models.kinematic¶

Kinematic model contract: a space, Params, named sites and frames written in CasADi.

Functions

`evaluate_frame`(model, q, at)	Numeric (R, position) at the model's current Param values.
`from_dict`(data[, kind])	Build a registered model (or actuation, with `kind`) from `to_dict()` output.

Classes

`KinematicModel`(args, *kwargs)	Frames of a robot as smooth functions of q and the Params.