...])
geometry_collision (tuple[bool, ...])
geometry_parameters (ndarray)

Methods

__init__(body_names, body_masses, body_coms, ...)

Attributes

`body_names`
`body_masses`
`body_coms`
`body_inertias`
`geometry_names`
`geometry_body_indices`
`geometry_types`
`geometry_collision`
`geometry_parameters`

body_names: tuple[str, ...]¶

body_masses: ndarray¶

body_coms: ndarray¶

body_inertias: ndarray¶

geometry_names: tuple[str, ...]¶

geometry_body_indices: ndarray¶

geometry_types: tuple[str, ...]¶

geometry_collision: tuple[bool, ...]¶

geometry_parameters: ndarray¶

__init__(body_names, body_masses, body_coms, body_inertias, geometry_names, geometry_body_indices, geometry_types, geometry_collision, geometry_parameters)¶

Parameters:

body_names (tuple[str, ...])
body_masses (ndarray)
body_coms (ndarray)
body_inertias (ndarray)
geometry_names (tuple[str, ...])
geometry_body_indices (ndarray)
geometry_types (tuple[str, ...])
geometry_collision (tuple[bool, ...])
geometry_parameters (ndarray)