engine

class jiminy_py.core.ProfileForce

Bases: instance

Raises an exception This class cannot be instantiated from Python

property force

fget( (ProfileForce)self) -> Force

property frame_index

fget( (ProfileForce)self) -> int

property frame_name

fget( (ProfileForce)self) -> str

property func

fget( (ProfileForce)self) -> object

property update_period

fget( (ProfileForce)self) -> float

class jiminy_py.core.ImpulseForce

Bases: instance

Raises an exception This class cannot be instantiated from Python

property dt

fget( (ImpulseForce)self) -> float

property force

fget( (ImpulseForce)self) -> Force

property frame_index

fget( (ImpulseForce)self) -> int

property frame_name

fget( (ImpulseForce)self) -> str

property t

fget( (ImpulseForce)self) -> float

class jiminy_py.core.CouplingForce

Bases: instance

Raises an exception This class cannot be instantiated from Python

property func

fget( (CouplingForce)self) -> object

property robot_index_1

fget( (CouplingForce)self) -> int

property robot_index_2

fget( (CouplingForce)self) -> int

property robot_name_1

fget( (CouplingForce)self) -> str

property robot_name_2

fget( (CouplingForce)self) -> str

class jiminy_py.core.Engine((object)arg1)

Bases: instance

add_robot((Engine)self, (Robot)robot) → None
static compute_forward_kinematics((Robot)robot, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)a) → None
compute_robots_dynamics((Engine)self, (float)t_end, (object)q_list, (object)v_list) → list
property coupling_forces

fget( (Engine)self) -> CouplingForceVector

get_options((Engine)arg1) → dict
get_robot((Engine)self, (str)robot_name) → Robot
get_robot_index((Engine)self, (str)robot_name) → int
get_robot_state((Engine)self, (str)robot_name) → RobotState
get_simulation_options((Engine)arg1) → dict
property impulse_forces

fget( (Engine)self) -> dict

property is_simulation_running

fget( (Engine)self) -> bool

property log_data

fget( (Engine)self) -> dict

property profile_forces

fget( (Engine)self) -> dict

static read_log((str)fullpath[, (object)format=None]) → dict :

Read a logfile from jiminy.

Note

This function supports both binary and hdf5 log.

Parameters:

  • fullpath – Name of the file to load.

  • format – Name of the file to load.

Returns:

Dictionary containing the logged constants and variables.

register_coupling_force((Engine)self, (str)robot_name_1, (str)robot_name_2, (str)frame_name_1, (str)frame_name_2, (object)force_func) → None
register_impulse_force((Engine)self, (str)robot_name, (str)frame_name, (float)t, (float)dt, (numpy.ndarray)force) → None
register_profile_force((Engine)self, (str)robot_name, (str)frame_name, (object)force_func[, (float)update_period=0.0]) → None
register_viscoelastic_coupling_force((Engine)self, (str)robot_name_1, (str)robot_name_2, (str)frame_name_1, (str)frame_name_2, (numpy.ndarray)stiffness, (numpy.ndarray)damping[, (float)alpha=0.5]) → None

register_viscoelastic_coupling_force( (Engine)self, (str)robot_name, (str)frame_name_1, (str)frame_name_2, (numpy.ndarray)stiffness, (numpy.ndarray)damping [, (float)alpha=0.5]) -> None

register_viscoelastic_directional_coupling_force((Engine)self, (str)robot_name_1, (str)robot_name_2, (str)frame_name_1, (str)frame_name_2, (float)stiffness, (float)damping[, (float)rest_length=0.0]) → None

register_viscoelastic_directional_coupling_force( (Engine)self, (str)robot_name, (str)frame_name_1, (str)frame_name_2, (float)stiffness, (float)damping [, (float)rest_length=0.0]) -> None

remove_all_forces((Engine)arg1) → None
remove_coupling_forces((Engine)self, (str)robot_name_1, (str)robot_name_2) → None

remove_coupling_forces( (Engine)self [, (str)robot_name]) -> None

remove_impulse_forces((Engine)self[, (str)robot_name]) → None
remove_profile_forces((Engine)self[, (str)robot_name]) → None
remove_robot((Engine)self, (str)robot_name) → None
reset((Engine)self[, (bool)reset_random_generator=False[, (bool)remove_all_forces=False]]) → None
property robot_states

fget( (Engine)self) -> list

property robots

fget( (Engine)self) -> object

set_options((Engine)arg1, (dict)arg2) → None
set_simulation_options((Engine)arg1, (dict)arg2) → None
simulate((Engine)self, (float)t_end, (dict)q_init_dict, (dict)v_init_dict[, (object)a_init_dict=None[, (object)callback=None]]) → None

simulate( (Engine)self, (float)t_end, (numpy.ndarray)q_init, (numpy.ndarray)v_init [, (object)a_init=None [, (bool)is_state_theoretical=False [, (object)callback=None]]]) -> None

simulation_duration_max = 922337203.6854776
start((Engine)self, (dict)q_init_dict, (dict)v_init_dict[, (object)a_init_dict=None]) → None

start( (Engine)self, (numpy.ndarray)q_init, (numpy.ndarray)v_init [, (object)a_init=None [, (bool)is_state_theoretical=False]]) -> None

step((Engine)self[, (float)step_dt=-1]) → None
property stepper_state

fget( (Engine)self) -> StepperState

stop((Engine)self) → None
telemetry_time_unit = 1e-10
write_log((Engine)self, (str)fullpath, (str)format) → None
class jiminy_py.core.StepperState

Bases: instance

Raises an exception This class cannot be instantiated from Python

property a

fget( (StepperState)self) -> object

property dt

fget( (StepperState)self) -> float

property iter

fget( (StepperState)self) -> int

property iter_failed

fget( (StepperState)self) -> int

property q

fget( (StepperState)self) -> object

property t

fget( (StepperState)self) -> float

property v

fget( (StepperState)self) -> object

class jiminy_py.core.RobotState

Bases: instance

Raises an exception This class cannot be instantiated from Python

property a

fget( (RobotState)self) -> numpy.ndarray

property command

fget( (RobotState)self) -> numpy.ndarray

property f_external

fget( (RobotState)self) -> StdVec_Force

property q

fget( (RobotState)self) -> numpy.ndarray

property u

fget( (RobotState)self) -> numpy.ndarray

property u_custom

fget( (RobotState)self) -> numpy.ndarray

property u_internal

fget( (RobotState)self) -> numpy.ndarray

property u_motor

fget( (RobotState)self) -> numpy.ndarray

property u_transmission

fget( (RobotState)self) -> numpy.ndarray

property v

fget( (RobotState)self) -> numpy.ndarray