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, (AbstractConstraintBase)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) AbstractConstraintBase :

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_drift((Model)arg1) object :

Get drift of the constraints.

get_constraints_jacobian((Model)arg1) object :

Get jacobian of the constraints.

get_constraints_lambda((Model)arg1) object :

Get lambda multipliers of the constraints.

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