storm_kit.differentiable_robot_model.urdf_utils module

class URDFRobotModel(urdf_path, tensor_args={'device': 'cpu', 'dtype': torch.float32})[source]

Bases: object

find_joint_of_body(body_name)[source]
get_body_parameters_from_urdf(i, link)[source]
get_name_of_parent_body(link_name)[source]