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def | __init__ (self, compositeName, robotName, rootJointType, load=True) |
| Constructor. More...
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def | loadModel (self, robotName, rootJointType) |
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def | __init__ (self, compositeName=None, robotName=None, rootJointType=None, load=True) |
| Constructor. More...
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def | loadModel (self, robotName, rootJointType) |
| Virtual function to load the robot model. More...
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def | insertRobotModel (self, robotName, rootJointType, packageName, modelName, urdfSuffix, srdfSuffix) |
| Load robot model and insert it in the device. More...
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def | insertRobotSRDFModel (self, robotName, packageName, modelName, srdfSuffix) |
| Load a SRDF for the robot. More...
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def | insertHumanoidModel (self, robotName, rootJointType, packageName, modelName, urdfSuffix, srdfSuffix) |
| Load humanoid robot model and insert it in the device. More...
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def | loadHumanoidModel (self, robotName, rootJointType, packageName, modelName, urdfSuffix, srdfSuffix) |
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def | insertObjectModel (self, objectName, rootJointType, packageName, modelName, urdfSuffix, srdfSuffix) |
| Load object model and insert it in the device. More...
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def | loadEnvironmentModel (self, packageName, modelName, urdfSuffix, srdfSuffix, envName) |
| Load environment model and store in local map. More...
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def | rebuildRanks (self) |
| Rebuild inner variables rankInConfiguration and rankInVelocity. More...
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def | getConfigSize (self) |
| Get size of configuration. More...
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def | getNumberDof (self) |
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def | getJointNames (self) |
| Get joint names in the same order as in the configuration. More...
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def | getAllJointNames (self) |
| Get joint names in the same order as in the configuration. More...
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def | getJointPosition (self, jointName) |
| Get joint position. More...
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def | setJointPosition (self, jointName, position) |
| Set static position of joint in its parent frame. More...
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def | getJointNumberDof (self, jointName) |
| Get joint number degrees of freedom. More...
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def | getJointConfigSize (self, jointName) |
| Get joint number config size. More...
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def | setJointBounds (self, jointName, inJointBound) |
| set bounds for the joint More...
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def | getJointBounds (self, jointName) |
| Get bounds for a joint. More...
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def | getSaturated (self, q) |
| Get joints that are saturated for a given configuration. More...
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def | setRootJointPosition (self, robotName, position) |
| Set the position of root joint of a robot in world frame. More...
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def | getLinkPosition (self, jointName) |
| Get link position in joint frame. More...
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def | getLinkNames (self, jointName) |
| Get link name. More...
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def | setCurrentConfig (self, q) |
| Set current configuration of composite robot. More...
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def | getCurrentConfig (self) |
| Get current configuration of composite robot. More...
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def | shootRandomConfig (self) |
| Shoot random configuration. More...
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def | getJointInnerObjects (self, jointName) |
| Get the list of objects attached to a joint. More...
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def | getJointOuterObjects (self, jointName) |
| Get list of collision objects tested with the body attached to a joint. More...
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def | getObjectPosition (self, objectName) |
| Get position of robot object. More...
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def | removeObstacleFromJoint (self, objectName, jointName, collision=True, distance=False) |
| Remove an obstacle from outer objects of a joint body. More...
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def | getGripperPositionInJoint (self, gripperName) |
| Return the joint name in which a gripper is and the position relatively to the joint. More...
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def | getHandlePositionInJoint (self, handleName) |
| Return the joint name in which a handle is and the position relatively to the joint. More...
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def | collisionTest (self) |
| Test collision with obstacles and auto-collision. More...
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def | isConfigValid (self, cfg) |
| Check the validity of a configuration. More...
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def | distancesToCollision (self) |
| Compute distances between bodies and obstacles. More...
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def | getRobotAABB (self) |
| See hpp.corbaserver.Robot.getRobotAABB. More...
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def | getMass (self) |
| Get mass of robot. More...
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def | getCenterOfMass (self) |
| Get position of center of mass. More...
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def | getJacobianCenterOfMass (self) |
| Get Jacobian of the center of mass. More...
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