utilities¶

Geometry¶

class jiminy_py.core.HeightmapType¶

Bases: enum

CONSTANT = jiminy_py.core.HeightmapType.CONSTANT¶

GENERIC = jiminy_py.core.HeightmapType.GENERIC¶

STAIRS = jiminy_py.core.HeightmapType.STAIRS¶

names = {'CONSTANT': jiminy_py.core.HeightmapType.CONSTANT, 'GENERIC': jiminy_py.core.HeightmapType.GENERIC, 'STAIRS': jiminy_py.core.HeightmapType.STAIRS}¶

values = {1: jiminy_py.core.HeightmapType.CONSTANT, 2: jiminy_py.core.HeightmapType.STAIRS, 3: jiminy_py.core.HeightmapType.GENERIC}¶

class jiminy_py.core.HeightmapFunction((object)arg1, (object)heightmap_function[, (HeightmapType)heightmap_type=jiminy_py.core.HeightmapType.GENERIC])¶

Bases: instance

property py_function¶: fget( (HeightmapFunction)self) -> object

jiminy_py.core.sum_heightmaps((object)heightmaps) → HeightmapFunction¶

jiminy_py.core.merge_heightmaps((object)heightmaps) → HeightmapFunction¶

jiminy_py.core.discretize_heightmap((HeightmapFunction)heightmap, (float)x_min, (float)x_max, (float)x_unit, (float)y_min, (float)y_max, (float)y_unit[, (bool)must_simplify=False]) → CollisionGeometry¶

Random number generation¶

class jiminy_py.core.PCG32((object)self[, (int)state])¶

Bases: instance

__init__( (object)arg1, (list)seed_seq) -> object

max = 4294967295¶

min = 0¶

seed((PCG32)self, (list)seed_seq) → None¶

class jiminy_py.core.PeriodicGaussianProcess((object)self, (float)wavelength, (float)period)¶: Bases: PeriodicTabularProcess

class jiminy_py.core.PeriodicFourierProcess((object)self, (float)wavelength, (float)period)¶: Bases: PeriodicTabularProcess

jiminy_py.core.uniform((object)generator, (numpy.ndarray)lo, (numpy.ndarray)hi) → numpy.ndarray¶

uniform( (object)generator [, (float)lo=0.0 [, (float)hi=1.0 [, (object)size=None]]]) -> object

uniform( (object)generator) -> float

jiminy_py.core.normal((object)generator, (numpy.ndarray)mean, (numpy.ndarray)stddev) → numpy.ndarray¶: normal( (object)generator [, (float)mean=0.0 [, (float)stddev=1.0 [, (object)size=None]]]) -> object

jiminy_py.core.random_tile_ground((numpy.ndarray)size, (float)height_max, (numpy.ndarray)interp_delta, (int)sparsity, (float)orientation, (int)seed) → HeightmapFunction¶

Pinocchio¶

class jiminy_py.core.JointModelType¶

Bases: enum

FREE = jiminy_py.core.JointModelType.FREE¶

LINEAR = jiminy_py.core.JointModelType.LINEAR¶

NONE = jiminy_py.core.JointModelType.NONE¶

PLANAR = jiminy_py.core.JointModelType.PLANAR¶

ROTARY = jiminy_py.core.JointModelType.ROTARY¶

ROTARY_UNBOUNDED = jiminy_py.core.JointModelType.ROTARY_UNBOUNDED¶

SPHERICAL = jiminy_py.core.JointModelType.SPHERICAL¶

names = {'FREE': jiminy_py.core.JointModelType.FREE, 'LINEAR': jiminy_py.core.JointModelType.LINEAR, 'NONE': jiminy_py.core.JointModelType.NONE, 'PLANAR': jiminy_py.core.JointModelType.PLANAR, 'ROTARY': jiminy_py.core.JointModelType.ROTARY, 'ROTARY_UNBOUNDED': jiminy_py.core.JointModelType.ROTARY_UNBOUNDED, 'SPHERICAL': jiminy_py.core.JointModelType.SPHERICAL}¶

values = {0: jiminy_py.core.JointModelType.NONE, 1: jiminy_py.core.JointModelType.LINEAR, 2: jiminy_py.core.JointModelType.ROTARY, 3: jiminy_py.core.JointModelType.ROTARY_UNBOUNDED, 4: jiminy_py.core.JointModelType.PLANAR, 6: jiminy_py.core.JointModelType.SPHERICAL, 7: jiminy_py.core.JointModelType.FREE}¶

jiminy_py.core.build_geom_from_urdf((Model)pinocchio_model, (str)urdf_filename, (int)geom_type[, (object)mesh_package_dirs=[][, (bool)load_meshes=True[, (bool)make_meshes_convex=False]]]) → GeometryModel¶

jiminy_py.core.build_models_from_urdf((str)urdf_path, (bool)has_freeflyer[, (object)mesh_package_dirs=[][, (bool)build_visual_model=False[, (bool)load_visual_meshes=False]]]) → tuple¶

jiminy_py.core.get_joint_type((JointModel)joint_model) → JointModelType¶: get_joint_type( (Model)pinocchio_model, (int)joint_index) -> JointModelType

jiminy_py.core.get_joint_indices((Model)pinocchio_model, (StdVec_StdString)joint_names) → StdVec_Index¶: get_joint_indices( (Model)pinocchio_model, (StdVec_StdString)joint_names) -> list

jiminy_py.core.get_joint_position_first_index((Model)pinocchio_model, (str)joint_name) → int¶

jiminy_py.core.is_position_valid((Model)pinocchio_model, (numpy.ndarray)position[, (float)tol_abs=1.1920928955078125e-07]) → bool¶

jiminy_py.core.get_frame_indices((Model)pinocchio_model, (StdVec_StdString)frame_names) → list¶

jiminy_py.core.get_joint_indices((Model)pinocchio_model, (StdVec_StdString)joint_names) → StdVec_Index¶: get_joint_indices( (Model)pinocchio_model, (StdVec_StdString)joint_names) -> list

jiminy_py.core.aba((Model)pinocchio_model, (Data)pinocchio_data, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)u, (StdVec_Force)fext) → numpy.ndarray :¶: Compute ABA with external forces, store the result in Data::ddq and return it.

jiminy_py.core.rnea((Model)pinocchio_model, (Data)pinocchio_data, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)a) → numpy.ndarray :¶

Compute the RNEA without external forces, store the result in Data and return it.

rnea( (Model)pinocchio_model, (Data)pinocchio_data, (numpy.ndarray)q, (numpy.ndarray)v, (numpy.ndarray)a, (StdVec_Force)fext) -> numpy.ndarray :: Compute the RNEA with external forces, store the result in Data and return it.

jiminy_py.core.crba((Model)pinocchio_model, (Data)pinocchio_data, (numpy.ndarray)q[, (bool)fastmath=False]) → numpy.ndarray :¶: Computes CRBA, store the result in Data and return it.

jiminy_py.core.computeKineticEnergy((Model)pinocchio_model, (Data)pinocchio_data, (numpy.ndarray)q, (numpy.ndarray)v[, (bool)update_kinematics=True]) → float :¶: Computes the forward kinematics and the kinematic energy of the model for the given joint configuration and velocity given as input. The result is accessible through data.kinetic_energy.

jiminy_py.core.computeJMinvJt((Model)pinocchio_model, (Data)pinocchio_data, (numpy.ndarray)J[, (bool)update_decomposition=True]) → numpy.ndarray¶

jiminy_py.core.solveJMinvJtv((Data)pinocchio_data, (numpy.ndarray)v[, (bool)update_decomposition=True]) → numpy.ndarray¶

Miscellaneous¶

class jiminy_py.core.LogicError¶: Bases: Exception

class jiminy_py.core.OSError¶: Bases: OSError

class jiminy_py.core.NotImplementedError¶: Bases: LogicError

class jiminy_py.core.BadControlFlow¶: Bases: LogicError

class jiminy_py.core.LookupError¶: Bases: LookupError

jiminy_py.core.array_copyto((object)dst, (object)src) → None¶

jiminy_py.core.interpolate_positions((Model)pinocchio_model, (numpy.ndarray)times_in, (numpy.ndarray)positions_in, (numpy.ndarray)times_out) → numpy.ndarray¶