# Python stubs generated by omniidl from /local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/robot.idl
# DO NOT EDIT THIS FILE!

import omniORB, _omnipy
from omniORB import CORBA, PortableServer
_0_CORBA = CORBA


_omnipy.checkVersion(4,2, __file__, 1)

try:
    property
except NameError:
    def property(*args):
        return None


# #include "hpp/common.idl"
import hpp_stubs.common_idl
_0_hpp = omniORB.openModule("hpp_stubs.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.hpp__POA")

# #include "hpp/pinocchio_idl/robots.idl"
import hpp_stubs.pinocchio.robots_idl
_0_hpp = omniORB.openModule("hpp_stubs.pinocchio.hpp")
_0_hpp__POA = omniORB.openModule("hpp_stubs.pinocchio.hpp__POA")
_0_hpp.pinocchio_idl = omniORB.openModule("hpp_stubs.pinocchio.hpp.pinocchio_idl")
_0_hpp__POA.pinocchio_idl = omniORB.openModule("hpp_stubs.pinocchio.hpp__POA.pinocchio_idl")

#
# Start of module "hpp"
#
__name__ = "hpp_idl.hpp"
_0_hpp = omniORB.openModule("hpp_idl.hpp", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/robot.idl")
_0_hpp__POA = omniORB.openModule("hpp_idl.hpp__POA", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/robot.idl")


#
# Start of module "hpp.corbaserver"
#
__name__ = "hpp_idl.hpp.corbaserver"
_0_hpp.corbaserver = omniORB.openModule("hpp_idl.hpp.corbaserver", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/robot.idl")
_0_hpp__POA.corbaserver = omniORB.openModule("hpp_idl.hpp__POA.corbaserver", r"/local/robotpkg/var/tmp/robotpkg/path/py-hpp-corbaserver/work/hpp-corbaserver-9.0.2/idl/hpp/corbaserver/robot.idl")


# interface Robot
_0_hpp.corbaserver._d_Robot = (omniORB.tcInternal.tv_objref, "IDL:hpp/corbaserver/Robot:1.0", "Robot")
omniORB.typeMapping["IDL:hpp/corbaserver/Robot:1.0"] = _0_hpp.corbaserver._d_Robot
_0_hpp.corbaserver.Robot = omniORB.newEmptyClass()
class Robot :
    _NP_RepositoryId = _0_hpp.corbaserver._d_Robot[1]

    def __init__(self, *args, **kw):
        raise RuntimeError("Cannot construct objects of this type.")

    _nil = CORBA.Object._nil

    loadRobotModel__doc__ = " Load robot model\012\012\134param robotName Name of the robot that is constructed,\012\134param rootJointType type of root joint among \042anchor\042, \042freeflyer\042,\012\042planar\042,\012\134param urdfName name of the urdf file. It may contain\012       \042file://\042, or \042package://\042 prefixes.\012\134param srdfName name of the srdf file. It may contain\012       \042file://\042, or \042package://\042 prefixes.\012\012\012Prototype:\011    void loadRobotModel (in string robotName, in string rootJointType,\012           \011\011\011\011 in string urdfName, in string srdfName)\012           \011      raises (Error);\012"
    loadHumanoidModel__doc__ = " Load humanoid robot model\012\012\134param robotName Name of the robot that is constructed,\012\134param rootJointType type of root joint among \042anchor\042, \042freeflyer\042,\012\042planar\042,\012\134param urdfName name of the urdf file. It may contain\012       \042file://\042, or \042package://\042 prefixes.\012\134param srdfName name of the srdf file. It may contain\012       \042file://\042, or \042package://\042 prefixes.\012\012\012Prototype:\011    void loadHumanoidModel (in string robotName, in string rootJointType,\012           \011\011\011\011    in string urdfName, in string srdfName)\012           \011      raises (Error);\012"
    loadRobotModelFromString__doc__ = " Load robot model\012\012\134param robotName Name of the robot that is constructed,\012\134param rootJointType type of root joint among \042anchor\042, \042freeflyer\042,\012\042planar\042,\012\134param urdfString urdf string,\012\134param srdfString srdf string.\012\012\012Prototype:\011    void loadRobotModelFromString (in string robotName, in string rootJointType,\012           \011                                   in string urdfString, in string srdfString)\012           \011      raises (Error);\012"
    loadHumanoidModelFromString__doc__ = " Load humanoid robot model\012\012\134param robotName Name of the robot that is constructed,\012\134param rootJointType type of root joint among \042anchor\042, \042freeflyer\042,\012\042planar\042,\012\134param urdfString urdf string,\012\134param srdfString srdf string.\012\012\012Prototype:\011    void loadHumanoidModelFromString (in string robotName, in string rootJointType,\012           \011\011\011\011              in string urdfString, in string srdfString)\012           \011      raises (Error);\012"
    getConfigSize__doc__ = "Get size of configuration\012\134return size of configuration\012\012Prototype:\011    long getConfigSize () raises (Error);\012"
    getNumberDof__doc__ = "Get size of velocity\012\134return size of velocity\012\012Prototype:\011    long getNumberDof () raises (Error);\012"
    getJointNames__doc__ = "Get joint names in the same order as in the configuration\012\134note anchor joints are not exported.\012\012Prototype:\011    Names_t getJointNames () raises (Error);\012"
    getJointTypes__doc__ = "Get joint types in the same order as in the configuration\012\012Prototype:\011    Names_t getJointTypes () raises (Error);\012"
    getAllJointNames__doc__ = "Get all joint names including anchor joints\012\012Prototype:\011    Names_t getAllJointNames () raises (Error);\012"
    getParentJointName__doc__ = "Get the parent joint of a joint\012\134input jointName any joint (anchor or movable).\012\134return the parent joint (can be an anchor joint)\012\012Prototype:\011    string getParentJointName (in string jointName) raises (Error);\012"
    getJointConfig__doc__ = "Get configuration of a joint in robot configuration\012\012\134param jointName name of the joint,\012\134return the segment of the robot current configuration correponding to\012        the joint.\012\012Prototype:\011    floatSeq getJointConfig(in string jointName) raises (Error);\012"
    setJointConfig__doc__ = "Set configuration of a joint in robot configuration\012\012\134param jointName name of the joint,\012\134param config Configuration of the joint.\012\012Size of config should fit hpp::pinocchio::Joint::configSize.\012\012Modify the part of the robot current configuration\012correponding to the joint and recompute forward kinematics\012\012Prototype:\011    void setJointConfig(in string jointName, in floatSeq config) raises (Error);\012"
    getJointType__doc__ = "Get joint type.\012\012\134param jointName name of the joint,\012\012Prototype:\011    string getJointType(in string jointName) raises (Error);\012"
    jointIntegrate__doc__ = "Integrate velocity of a joint starting from joint configuration\012\012\134param jointCfg a joint configuration\012\134param jointName name of the joint,\012\134param speed velocity vector of the joint\012\134param saturate the joint configuration within joint bounds.\012\134return the resulting configuration\012\012Size of speed should fit hpp::pinocchio::Joint::numberDof.\012\012Prototype:\011    floatSeq jointIntegrate(in floatSeq jointCfg, in string jointName, in floatSeq speed, in boolean saturate) raises (Error);\012"
    getCurrentTransformation__doc__ = "Get joint Transformation\012\134param jointName name of the joint\012\134throw Error if robot is not set or it joint does not exist.\012\012Prototype:\011    floatSeqSeq getCurrentTransformation(in string jointName) raises (Error);\012"
    getJointPosition__doc__ = "Get joint position\012\134param jointName name of the joint\012\134throw Error if robot is not set or if joint does not exist.\012\012Prototype:\011    Transform_ getJointPosition (in string jointName) raises (Error);\012"
    getJointsPosition__doc__ = "Get position of a list of joints in world frame\012\134note This method is thread safe\012\012Prototype:\011    TransformSeq getJointsPosition (in floatSeq q, in Names_t jointNames) raises (Error);\012"
    getJointVelocity__doc__ = "Get joint velocity\012expressed in the world frame, at the center of the world\012\134param jointName name of the joint\012\134throw Error if robot is not set or if joint does not exist.\012\012Prototype:\011    floatSeq getJointVelocity (in string jointName) raises (Error);\012"
    getJointVelocityInLocalFrame__doc__ = "Get joint velocity\012expressed in the joint frame, at the center of the joint\012\134param jointName name of the joint\012\134throw Error if robot is not set or if joint does not exist.\012\012Prototype:\011    floatSeq getJointVelocityInLocalFrame (in string jointName) raises (Error);\012"
    getJointPositionInParentFrame__doc__ = "Get the initial joint position (when config parameter corresponds to the identity)\012\134param jointName name of the joint\012\134throw Error if robot is not set or if joint does not exist.\012\012Prototype:\011    Transform_ getJointPositionInParentFrame (in string jointName) raises (Error);\012"
    getRootJointPosition__doc__ = "Get position of root joint in world frame\012\134return constant position of the root joint in world frame in\012        initial configuration.\012\012Prototype:\011    Transform_ getRootJointPosition () raises (Error);\012"
    setRootJointPosition__doc__ = "Set position of root joint in world frame\012\134param position constant position of the root joint in world frame in\012       initial configuration.\012\012Prototype:\011    void setRootJointPosition (in Transform_ position) raises (Error);\012"
    setJointPositionInParentFrame__doc__ = "Set the static position of joint WRT its parent\012\134param position constant position of the joint\012\012Prototype:\011    void setJointPositionInParentFrame (in string jointName, in Transform_ position)\012           \011      raises (Error);\012"
    getJointNumberDof__doc__ = "Get joint number degrees of freedom\012\134param jointName name of the joint\012\134throw Error if robot is not set or if joint does not exist.\012\012Prototype:\011    long getJointNumberDof (in string jointName) raises (Error);\012"
    getJointConfigSize__doc__ = "Get joint number config size\012\134param jointName name of the joint\012\134throw Error if robot is not set or if joint does not exist.\012\012Prototype:\011    long getJointConfigSize (in string jointName) raises (Error);\012"
    setJointBounds__doc__ = "\134param jointName name of the joint\012\134param inJointBound sequence of joint dof bounds in order\012       [v0_min,v0_max,v1_min,v1_max,...].\012\134li If vi_min > vi_max, dof of rank i is not bounded.\012\134li If size of sequence is different from twice the number of dofs,\012    raise error.\012\134note The roadmap must be reset after all the joints bounds has been set.\012      See Problem::resetRoadmap\012\012Prototype:\011    void setJointBounds(in string jointName,\012           \011\011\011\011in floatSeq inJointBound)\012           \011      raises (Error);\012"
    getJointBounds__doc__ = "Get bounds for a joint\012\012\134param jointName name of the joint\012\134return sequence of bounds in order [v0_min,v0_max,v1_min,v1_max,...]\012        where vi_min, vi_max are the bounds of the i-th degree of\012        freedom of the joint if the degree of freedom is bounded, 1, 0\012        otherwise.\012\012Prototype:\011    floatSeq getJointBounds(in string jointName) raises (Error);\012"
    getLinkPosition__doc__ = "Get link position in world frame\012\012Joints are oriented in a different way as in urdf standard since\012rotation and uni-dimensional translation joints act around or along\012their x-axis. This method returns the current position of the urdf link\012in world frame.\012\012\134param jointName name of the joint\012\134return position of the link in world frame.\012\012Prototype:\011    Transform_ getLinkPosition (in string linkName) raises (Error);\012"
    getLinksPosition__doc__ = "Get position of a list of links in world frame\012\134note This method is thread safe\012\012Prototype:\011    TransformSeq getLinksPosition (in floatSeq q, in Names_t linkName) raises (Error);\012"
    getLinkNames__doc__ = "Get link names\012\012\134param jointName name of the joint,\012\134return names of the links.\012\012Prototype:\011    Names_t getLinkNames (in string jointName) raises (Error);\012"
    setDimensionExtraConfigSpace__doc__ = "Set dimension of the extra configuration space\012\012\134param dimension dimension\012\134sa hpp::pinocchio::ExtraConfigSpace\012\012Prototype:\011    void setDimensionExtraConfigSpace (in unsigned long dimension)\012           \011      raises (Error);\012"
    getDimensionExtraConfigSpace__doc__ = "Get the dimension of the extra configuration space\012\012\134sa hpp::pinocchio::ExtraConfigSpace\012\012Prototype:\011    unsigned long getDimensionExtraConfigSpace ()\012           \011      raises (Error);\012"
    setExtraConfigSpaceBounds__doc__ = "Set bounds of extra configuration variables\012\134param inJointBound sequence of joint dof bounds in order\012       [v0_min,v0_max,v1_min,v1_max,...].\012\134li If vi_min > vi_max, dof of rank i is not bounded.\012\134li If size of sequence is different from twice the number of dofs,\012    raise error.\012\012Prototype:\011    void setExtraConfigSpaceBounds (in floatSeq bounds) raises (Error);\012"
    getCurrentConfig__doc__ = "Get current configuration\012\134return dofArray Array of degrees of freedom.\012\012Prototype:\011    floatSeq getCurrentConfig() raises (Error);\012"
    shootRandomConfig__doc__ = "Shoot random configuration\012\134return dofArray Array of degrees of freedom.\012\012Prototype:\011    floatSeq shootRandomConfig() raises (Error);\012"
    setCurrentConfig__doc__ = "Set current configuration of specified robot,\012\134param dofArray Array of degrees of freedom /\012\012Prototype:\011    void setCurrentConfig(in floatSeq dofArray) raises (Error);\012"
    getCurrentVelocity__doc__ = "Get current velocity\012\134param qDot Array of degrees of freedom\012\012Prototype:\011    floatSeq getCurrentVelocity() raises (Error);\012"
    setCurrentVelocity__doc__ = "Set current velocity\012\134param qDot Array of degrees of freedom\012\012Prototype:\011    void setCurrentVelocity(in floatSeq qDot) raises (Error);\012"
    getJointInnerObjects__doc__ = " Get the list of objects attached to a joint.\012\134param inJointName name of the joint.\012\134return list of names of CollisionObject attached to the body.\012\012Prototype:\011    Names_t getJointInnerObjects (in string jointName) raises (Error);\012"
    getJointOuterObjects__doc__ = " Get list of collision objects tested with the body attached to a joint\012\134param inJointName name of the joint.\012\134return list of names of CollisionObject\012\012Prototype:\011    Names_t getJointOuterObjects (in string jointName) raises (Error);\012"
    getObjectPosition__doc__ = "Get the position of an object of the robot\012\012\134param objectName name of the object.\012\134retval cfg Position of the obstacle.\012\134throw Error.\012\012Prototype:\011    void getObjectPosition (in string objectName, out Transform_ cfg)\012           \011      raises (Error);\012"
    isConfigValid__doc__ = "Test the validity of a configuration\012\012Check whether current configuration of robot is valid by calling\012hpp::core::ConfigValidations object stored in Problem.\012\134retval validity whether configuration is valid\012\134retval report the reason why the config is not valid.\012\012Prototype:\011    void isConfigValid (in floatSeq dofArray, out boolean validity,\012           \011\011\011\011out string report) raises (Error);\012"
    distancesToCollision__doc__ = "Compute distances between bodies and obstacles\012\012\134retval distances list of distances,\012\134retval innerObjects names of the objects belonging to a body\012\134retval outerObjects names of the objects tested with inner objects,\012\134retval innerPoints closest points on the body,\012\134retval outerPoints closest points on the obstacles\012\134note outer objects for a body can also be inner objects of another\012body.\012\012Prototype:\011    void distancesToCollision (out floatSeq distances,\012           \011\011\011\011       out Names_t innerObjects,\012           \011\011\011\011       out Names_t outerObjects,\012           \011\011\011\011       out floatSeqSeq innerPoints,\012           \011\011\011\011       out floatSeqSeq outerPoints) raises (Error);\012"
    autocollisionCheck__doc__ = "Check each auto-collision pair for collision and return the result.\012\012\134retval collide a list of boolean corresponding to the return value of\012                of collisionPairs\012\012Prototype:\011    void autocollisionCheck (out boolSeq collide) raises (Error);\012"
    autocollisionPairs__doc__ = "Returns the list of auto collision pairs.\012\012\134retval innerObjects names of the objects belonging to a body\012\134retval outerObjects names of the objects tested with inner objects,\012\134retval active vector of boolean saying whether a collision pair is active\012\012Prototype:\011    void autocollisionPairs (out Names_t innerObjects, out Names_t outerObjects, out boolSeq active) raises (Error);\012"
    setAutoCollision__doc__ = "\012Prototype:\011    void setAutoCollision (in string innerObject, in string outerObject, in boolean active) raises (Error);\012"
    getRobotAABB__doc__ = "Get the aligned axes bounding box around the robot.\012\012Prototype:\011    floatSeq getRobotAABB () raises (Error);\012"
    getMass__doc__ = "Get mass of robot\012\012Prototype:\011    double getMass () raises (Error);\012"
    getCenterOfMass__doc__ = "Get position of center of mass\012\012Prototype:\011    floatSeq getCenterOfMass () raises (Error);\012"
    getCenterOfMassVelocity__doc__ = "Get velocity of center of mass\012\012Prototype:\011    floatSeq getCenterOfMassVelocity () raises (Error);\012"
    getJacobianCenterOfMass__doc__ = "Get Jacobian of the center of mass\012\012Prototype:\011    floatSeqSeq getJacobianCenterOfMass () raises (Error);\012"
    addPartialCom__doc__ = "Add an object to compute a partial COM of the robot.\012\134param name of the partial com\012\134param jointNames names of each ROOT of the joint trees to consider.\012\134note Joints are added recursively, it is not possible so far to add a\012joint without addind all its children.\012\012Prototype:\011    void addPartialCom (in string comName, in Names_t jointNames)\012           \011        raises (Error);\012"
    getPartialCom__doc__ = "Get position of partial center of mass\012\012Prototype:\011    floatSeq getPartialCom (in string comName) raises (Error);\012"
    getJacobianPartialCom__doc__ = "Get Jacobian of the partial center of mass\012\012Prototype:\011    floatSeqSeq getJacobianPartialCom (in string comName) raises (Error);\012"
    getVelocityPartialCom__doc__ = "Get the velocity of the partial center of mass\012\012Prototype:\011    floatSeq getVelocityPartialCom (in string comName)\012           \011      raises (Error);\012"
    getRobotName__doc__ = "Get the name of the current robot.\012\012Prototype:\011    string getRobotName () raises (Error);\012"
    getCenterOfMassComputation__doc__ = "\012Prototype:\011    pinocchio_idl::CenterOfMassComputation getCenterOfMassComputation (in string name) raises (Error);\012"
    createRobot__doc__ = "Create an empty device\012\134param robotName name of the robot.\012\012Prototype:\011    void createRobot(in string robotName) raises (Error);\012"
    appendJoint__doc__ = "Create a new joint\012\134param parentJoint name of the parent joint,\012\134param jointName name of the joint,\012\134param jointType among [\042FreeFlyer\042, \042Planar\042,\012                        \042RX\042, \042RY\042, \042RZ\042,\012                        \042RUBX\042, \042RUBY\042,\012                        \042RUBZ\042,\012                        \042PX\042, \042PY\042, \042PZ\042,\012                        \042Translation\042]\012\134param pos initial position of the joint\012\134param joinBounds bounds of the joint. See setJointBounds for details.\012\134note In the joint types, R stands for Rotation, RUB stands for\012      Rotation UnBounded, P stands for Prismatic. Translation is 3D.\012\012Prototype:\011    void appendJoint(in string parentJoint,\012           \011                     in string jointName, in string jointType,\012           \011\011\011     in Transform_ pos)\012           \011      raises (Error);\012"
    createPolyhedron__doc__ = " create an empty polyhedron.\012\134param inPolyName name of the polyhedron.\012\134throw Error.\012\012Prototype:\011    void createPolyhedron(in string inPolyName) raises (Error);\012"
    createBox__doc__ = " Create a box\012\134param name name of the box\012\134param x, y, z Size of the box\012\012Prototype:\011    void createBox (in string name, in double x, in double y, in double z)\012           \011      raises (Error);\012"
    createSphere__doc__ = " Create a sphere\012\134param name name of the sphere\012\134param radius radius of the sphere\012\012Prototype:\011    void createSphere (in string name, in double radius) raises (Error);\012"
    createCylinder__doc__ = " Create a cylinder\012\134param name name of the cylinder\012\134param radius radius of the cylinder\012\134param length length of the cylinder\012\012Prototype:\011    void createCylinder (in string name, in double radius, in double length) raises (Error);\012"
    addPoint__doc__ = " Add a point to a polyhedron\012\134param inPolyName the name of the polyhedron.\012\134param x coordinate of the point.\012\134param y coordinate of the point.\012\134param z coordinate of the point.\012\134return rank of point in polyhedron\012\012Prototype:\011    unsigned long addPoint(in string inPolyName, in double x, in double y, in double z)\012           \011      raises (Error);\012"
    addTriangle__doc__ = " Add a point to a polyhedron\012\134param inPolyName the name of the polyhedron.\012\134param pt1 rank of first point in polyhedron.\012\134param pt2 rank of second point in polyhedron.\012\134param pt3 rank of third point in polyhedron.\012\134return rank of triangle in polyhedron\012\012Prototype:\011    unsigned long addTriangle(in string inPolyName, in unsigned long pt1,\012           \011\011\011      in unsigned long pt2, in unsigned long pt3)\012           \011      raises (Error);\012"
    addObjectToJoint__doc__ = " Attach an object to a joint.\012\134param jointName name of the body\012\134param objectName name of the object\012\134param pos relative position of the polyhedron in the body\012\012Prototype:\011    void addObjectToJoint(in string jointName,\012           \011                          in string objectName,\012           \011\011\011\011  in Transform_ pos)\012           \011        raises (Error);\012"


_0_hpp.corbaserver.Robot = Robot
_0_hpp.corbaserver._tc_Robot = omniORB.tcInternal.createTypeCode(_0_hpp.corbaserver._d_Robot)
omniORB.registerType(Robot._NP_RepositoryId, _0_hpp.corbaserver._d_Robot, _0_hpp.corbaserver._tc_Robot)

# Robot operations and attributes
Robot._d_loadRobotModel = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_loadHumanoidModel = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_loadRobotModelFromString = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_loadHumanoidModelFromString = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0)), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getConfigSize = ((), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getNumberDof = ((), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointNames = ((), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointTypes = ((), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getAllJointNames = ((), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getParentJointName = (((omniORB.tcInternal.tv_string,0), ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointConfig = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setJointConfig = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/floatSeq:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointType = (((omniORB.tcInternal.tv_string,0), ), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_jointIntegrate = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], (omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.tcInternal.tv_boolean), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getCurrentTransformation = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointPosition = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointsPosition = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (omniORB.typeMapping["IDL:hpp/TransformSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointVelocity = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointVelocityInLocalFrame = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointPositionInParentFrame = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getRootJointPosition = ((), (omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setRootJointPosition = ((omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setJointPositionInParentFrame = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Transform_:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointNumberDof = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointConfigSize = (((omniORB.tcInternal.tv_string,0), ), (omniORB.tcInternal.tv_long, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setJointBounds = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/floatSeq:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointBounds = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getLinkPosition = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getLinksPosition = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (omniORB.typeMapping["IDL:hpp/TransformSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getLinkNames = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setDimensionExtraConfigSpace = ((omniORB.tcInternal.tv_ulong, ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getDimensionExtraConfigSpace = ((), (omniORB.tcInternal.tv_ulong, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setExtraConfigSpaceBounds = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getCurrentConfig = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_shootRandomConfig = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setCurrentConfig = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getCurrentVelocity = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setCurrentVelocity = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointInnerObjects = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJointOuterObjects = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getObjectPosition = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/Transform_:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_isConfigValid = ((omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), (omniORB.tcInternal.tv_boolean, (omniORB.tcInternal.tv_string,0)), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_distancesToCollision = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"], omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_autocollisionCheck = ((), (omniORB.typeMapping["IDL:hpp/boolSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_autocollisionPairs = ((), (omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/Names_t:1.0"], omniORB.typeMapping["IDL:hpp/boolSeq:1.0"]), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_setAutoCollision = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_boolean), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getRobotAABB = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getMass = ((), (omniORB.tcInternal.tv_double, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getCenterOfMass = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getCenterOfMassVelocity = ((), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJacobianCenterOfMass = ((), (omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_addPartialCom = (((omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Names_t:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getPartialCom = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getJacobianPartialCom = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeqSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getVelocityPartialCom = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/floatSeq:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getRobotName = ((), ((omniORB.tcInternal.tv_string,0), ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_getCenterOfMassComputation = (((omniORB.tcInternal.tv_string,0), ), (omniORB.typeMapping["IDL:hpp/pinocchio_idl/CenterOfMassComputation:1.0"], ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_createRobot = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_appendJoint = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Transform_:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_createPolyhedron = (((omniORB.tcInternal.tv_string,0), ), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_createBox = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_createSphere = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_createCylinder = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_addPoint = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double, omniORB.tcInternal.tv_double), (omniORB.tcInternal.tv_ulong, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_addTriangle = (((omniORB.tcInternal.tv_string,0), omniORB.tcInternal.tv_ulong, omniORB.tcInternal.tv_ulong, omniORB.tcInternal.tv_ulong), (omniORB.tcInternal.tv_ulong, ), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})
Robot._d_addObjectToJoint = (((omniORB.tcInternal.tv_string,0), (omniORB.tcInternal.tv_string,0), omniORB.typeMapping["IDL:hpp/Transform_:1.0"]), (), {_0_hpp.Error._NP_RepositoryId: _0_hpp._d_Error})

# Robot object reference
class _objref_Robot (CORBA.Object):
    _NP_RepositoryId = Robot._NP_RepositoryId

    def __init__(self, obj):
        CORBA.Object.__init__(self, obj)

    def loadRobotModel(self, *args):
        return self._obj.invoke("loadRobotModel", _0_hpp.corbaserver.Robot._d_loadRobotModel, args)

    def loadHumanoidModel(self, *args):
        return self._obj.invoke("loadHumanoidModel", _0_hpp.corbaserver.Robot._d_loadHumanoidModel, args)

    def loadRobotModelFromString(self, *args):
        return self._obj.invoke("loadRobotModelFromString", _0_hpp.corbaserver.Robot._d_loadRobotModelFromString, args)

    def loadHumanoidModelFromString(self, *args):
        return self._obj.invoke("loadHumanoidModelFromString", _0_hpp.corbaserver.Robot._d_loadHumanoidModelFromString, args)

    def getConfigSize(self, *args):
        return self._obj.invoke("getConfigSize", _0_hpp.corbaserver.Robot._d_getConfigSize, args)

    def getNumberDof(self, *args):
        return self._obj.invoke("getNumberDof", _0_hpp.corbaserver.Robot._d_getNumberDof, args)

    def getJointNames(self, *args):
        return self._obj.invoke("getJointNames", _0_hpp.corbaserver.Robot._d_getJointNames, args)

    def getJointTypes(self, *args):
        return self._obj.invoke("getJointTypes", _0_hpp.corbaserver.Robot._d_getJointTypes, args)

    def getAllJointNames(self, *args):
        return self._obj.invoke("getAllJointNames", _0_hpp.corbaserver.Robot._d_getAllJointNames, args)

    def getParentJointName(self, *args):
        return self._obj.invoke("getParentJointName", _0_hpp.corbaserver.Robot._d_getParentJointName, args)

    def getJointConfig(self, *args):
        return self._obj.invoke("getJointConfig", _0_hpp.corbaserver.Robot._d_getJointConfig, args)

    def setJointConfig(self, *args):
        return self._obj.invoke("setJointConfig", _0_hpp.corbaserver.Robot._d_setJointConfig, args)

    def getJointType(self, *args):
        return self._obj.invoke("getJointType", _0_hpp.corbaserver.Robot._d_getJointType, args)

    def jointIntegrate(self, *args):
        return self._obj.invoke("jointIntegrate", _0_hpp.corbaserver.Robot._d_jointIntegrate, args)

    def getCurrentTransformation(self, *args):
        return self._obj.invoke("getCurrentTransformation", _0_hpp.corbaserver.Robot._d_getCurrentTransformation, args)

    def getJointPosition(self, *args):
        return self._obj.invoke("getJointPosition", _0_hpp.corbaserver.Robot._d_getJointPosition, args)

    def getJointsPosition(self, *args):
        return self._obj.invoke("getJointsPosition", _0_hpp.corbaserver.Robot._d_getJointsPosition, args)

    def getJointVelocity(self, *args):
        return self._obj.invoke("getJointVelocity", _0_hpp.corbaserver.Robot._d_getJointVelocity, args)

    def getJointVelocityInLocalFrame(self, *args):
        return self._obj.invoke("getJointVelocityInLocalFrame", _0_hpp.corbaserver.Robot._d_getJointVelocityInLocalFrame, args)

    def getJointPositionInParentFrame(self, *args):
        return self._obj.invoke("getJointPositionInParentFrame", _0_hpp.corbaserver.Robot._d_getJointPositionInParentFrame, args)

    def getRootJointPosition(self, *args):
        return self._obj.invoke("getRootJointPosition", _0_hpp.corbaserver.Robot._d_getRootJointPosition, args)

    def setRootJointPosition(self, *args):
        return self._obj.invoke("setRootJointPosition", _0_hpp.corbaserver.Robot._d_setRootJointPosition, args)

    def setJointPositionInParentFrame(self, *args):
        return self._obj.invoke("setJointPositionInParentFrame", _0_hpp.corbaserver.Robot._d_setJointPositionInParentFrame, args)

    def getJointNumberDof(self, *args):
        return self._obj.invoke("getJointNumberDof", _0_hpp.corbaserver.Robot._d_getJointNumberDof, args)

    def getJointConfigSize(self, *args):
        return self._obj.invoke("getJointConfigSize", _0_hpp.corbaserver.Robot._d_getJointConfigSize, args)

    def setJointBounds(self, *args):
        return self._obj.invoke("setJointBounds", _0_hpp.corbaserver.Robot._d_setJointBounds, args)

    def getJointBounds(self, *args):
        return self._obj.invoke("getJointBounds", _0_hpp.corbaserver.Robot._d_getJointBounds, args)

    def getLinkPosition(self, *args):
        return self._obj.invoke("getLinkPosition", _0_hpp.corbaserver.Robot._d_getLinkPosition, args)

    def getLinksPosition(self, *args):
        return self._obj.invoke("getLinksPosition", _0_hpp.corbaserver.Robot._d_getLinksPosition, args)

    def getLinkNames(self, *args):
        return self._obj.invoke("getLinkNames", _0_hpp.corbaserver.Robot._d_getLinkNames, args)

    def setDimensionExtraConfigSpace(self, *args):
        return self._obj.invoke("setDimensionExtraConfigSpace", _0_hpp.corbaserver.Robot._d_setDimensionExtraConfigSpace, args)

    def getDimensionExtraConfigSpace(self, *args):
        return self._obj.invoke("getDimensionExtraConfigSpace", _0_hpp.corbaserver.Robot._d_getDimensionExtraConfigSpace, args)

    def setExtraConfigSpaceBounds(self, *args):
        return self._obj.invoke("setExtraConfigSpaceBounds", _0_hpp.corbaserver.Robot._d_setExtraConfigSpaceBounds, args)

    def getCurrentConfig(self, *args):
        return self._obj.invoke("getCurrentConfig", _0_hpp.corbaserver.Robot._d_getCurrentConfig, args)

    def shootRandomConfig(self, *args):
        return self._obj.invoke("shootRandomConfig", _0_hpp.corbaserver.Robot._d_shootRandomConfig, args)

    def setCurrentConfig(self, *args):
        return self._obj.invoke("setCurrentConfig", _0_hpp.corbaserver.Robot._d_setCurrentConfig, args)

    def getCurrentVelocity(self, *args):
        return self._obj.invoke("getCurrentVelocity", _0_hpp.corbaserver.Robot._d_getCurrentVelocity, args)

    def setCurrentVelocity(self, *args):
        return self._obj.invoke("setCurrentVelocity", _0_hpp.corbaserver.Robot._d_setCurrentVelocity, args)

    def getJointInnerObjects(self, *args):
        return self._obj.invoke("getJointInnerObjects", _0_hpp.corbaserver.Robot._d_getJointInnerObjects, args)

    def getJointOuterObjects(self, *args):
        return self._obj.invoke("getJointOuterObjects", _0_hpp.corbaserver.Robot._d_getJointOuterObjects, args)

    def getObjectPosition(self, *args):
        return self._obj.invoke("getObjectPosition", _0_hpp.corbaserver.Robot._d_getObjectPosition, args)

    def isConfigValid(self, *args):
        return self._obj.invoke("isConfigValid", _0_hpp.corbaserver.Robot._d_isConfigValid, args)

    def distancesToCollision(self, *args):
        return self._obj.invoke("distancesToCollision", _0_hpp.corbaserver.Robot._d_distancesToCollision, args)

    def autocollisionCheck(self, *args):
        return self._obj.invoke("autocollisionCheck", _0_hpp.corbaserver.Robot._d_autocollisionCheck, args)

    def autocollisionPairs(self, *args):
        return self._obj.invoke("autocollisionPairs", _0_hpp.corbaserver.Robot._d_autocollisionPairs, args)

    def setAutoCollision(self, *args):
        return self._obj.invoke("setAutoCollision", _0_hpp.corbaserver.Robot._d_setAutoCollision, args)

    def getRobotAABB(self, *args):
        return self._obj.invoke("getRobotAABB", _0_hpp.corbaserver.Robot._d_getRobotAABB, args)

    def getMass(self, *args):
        return self._obj.invoke("getMass", _0_hpp.corbaserver.Robot._d_getMass, args)

    def getCenterOfMass(self, *args):
        return self._obj.invoke("getCenterOfMass", _0_hpp.corbaserver.Robot._d_getCenterOfMass, args)

    def getCenterOfMassVelocity(self, *args):
        return self._obj.invoke("getCenterOfMassVelocity", _0_hpp.corbaserver.Robot._d_getCenterOfMassVelocity, args)

    def getJacobianCenterOfMass(self, *args):
        return self._obj.invoke("getJacobianCenterOfMass", _0_hpp.corbaserver.Robot._d_getJacobianCenterOfMass, args)

    def addPartialCom(self, *args):
        return self._obj.invoke("addPartialCom", _0_hpp.corbaserver.Robot._d_addPartialCom, args)

    def getPartialCom(self, *args):
        return self._obj.invoke("getPartialCom", _0_hpp.corbaserver.Robot._d_getPartialCom, args)

    def getJacobianPartialCom(self, *args):
        return self._obj.invoke("getJacobianPartialCom", _0_hpp.corbaserver.Robot._d_getJacobianPartialCom, args)

    def getVelocityPartialCom(self, *args):
        return self._obj.invoke("getVelocityPartialCom", _0_hpp.corbaserver.Robot._d_getVelocityPartialCom, args)

    def getRobotName(self, *args):
        return self._obj.invoke("getRobotName", _0_hpp.corbaserver.Robot._d_getRobotName, args)

    def getCenterOfMassComputation(self, *args):
        return self._obj.invoke("getCenterOfMassComputation", _0_hpp.corbaserver.Robot._d_getCenterOfMassComputation, args)

    def createRobot(self, *args):
        return self._obj.invoke("createRobot", _0_hpp.corbaserver.Robot._d_createRobot, args)

    def appendJoint(self, *args):
        return self._obj.invoke("appendJoint", _0_hpp.corbaserver.Robot._d_appendJoint, args)

    def createPolyhedron(self, *args):
        return self._obj.invoke("createPolyhedron", _0_hpp.corbaserver.Robot._d_createPolyhedron, args)

    def createBox(self, *args):
        return self._obj.invoke("createBox", _0_hpp.corbaserver.Robot._d_createBox, args)

    def createSphere(self, *args):
        return self._obj.invoke("createSphere", _0_hpp.corbaserver.Robot._d_createSphere, args)

    def createCylinder(self, *args):
        return self._obj.invoke("createCylinder", _0_hpp.corbaserver.Robot._d_createCylinder, args)

    def addPoint(self, *args):
        return self._obj.invoke("addPoint", _0_hpp.corbaserver.Robot._d_addPoint, args)

    def addTriangle(self, *args):
        return self._obj.invoke("addTriangle", _0_hpp.corbaserver.Robot._d_addTriangle, args)

    def addObjectToJoint(self, *args):
        return self._obj.invoke("addObjectToJoint", _0_hpp.corbaserver.Robot._d_addObjectToJoint, args)

omniORB.registerObjref(Robot._NP_RepositoryId, _objref_Robot)
_0_hpp.corbaserver._objref_Robot = _objref_Robot
del Robot, _objref_Robot

# Robot skeleton
__name__ = "hpp_idl.hpp__POA.corbaserver"
class Robot (PortableServer.Servant):
    _NP_RepositoryId = _0_hpp.corbaserver.Robot._NP_RepositoryId


    _omni_op_d = {"loadRobotModel": _0_hpp.corbaserver.Robot._d_loadRobotModel, "loadHumanoidModel": _0_hpp.corbaserver.Robot._d_loadHumanoidModel, "loadRobotModelFromString": _0_hpp.corbaserver.Robot._d_loadRobotModelFromString, "loadHumanoidModelFromString": _0_hpp.corbaserver.Robot._d_loadHumanoidModelFromString, "getConfigSize": _0_hpp.corbaserver.Robot._d_getConfigSize, "getNumberDof": _0_hpp.corbaserver.Robot._d_getNumberDof, "getJointNames": _0_hpp.corbaserver.Robot._d_getJointNames, "getJointTypes": _0_hpp.corbaserver.Robot._d_getJointTypes, "getAllJointNames": _0_hpp.corbaserver.Robot._d_getAllJointNames, "getParentJointName": _0_hpp.corbaserver.Robot._d_getParentJointName, "getJointConfig": _0_hpp.corbaserver.Robot._d_getJointConfig, "setJointConfig": _0_hpp.corbaserver.Robot._d_setJointConfig, "getJointType": _0_hpp.corbaserver.Robot._d_getJointType, "jointIntegrate": _0_hpp.corbaserver.Robot._d_jointIntegrate, "getCurrentTransformation": _0_hpp.corbaserver.Robot._d_getCurrentTransformation, "getJointPosition": _0_hpp.corbaserver.Robot._d_getJointPosition, "getJointsPosition": _0_hpp.corbaserver.Robot._d_getJointsPosition, "getJointVelocity": _0_hpp.corbaserver.Robot._d_getJointVelocity, "getJointVelocityInLocalFrame": _0_hpp.corbaserver.Robot._d_getJointVelocityInLocalFrame, "getJointPositionInParentFrame": _0_hpp.corbaserver.Robot._d_getJointPositionInParentFrame, "getRootJointPosition": _0_hpp.corbaserver.Robot._d_getRootJointPosition, "setRootJointPosition": _0_hpp.corbaserver.Robot._d_setRootJointPosition, "setJointPositionInParentFrame": _0_hpp.corbaserver.Robot._d_setJointPositionInParentFrame, "getJointNumberDof": _0_hpp.corbaserver.Robot._d_getJointNumberDof, "getJointConfigSize": _0_hpp.corbaserver.Robot._d_getJointConfigSize, "setJointBounds": _0_hpp.corbaserver.Robot._d_setJointBounds, "getJointBounds": _0_hpp.corbaserver.Robot._d_getJointBounds, "getLinkPosition": _0_hpp.corbaserver.Robot._d_getLinkPosition, "getLinksPosition": _0_hpp.corbaserver.Robot._d_getLinksPosition, "getLinkNames": _0_hpp.corbaserver.Robot._d_getLinkNames, "setDimensionExtraConfigSpace": _0_hpp.corbaserver.Robot._d_setDimensionExtraConfigSpace, "getDimensionExtraConfigSpace": _0_hpp.corbaserver.Robot._d_getDimensionExtraConfigSpace, "setExtraConfigSpaceBounds": _0_hpp.corbaserver.Robot._d_setExtraConfigSpaceBounds, "getCurrentConfig": _0_hpp.corbaserver.Robot._d_getCurrentConfig, "shootRandomConfig": _0_hpp.corbaserver.Robot._d_shootRandomConfig, "setCurrentConfig": _0_hpp.corbaserver.Robot._d_setCurrentConfig, "getCurrentVelocity": _0_hpp.corbaserver.Robot._d_getCurrentVelocity, "setCurrentVelocity": _0_hpp.corbaserver.Robot._d_setCurrentVelocity, "getJointInnerObjects": _0_hpp.corbaserver.Robot._d_getJointInnerObjects, "getJointOuterObjects": _0_hpp.corbaserver.Robot._d_getJointOuterObjects, "getObjectPosition": _0_hpp.corbaserver.Robot._d_getObjectPosition, "isConfigValid": _0_hpp.corbaserver.Robot._d_isConfigValid, "distancesToCollision": _0_hpp.corbaserver.Robot._d_distancesToCollision, "autocollisionCheck": _0_hpp.corbaserver.Robot._d_autocollisionCheck, "autocollisionPairs": _0_hpp.corbaserver.Robot._d_autocollisionPairs, "setAutoCollision": _0_hpp.corbaserver.Robot._d_setAutoCollision, "getRobotAABB": _0_hpp.corbaserver.Robot._d_getRobotAABB, "getMass": _0_hpp.corbaserver.Robot._d_getMass, "getCenterOfMass": _0_hpp.corbaserver.Robot._d_getCenterOfMass, "getCenterOfMassVelocity": _0_hpp.corbaserver.Robot._d_getCenterOfMassVelocity, "getJacobianCenterOfMass": _0_hpp.corbaserver.Robot._d_getJacobianCenterOfMass, "addPartialCom": _0_hpp.corbaserver.Robot._d_addPartialCom, "getPartialCom": _0_hpp.corbaserver.Robot._d_getPartialCom, "getJacobianPartialCom": _0_hpp.corbaserver.Robot._d_getJacobianPartialCom, "getVelocityPartialCom": _0_hpp.corbaserver.Robot._d_getVelocityPartialCom, "getRobotName": _0_hpp.corbaserver.Robot._d_getRobotName, "getCenterOfMassComputation": _0_hpp.corbaserver.Robot._d_getCenterOfMassComputation, "createRobot": _0_hpp.corbaserver.Robot._d_createRobot, "appendJoint": _0_hpp.corbaserver.Robot._d_appendJoint, "createPolyhedron": _0_hpp.corbaserver.Robot._d_createPolyhedron, "createBox": _0_hpp.corbaserver.Robot._d_createBox, "createSphere": _0_hpp.corbaserver.Robot._d_createSphere, "createCylinder": _0_hpp.corbaserver.Robot._d_createCylinder, "addPoint": _0_hpp.corbaserver.Robot._d_addPoint, "addTriangle": _0_hpp.corbaserver.Robot._d_addTriangle, "addObjectToJoint": _0_hpp.corbaserver.Robot._d_addObjectToJoint}

Robot._omni_skeleton = Robot
_0_hpp__POA.corbaserver.Robot = Robot
omniORB.registerSkeleton(Robot._NP_RepositoryId, Robot)
del Robot
__name__ = "hpp_idl.hpp.corbaserver"
_0_hpp.corbaserver.Robot__doc__ = "Creation of a device, joints and bodies.\012"

#
# End of module "hpp.corbaserver"
#
__name__ = "hpp_idl.hpp"


#
# End of module "hpp"
#
__name__ = "hpp_stubs.corbaserver.robot_idl"

#
# Docstrings
#

omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.loadRobotModel, _0_hpp.corbaserver.Robot.loadRobotModel__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.loadHumanoidModel, _0_hpp.corbaserver.Robot.loadHumanoidModel__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.loadRobotModelFromString, _0_hpp.corbaserver.Robot.loadRobotModelFromString__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.loadHumanoidModelFromString, _0_hpp.corbaserver.Robot.loadHumanoidModelFromString__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getConfigSize, _0_hpp.corbaserver.Robot.getConfigSize__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getNumberDof, _0_hpp.corbaserver.Robot.getNumberDof__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointNames, _0_hpp.corbaserver.Robot.getJointNames__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointTypes, _0_hpp.corbaserver.Robot.getJointTypes__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getAllJointNames, _0_hpp.corbaserver.Robot.getAllJointNames__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getParentJointName, _0_hpp.corbaserver.Robot.getParentJointName__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointConfig, _0_hpp.corbaserver.Robot.getJointConfig__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setJointConfig, _0_hpp.corbaserver.Robot.setJointConfig__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointType, _0_hpp.corbaserver.Robot.getJointType__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.jointIntegrate, _0_hpp.corbaserver.Robot.jointIntegrate__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getCurrentTransformation, _0_hpp.corbaserver.Robot.getCurrentTransformation__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointPosition, _0_hpp.corbaserver.Robot.getJointPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointsPosition, _0_hpp.corbaserver.Robot.getJointsPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointVelocity, _0_hpp.corbaserver.Robot.getJointVelocity__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointVelocityInLocalFrame, _0_hpp.corbaserver.Robot.getJointVelocityInLocalFrame__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointPositionInParentFrame, _0_hpp.corbaserver.Robot.getJointPositionInParentFrame__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getRootJointPosition, _0_hpp.corbaserver.Robot.getRootJointPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setRootJointPosition, _0_hpp.corbaserver.Robot.setRootJointPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setJointPositionInParentFrame, _0_hpp.corbaserver.Robot.setJointPositionInParentFrame__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointNumberDof, _0_hpp.corbaserver.Robot.getJointNumberDof__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointConfigSize, _0_hpp.corbaserver.Robot.getJointConfigSize__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setJointBounds, _0_hpp.corbaserver.Robot.setJointBounds__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointBounds, _0_hpp.corbaserver.Robot.getJointBounds__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getLinkPosition, _0_hpp.corbaserver.Robot.getLinkPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getLinksPosition, _0_hpp.corbaserver.Robot.getLinksPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getLinkNames, _0_hpp.corbaserver.Robot.getLinkNames__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setDimensionExtraConfigSpace, _0_hpp.corbaserver.Robot.setDimensionExtraConfigSpace__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getDimensionExtraConfigSpace, _0_hpp.corbaserver.Robot.getDimensionExtraConfigSpace__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setExtraConfigSpaceBounds, _0_hpp.corbaserver.Robot.setExtraConfigSpaceBounds__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getCurrentConfig, _0_hpp.corbaserver.Robot.getCurrentConfig__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.shootRandomConfig, _0_hpp.corbaserver.Robot.shootRandomConfig__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setCurrentConfig, _0_hpp.corbaserver.Robot.setCurrentConfig__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getCurrentVelocity, _0_hpp.corbaserver.Robot.getCurrentVelocity__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setCurrentVelocity, _0_hpp.corbaserver.Robot.setCurrentVelocity__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointInnerObjects, _0_hpp.corbaserver.Robot.getJointInnerObjects__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJointOuterObjects, _0_hpp.corbaserver.Robot.getJointOuterObjects__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getObjectPosition, _0_hpp.corbaserver.Robot.getObjectPosition__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.isConfigValid, _0_hpp.corbaserver.Robot.isConfigValid__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.distancesToCollision, _0_hpp.corbaserver.Robot.distancesToCollision__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.autocollisionCheck, _0_hpp.corbaserver.Robot.autocollisionCheck__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.autocollisionPairs, _0_hpp.corbaserver.Robot.autocollisionPairs__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.setAutoCollision, _0_hpp.corbaserver.Robot.setAutoCollision__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getRobotAABB, _0_hpp.corbaserver.Robot.getRobotAABB__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getMass, _0_hpp.corbaserver.Robot.getMass__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getCenterOfMass, _0_hpp.corbaserver.Robot.getCenterOfMass__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getCenterOfMassVelocity, _0_hpp.corbaserver.Robot.getCenterOfMassVelocity__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJacobianCenterOfMass, _0_hpp.corbaserver.Robot.getJacobianCenterOfMass__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.addPartialCom, _0_hpp.corbaserver.Robot.addPartialCom__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getPartialCom, _0_hpp.corbaserver.Robot.getPartialCom__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getJacobianPartialCom, _0_hpp.corbaserver.Robot.getJacobianPartialCom__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getVelocityPartialCom, _0_hpp.corbaserver.Robot.getVelocityPartialCom__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getRobotName, _0_hpp.corbaserver.Robot.getRobotName__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.getCenterOfMassComputation, _0_hpp.corbaserver.Robot.getCenterOfMassComputation__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.createRobot, _0_hpp.corbaserver.Robot.createRobot__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.appendJoint, _0_hpp.corbaserver.Robot.appendJoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.createPolyhedron, _0_hpp.corbaserver.Robot.createPolyhedron__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.createBox, _0_hpp.corbaserver.Robot.createBox__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.createSphere, _0_hpp.corbaserver.Robot.createSphere__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.createCylinder, _0_hpp.corbaserver.Robot.createCylinder__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.addPoint, _0_hpp.corbaserver.Robot.addPoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.addTriangle, _0_hpp.corbaserver.Robot.addTriangle__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot.addObjectToJoint, _0_hpp.corbaserver.Robot.addObjectToJoint__doc__)
omniORB.setDocString(_0_hpp.corbaserver.Robot, _0_hpp.corbaserver.Robot__doc__)
omniORB.setDocString(_0_hpp.corbaserver._objref_Robot, _0_hpp.corbaserver.Robot__doc__)

_exported_modules = ( "hpp_idl.hpp", "hpp_idl.hpp.corbaserver")

# The end.
