Public Member Functions | List of all members
manipulation.robot.HumanoidRobot Class Reference
Inheritance diagram for manipulation.robot.HumanoidRobot:
[legend]
Collaboration diagram for manipulation.robot.HumanoidRobot:
[legend]

Public Member Functions

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

Additional Inherited Members

- Public Attributes inherited from manipulation.robot.Robot
 tf_root
 
 rootJointType
 
 client
 
 name
 
 displayName
 
 load
 
 jointNames
 
 rankInConfiguration
 
 rankInVelocity
 

Constructor & Destructor Documentation

◆ __init__()

def manipulation.robot.HumanoidRobot.__init__ (   self,
  compositeName,
  robotName,
  rootJointType,
  load = True 
)

Constructor.

Parameters
compositeNamename of the composite robot that will be built later,
robotNamename of the first robot that is loaded now,
rootJointTypetype of root joint among ("freeflyer", "planar", "anchor"),

Member Function Documentation

◆ loadModel()

def manipulation.robot.HumanoidRobot.loadModel (   self,
  robotName,
  rootJointType 
)