pyrcf.components.robot_interfaces.robot_interface_with_pinocchio
================================================================

.. py:module:: pyrcf.components.robot_interfaces.robot_interface_with_pinocchio


Classes
-------

.. autoapisummary::

   pyrcf.components.robot_interfaces.robot_interface_with_pinocchio.RobotInterfaceWithPinocchio


Module Contents
---------------

.. py:class:: RobotInterfaceWithPinocchio(robot_urdf: str = None, ee_names: List[str] = (), floating_base: bool = False, verbose: bool = True, create_pinocchio_interface: bool = True)

   Bases: :py:obj:`pyrcf.components.robot_interfaces.robot_interface_base.RobotInterface`


   Extension to the RobotInterface base class to provide easier interfacing with
   PinocchioInterface.

   NOTE: Any class inheriting this base class should call the constructor using
   ```
   super().__init__(
       robot_urdf=robot_urdf,
       ee_names=ee_names,
       floating_base=floating_base,
       verbose=verbose,
       create_pinocchio_interface=create_pinocchio_interface,
   )
   ```

   To update pinocchio in the control loop at every time, call
   `self.update_pinocchio_robot_state(robot_state=robot_state)` in the read() method
   implementation of the child class


   .. py:attribute:: _pin_interface
      :type:  pyrcf.utils.kinematics_dynamics.PinocchioInterface
      :value: None



   .. py:attribute:: _urdf_path
      :value: None



   .. py:method:: get_pinocchio_interface() -> pyrcf.utils.kinematics_dynamics.PinocchioInterface

      Get the pinocchio interface associated with this robot.

      NOTE: this is a mutable object, and will be updated automatically
          whenever the read() method of this class instance is
          called.

      :returns:

                A mutable copy of the PinocchioInterface object for
                    this robot.
      :rtype: PinocchioInterface



   .. py:method:: update_pinocchio_robot_state(robot_state: pyrcf.core.types.RobotState, update_ee_states: bool = True) -> pyrcf.core.types.RobotState

      Update the PinocchioInterface kinematics and dynamics data using the provided
      robot state, and return update robot state with info from pinocchio.

      :param robot_state: RobotState read from the robot.
      :type robot_state: RobotState
      :param update_ee_states: If True, will populate
      :type update_ee_states: bool, optional
      :param `robot_state.state_estimates.end_effector_states` data using data from pinocchio.:
      :param Defaults to True.:

      :returns: updated RobotState object.
      :rtype: RobotState



   .. py:property:: has_pinocchio_interface
      :type: bool


      Check if this robot has a usable pinocchio interface.

      :returns: True if the robot interface has a PinocchioInterface.
      :rtype: bool


   .. py:property:: urdf_path
      :type: str


      Path to the urdf used for creating this robot's pinocchio model.