API¶

Scripts start with import virtualmodelcontrol as vmc: the classes and functions of the tutorials, and the modules vmc.sim, vmc.viz and the others below, are available from there. The robot templates are the one exception: import them as from virtualmodelcontrol.robots import helyx (or adapt, bimanual, turtle). The modules, from the bottom layer up:

`core`	Core: parameters, spaces, symbolic helpers, signals, registry and units.
`math`	Rotations and rigid transforms that run on numpy arrays and CasADi symbols alike.
`mechanisms`	Mechanisms: coordinates and the components that act on them.
`models`	Models: kinematics and actuation of robots.
`system`	A robot and the virtual mechanism that controls it, as one system.
`compiler`	Compile a virtual mechanism system into CasADi functions: the control law and its energetics.
`dynamics`	Robot dynamics assembled from the robot's own components, in the canonical residual form.
`control`	Control: controllers built from compiled virtual mechanisms.
`sim`	Simulation and the run loop: plants, a model-based simulator, guard and recorder.
`adaptation`	Adaptation: laws that change a running controller's Params to track a goal.
`estimation`	Estimation: the state of a running robot and quantities no sensor measures, from its model.
`identification`	Identification: robot parameters from measured data.
`optimization`	Optimization of virtual mechanisms: plan the closed loop's motion and tune the Params.
`hardware`	Hardware profiles: each robot's motors, their IDs, signs and the driver's order.
`viz`	Figures and animations: the lab style, drawing robots and virtual elements, saving.
`robots`	Robot templates: model builders and default parameters for the lab's robots.
`config`	Configurations: experiments in YAML files, a robot template, its controllers and how to run them, built through the registry.
`testing`	Checks of the library's model contract, to call from your own model's tests.