|
| | __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None) |
| |
| | loadModel (self, robotName, rootJointType) |
| |
| | rebuildRanks (self) |
| |
| | urdfSrdfFilenames (self) |
| |
| | urdfSrdfString (self) |
| |
| | urdfPath (self) |
| |
| | srdfPath (self) |
| |
| | getConfigSize (self) |
| |
| | getNumberDof (self) |
| |
| | getJointNames (self) |
| |
| | getJointTypes (self) |
| |
| | getAllJointNames (self) |
| |
| | getParentFrame (self, frameName) |
| |
| | getChildFrames (self, frameName, recursive=False) |
| |
| | getParentJoint (self, jointName) |
| |
| | getChildJoints (self, jointName, recursive=False) |
| |
| | getJointPosition (self, jointName) |
| |
| | getRootJointPosition (self) |
| |
| | setRootJointPosition (self, position) |
| |
| | setJointPosition (self, jointName, position) |
| |
| | getCurrentTransformation (self, jointName) |
| |
| | getJointNumberDof (self, jointName) |
| |
| | getJointConfigSize (self, jointName) |
| |
| | setJointBounds (self, jointName, inJointBound) |
| |
| | getJointBounds (self, jointName) |
| |
| | getSaturated (self, q) |
| |
| | getLinkPosition (self, linkName) |
| |
| | getLinkNames (self, jointName) |
| |
| | setCurrentConfig (self, q) |
| |
| | getCurrentConfig (self) |
| |
| | setCurrentVelocity (self, v) |
| |
| | getCurrentVelocity (self) |
| |
| | shootRandomConfig (self) |
| |
| | getJointInnerObjects (self, jointName) |
| |
| | getJointOuterObjects (self, jointName) |
| |
| | getObjectPosition (self, objectName) |
| |
| | removeObstacleFromJoint (self, objectName, jointName) |
| |
| | isConfigValid (self, cfg) |
| |
| | configIsValid (self, cfg) |
| |
| | distancesToCollision (self) |
| |
| | getRobotAABB (self) |
| |
| | getMass (self) |
| |
| | getCenterOfMass (self) |
| |
| | getJacobianCenterOfMass (self) |
| |
| | createSlidingStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0) |
| |
| | createStaticStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, maskCom=(True,) *3) |
| |
| | createAlignedCOMStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, sliding) |
| |