robot¶
- class jiminy_py.core.Model¶
Bases:
Boost.Python.instance
Raises an exception This class cannot be instantiated from Python
- 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¶
- 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.
- 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¶
- 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¶
- property command_limit¶
- get_motor((Robot)self, (str)motor_name) AbstractMotor ¶
- get_sensor((Robot)self, (str)sensor_type, (str)sensor_name) AbstractSensor ¶
- 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¶
- 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¶