jaxsim.api.kin_dyn_parameters

Classes

ConstraintMap([frame_idxs_1, frame_idxs_2, ...])	Class storing the kinematic constraints of a model.
ConstraintType()	Enumeration of all supported constraint types.
ContactParameters([body, point, enabled])	Class storing the contact parameters of a model.
FrameParameters([name, body, transform])	Class storing the frame parameters of a model.
HwLinkMetadata(link_shape, geometry, ...)	Class storing the hardware parameters of a link.
JointParameters(index, friction_static, ...)	Class storing the parameters of a joint.
KinDynParameters(link_names, _parent_array, ...)	Class storing the kinematic and dynamic parameters of a model.
LinkParameters(index, mass, center_of_mass, ...)	Class storing the parameters of a link.
LinkParametrizableShape()	Enum-like class listing the supported shapes for HW parametrization.
ScalingFactors(dims, density)	Class storing scaling factors for hardware parameters.