robot

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

Bases: instance

add_collision_bodies((Model)self[, (object)body_names=[][, (bool)ignore_meshes=False]]) → None

add_constraint((Model)self, (str)name, (AbstractConstraint)constraint) → None

add_contact_points((Model)self[, (object)frame_names=[]]) → None

add_frame((Model)self, (str)frame_name, (str)parent_body_name, (SE3)frame_placement) → None

property backlash_joint_indices

fget( (Model)self) -> StdVec_Index

property backlash_joint_names

fget( (Model)self) -> StdVec_StdString

property collision_body_indices

fget( (Model)self) -> StdVec_Index

property collision_body_names

fget( (Model)self) -> StdVec_StdString

property collision_data

fget( (Model)self) -> GeometryData

property collision_model

fget( (Model)self) -> GeometryModel

property collision_model_th

fget( (Model)self) -> GeometryModel

property collision_pair_indices

fget( (Model)self) -> StdVec_IndexVector

compute_constraints((Model)self, (numpy.ndarray)q, (numpy.ndarray)v) → None

property constraints

fget( (Model)self) -> ConstraintTree

property contact_forces

fget( (Model)self) -> StdVec_Force

property contact_frame_indices

fget( (Model)self) -> StdVec_Index

property contact_frame_names

fget( (Model)self) -> StdVec_StdString

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

property flexibility_joint_indices

fget( (Model)self) -> StdVec_Index

property flexibility_joint_names

fget( (Model)self) -> StdVec_StdString

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

get_constraints_jacobian_and_drift((Model)arg1) → tuple

get_extended_position_from_theoretical((Model)self, (numpy.ndarray)mechanical_position) → numpy.ndarray

get_extended_velocity_from_theoretical((Model)self, (numpy.ndarray)mechanical_velocity) → numpy.ndarray

get_options((Model)arg1) → dict

get_theoretical_position_from_extended((Model)self, (numpy.ndarray)flexibility_position) → numpy.ndarray

get_theoretical_velocity_from_extended((Model)self, (numpy.ndarray)flexibility_velocity) → numpy.ndarray

property has_constraints

fget( (Model)self) -> bool

property has_freeflyer

fget( (Model)self) -> bool

initialize((Model)self, (str)urdf_path[, (bool)has_freeflyer=False[, (object)mesh_package_dirs=[][, (bool)load_visual_meshes=False]]]) → None

initialize( (Model)self, (Model)pinocchio_model [, (object)collision_model=None [, (object)visual_model=None]]) -> None

property is_flexibility_enabled

fget( (Model)self) -> bool

property is_initialized

fget( (Model)self) -> bool

property log_acceleration_fieldnames

fget( (Model)self) -> StdVec_StdString

property log_f_external_fieldnames

fget( (Model)self) -> StdVec_StdString

property log_position_fieldnames

fget( (Model)self) -> StdVec_StdString

property log_velocity_fieldnames

fget( (Model)self) -> StdVec_StdString

property mechanical_joint_indices

fget( (Model)self) -> StdVec_Index

property mechanical_joint_names

fget( (Model)self) -> StdVec_StdString

property mechanical_joint_position_indices

fget( (Model)self) -> object

property mechanical_joint_velocity_indices

fget( (Model)self) -> object

property mesh_package_dirs

fget( (Model)self) -> StdVec_StdString

property nq

fget( (Model)self) -> int

property nv

fget( (Model)self) -> int

property nx

fget( (Model)self) -> int

property pinocchio_data

fget( (Model)self) -> Data

property pinocchio_data_th

fget( (Model)self) -> Data

property pinocchio_model

fget( (Model)self) -> pinocchio.Model

property pinocchio_model_th

fget( (Model)self) -> pinocchio.Model

property position_limit_lower

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

property position_limit_upper

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

remove_collision_bodies((Model)self, (object)body_names) → None

remove_constraint((Model)self, (str)name) → None

remove_contact_points((Model)self, (object)frame_names) → None

remove_frames((Model)self, (object)frame_names) → None

reset((Model)self, (object)generator) → None

set_options((Model)self, (dict)options) → None

property urdf_path

fget( (Model)self) -> str

property velocity_limit

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

property visual_data

fget( (Model)self) -> GeometryData

property visual_model

fget( (Model)self) -> GeometryModel

property visual_model_th

fget( (Model)self) -> GeometryModel

class jiminy_py.core.Robot((object)arg1[, (str)name=''])

Bases: Model

attach_motor((Robot)self, (AbstractMotor)motor) → None

attach_sensor((Robot)self, (AbstractSensor)sensor) → None

property command_limit

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

compute_sensor_measurements((Robot)self, (float)t, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)a, (numpy.ndarray)u_motor, (StdVec_Force)f_external) → None

property controller

fget( (Robot)self) -> object fset( (Robot)self) -> None

detach_motor((Robot)self, (str)joint_name) → None

detach_motors((Robot)self[, (object)joints_names=[]]) → None

detach_sensor((Robot)self, (str)sensor_type, (str)sensor_name) → None

detach_sensors((Robot)self[, (str)sensor_type='']) → None

get_model_options((Robot)arg1) → dict

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

get_options((Robot)arg1) → dict

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

initialize((Robot)self, (str)urdf_path[, (bool)has_freeflyer=False[, (object)mesh_package_dirs=[][, (bool)load_visual_meshes=False]]]) → None

initialize( (Robot)self, (Model)pinocchio_model [, (object)collision_model=None [, (object)visual_model=None]]) -> None

property is_locked

fget( (Robot)self) -> bool

property log_command_fieldnames

fget( (Robot)self) -> StdVec_StdString

property log_motor_effort_fieldnames

fget( (Robot)self) -> StdVec_StdString

property motor_names

fget( (Robot)self) -> StdVec_StdString

property motor_position_indices

fget( (Robot)self) -> object

property motor_velocity_indices

fget( (Robot)self) -> object

property name

fget( (Robot)self) -> str

property nmotors

fget( (Robot)self) -> int

property sensor_measurements

fget( (Robot)self) -> SensorMeasurementTree

property sensor_names

fget( (Robot)self) -> dict

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

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