robot¶

class jiminy_py.core.Model¶

Bases: Boost.Python.instance

Raises an exception This class cannot be instantiated from Python

add_collision_bodies((Model)self[, (list)bodies_names=[][, (bool)ignore_meshes=False]]) → hresult_t¶

add_constraint((Model)self, (str)name, (AbstractConstraint)constraint) → hresult_t¶

add_contact_points((Model)self[, (list)frame_names=[]]) → hresult_t¶

add_frame((Model)self, (str)frame_name, (str)parent_body_name, (SE3)frame_placement) → hresult_t¶

property collision_bodies_idx¶

property collision_bodies_names¶

property collision_data¶

property collision_model¶

property collision_pairs_idx_by_body¶

compute_constraints((Model)self, (object)q, (object)v) → None :¶

Compute jacobian and drift associated to all the constraints.

The results are accessible using getConstraintsJacobian and getConstraintsDrift.

Note

It is assumed frames forward kinematics has already been called.

Parameters

q – Joint position.
v – Joint velocity.

property constraints¶

property contact_frames_idx¶

property contact_frames_names¶

exist_constraint((Model)self, (str)constraint_name) → bool¶

property flexible_joints_idx¶

property flexible_joints_names¶

get_constraint((Model)self, (str)constraint_name) → AbstractConstraint :¶

Get a pointer to the constraint referenced by constraintName

Parameters

constraintName –

Name of the constraint to get.

return: ERROR_BAD_INPUT if constraintName does not exist, SUCCESS otherwise.

get_constraints_jacobian_and_drift((Model)arg1) → tuple¶

get_flexible_configuration_from_rigid((Model)self, (object)rigid_position) → object¶

get_flexible_velocity_from_rigid((Model)self, (object)rigid_velocity) → object¶

get_rigid_configuration_from_flexible((Model)self, (object)flexible_position) → object¶

get_rigid_velocity_from_flexible((Model)self, (object)flexible_velocity) → object¶

property has_constraints¶

property has_freeflyer¶

property is_flexible¶

property is_initialized¶

property logfile_acceleration_headers¶

property logfile_f_external_headers¶

property logfile_position_headers¶

property logfile_velocity_headers¶

property mesh_package_dirs¶

property name¶

property nq¶

property nv¶

property nx¶

property pinocchio_data¶

property pinocchio_data_th¶

property pinocchio_model¶

property pinocchio_model_th¶

property position_limit_lower¶

property position_limit_upper¶

remove_collision_bodies((Model)self, (list)bodies_names) → hresult_t¶

remove_constraint((Model)self, (str)name) → hresult_t¶

remove_contact_points((Model)self, (list)frame_names) → hresult_t¶

remove_frame((Model)self, (str)frame_name) → hresult_t¶

property rigid_joints_idx¶

property rigid_joints_names¶

property rigid_joints_position_idx¶

property rigid_joints_velocity_idx¶

property urdf_path¶

property velocity_limit¶

property visual_model¶

class jiminy_py.core.Robot((object)arg1) → None¶

Bases: jiminy_py.core.Model

property armatures¶

attach_motor((Robot)self, (AbstractMotor)motor) → hresult_t¶

attach_sensor((Robot)self, (AbstractSensor)sensor) → hresult_t¶

property command_limit¶

detach_motor((Robot)self, (str)joint_name) → hresult_t¶

detach_motors((Robot)self[, (list)joints_names=[]]) → hresult_t¶

detach_sensor((Robot)self, (str)sensor_type, (str)sensor_name) → hresult_t¶

detach_sensors((Robot)self[, (str)sensor_type='']) → hresult_t¶

dump_options((Robot)self, (str)json_filename) → hresult_t¶

get_model_options((Robot)arg1) → dict¶

get_motor((Robot)self, (str)motor_name) → AbstractMotor¶

get_motors_options((Robot)arg1) → dict¶

get_options((Robot)arg1) → dict¶

get_sensor((Robot)self, (str)sensor_type, (str)sensor_name) → AbstractSensor¶

get_sensors_options((Robot)arg1) → dict¶

get_telemetry_options((Robot)arg1) → dict¶

initialize((Robot)self, (str)urdf_path[, (bool)has_freeflyer=False[, (list)mesh_package_dirs=[]]]) → hresult_t¶: initialize( (Robot)self, (Model)pinocchio_model, (GeometryModel)collision_model, (GeometryModel)visual_model) -> hresult_t

property is_locked¶

load_options((Robot)self, (str)json_filename) → hresult_t¶

property logfile_command_headers¶

property logfile_motor_effort_headers¶

property motors_names¶

property motors_position_idx¶

property motors_velocity_idx¶

property nmotors¶

property sensors_data¶

property sensors_names¶

set_model_options((Robot)self, (dict)model_options) → None¶

set_motors_options((Robot)self, (dict)motors_options) → None¶

set_options((Robot)self, (dict)robot_options) → None¶

set_sensors_options((Robot)self, (dict)sensors_options) → None¶

set_telemetry_options((Robot)self, (dict)telemetry_options) → None¶

class jiminy_py.core.sensorsData((object)self, (object)sensors_data_dict) → None¶

Bases: Boost.Python.instance

items((sensorsData)self) → list¶

keys((sensorsData)self) → list¶: keys( (sensorsData)self, (str)sensor_type) -> list

values((sensorsData)self) → list¶