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( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_Index

property backlash_joint_names

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property collision_body_indices

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_Index

property collision_body_names

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property collision_data

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.GeometryData

property collision_model

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.GeometryModel

property collision_model_th

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.GeometryModel

property collision_pair_indices

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_IndexVector

compute_constraints((Model)self, (numpy.ndarray)q, (numpy.ndarray)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

fget( (jiminy_py.core.core.Model)self) -> jiminy_py.core.core.ConstraintTree

property contact_forces

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_Force

property contact_frame_indices

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_Index

property contact_frame_names

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

copy((Model)self) → Model

property flexibility_joint_indices

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_Index

property flexibility_joint_names

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

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( (jiminy_py.core.core.Model)self) -> bool:

Returns true if at least one constraint is active on the robot.

property has_freeflyer

fget( (jiminy_py.core.core.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( (jiminy_py.core.core.Model)self) -> bool

property is_initialized

fget( (jiminy_py.core.core.Model)self) -> bool

property log_acceleration_fieldnames

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property log_constraint_fieldnames

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property log_effort_fieldnames

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property log_f_external_fieldnames

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property log_position_fieldnames

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property log_velocity_fieldnames

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property mechanical_joint_indices

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_Index

property mechanical_joint_names

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property mechanical_joint_position_indices

fget( (jiminy_py.core.core.Model)self) -> object

property mechanical_joint_velocity_indices

fget( (jiminy_py.core.core.Model)self) -> object

property mesh_package_dirs

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property nq

fget( (jiminy_py.core.core.Model)self) -> int

property nv

fget( (jiminy_py.core.core.Model)self) -> int

property nx

fget( (jiminy_py.core.core.Model)self) -> int

property pinocchio_data

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.Data

property pinocchio_data_th

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.Data

property pinocchio_model

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.Model

property pinocchio_model_th

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.Model

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 :

This method does not have to be called manually before running a simulation. The Engine is taking care of it.

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

property urdf_path

fget( (jiminy_py.core.core.Model)self) -> str

property visual_data

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.GeometryData

property visual_model

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.GeometryModel

property visual_model_th

fget( (jiminy_py.core.core.Model)self) -> pinocchio.pinocchio_pywrap.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

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 :

It assumes that kinematic quantities have been updated previously and are consistent with the following input arguments. If not, one must call pinocchio::forwardKinematics and pinocchio::updateFramePlacements beforehand.

property controller

fget( (jiminy_py.core.core.Robot)self) -> object fset( (jiminy_py.core.core.Robot)self) -> None

copy((Robot)self) → Robot

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( (jiminy_py.core.core.Model)self) -> bool

property log_command_fieldnames

fget( (jiminy_py.core.core.Robot)self) -> pinocchio.pinocchio_pywrap.StdVec_StdString

property motors

fget( (jiminy_py.core.core.Robot)self) -> object

property name

fget( (jiminy_py.core.core.Robot)self) -> str

property nmotors

fget( (jiminy_py.core.core.Robot)self) -> int

property sensor_measurements

fget( (jiminy_py.core.core.Robot)self) -> jiminy_py.core.core.SensorMeasurementTree

property sensors

fget( (jiminy_py.core.core.Robot)self) -> object

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

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