Inheritance diagram for manipulation.robot.Robot:

Collaboration diagram for manipulation.robot.Robot:

Public Member Functions
def	__init__ (self, compositeName=None, robotName=None, rootJointType=None, load=True, client=None)

def	loadModel (self, robotName, rootJointType)

def	insertRobotModel (self, robotName, rootJointType, urdfName, srdfName)

def	insertRobotModelOnFrame (self, robotName, frameName, rootJointType, urdfName, srdfName)

def	insertRobotModelFromString (self, robotName, rootJointType, urdfString, srdfString, frame="universe")

def	insertRobotSRDFModel (self, robotName, srdfPath)

def	insertHumanoidModel (self, robotName, rootJointType, urdfName, srdfName)

def	insertHumanoidModelFromString (self, robotName, rootJointType, urdfString, srdfString)

def	loadHumanoidModel (self, robotName, rootJointType, urdfName, srdfName)

def	loadEnvironmentModel (self, urdfName, srdfName, envName)

def	setRootJointPosition (self, robotName, position)

def	getGripperPositionInJoint (self, gripperName)

def	getHandlePositionInJoint (self, handleName)

Public Attributes
	rootJointType

	load

	robotNames

Detailed Description

Load and handle a composite robot for manipulation planning

A composite robot is a kinematic chain composed of several sub-kinematic
chains rooted at an anchor joint.

Constructor & Destructor Documentation

◆ init()

def manipulation.robot.Robot.__init__	(	self,
		compositeName = `None`,
		robotName = `None`,
		rootJointType = `None`,
		load = `True`,
		client = `None`
	)

Constructor
\\param robotName name of the first robot that is loaded now,
\\param rootJointType type of root joint among ("freeflyer", "planar",
       "anchor"),
\\param load whether to actually load urdf files. Set to no if you only
       want to initialize a corba client to an already initialized
       problem.

Reimplemented in manipulation.robot.HumanoidRobot.

Member Function Documentation

◆ getGripperPositionInJoint()

def manipulation.robot.Robot.getGripperPositionInJoint	(	self,
		gripperName
	)

Return the joint name in which a gripper is and the position relatively
to the joint

◆ getHandlePositionInJoint()

def manipulation.robot.Robot.getHandlePositionInJoint	(	self,
		handleName
	)

Return the joint name in which a handle is and the position relatively
to the joint

◆ insertHumanoidModel()

def manipulation.robot.Robot.insertHumanoidModel	(	self,
		robotName,
		rootJointType,
		urdfName,
		srdfName
	)

Load humanoid robot model and insert it in the device

\\param robotName key of the robot in hpp::manipulation::ProblemSolver object
       map (see hpp::manipulation::ProblemSolver::addRobot)
\\param rootJointType type of root joint among "anchor", "freeflyer",
       "planar",
\\param urdfName name of the urdf file
\\param srdfName name of the srdf file

◆ insertHumanoidModelFromString()

def manipulation.robot.Robot.insertHumanoidModelFromString	(	self,
		robotName,
		rootJointType,
		urdfString,
		srdfString
	)

Same as Robot.insertHumanoidModel

\\param urdfString XML string of the URDF,
\\param srdfString XML string of the SRDF

◆ insertRobotModel()

def manipulation.robot.Robot.insertRobotModel	(	self,
		robotName,
		rootJointType,
		urdfName,
		srdfName
	)

Load robot model and insert it in the device

\\param robotName key of the robot in hpp::manipulation::ProblemSolver object
    map (see hpp::manipulation::ProblemSolver::addRobot)
\\param rootJointType type of root joint among "anchor", "freeflyer",
    "planar",
\\param urdfName name of the urdf file
\\param srdfName name of the srdf file

◆ insertRobotModelFromString()

def manipulation.robot.Robot.insertRobotModelFromString	(	self,
		robotName,
		rootJointType,
		urdfString,
		srdfString,
		frame = `"universe"`
	)

Same as Robot.insertRobotModel

\\param urdfString XML string of the URDF,
\\param srdfString XML string of the SRDF

◆ insertRobotModelOnFrame()

def manipulation.robot.Robot.insertRobotModelOnFrame	(	self,
		robotName,
		frameName,
		rootJointType,
		urdfName,
		srdfName
	)

Insert robot model as a child of a frame of the Device

\\param robotName key of the robot in ProblemSolver object map
       (see hpp::manipulation::ProblemSolver::addRobot)
\\param frameName name of the existing frame
        that will the root of the added robot,
\\param rootJointType type of root joint among "anchor", "freeflyer",
"planar",
\\param urdfName name of the urdf file
\\param srdfName name of the srdf file

◆ insertRobotSRDFModel()

def manipulation.robot.Robot.insertRobotSRDFModel	(	self,
		robotName,
		srdfPath
	)

Load a SRDF for the robot. Several SRDF can thus be loaded for the same robot

\\param robotName key of the robot in hpp::manipulation::Device object
       map (see hpp::manipulation::Device)
\\param srdfPath path to srdf file (can start with "package://")

◆ loadEnvironmentModel()

def manipulation.robot.Robot.loadEnvironmentModel	(	self,
		urdfName,
		srdfName,
		envName
	)

Load environment model and store in local map.
Contact surfaces are build from the corresping srdf file.
See hpp-manipulation-urdf for more details about contact surface
specifications.

\\param envName key of the object in ProblemSolver object map
       (see hpp::manipulation::ProblemSolver::addRobot)
\\param urdfName name of the urdf file,
\\param srdfName name of the srdf file.

◆ loadHumanoidModel()

def manipulation.robot.Robot.loadHumanoidModel	(	self,
		robotName,
		rootJointType,
		urdfName,
		srdfName
	)

◆ loadModel()

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

Virtual function to load the robot model.

Reimplemented in manipulation.robot.HumanoidRobot.

◆ setRootJointPosition()

def manipulation.robot.Robot.setRootJointPosition	(	self,
		robotName,
		position
	)

Set the position of root joint of a robot in world frame
\\param robotName key of the robot in ProblemSolver object map.
\\param position constant position of the root joint in world frame in
       initial configuration.

Member Data Documentation

◆ load

manipulation.robot.Robot.load

◆ robotNames

manipulation.robot.Robot.robotNames

◆ rootJointType

manipulation.robot.Robot.rootJointType

The documentation for this class was generated from the following file:

src/hpp/corbaserver/manipulation/robot.py

Public Member Functions

Public Attributes