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