hpp.corbaserver.robot.HumanoidRobot Class Reference
Humanoid robot. More...
Inheritance diagram for hpp.corbaserver.robot.HumanoidRobot:
Collaboration diagram for hpp.corbaserver.robot.HumanoidRobot:
Public Member Functions | |
| def | __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None) |
| def | loadModel (self, robotName, rootJointType) |
 Public Member Functions inherited from hpp.corbaserver.robot.Robot | |
| def | __init__ (self, robotName=None, rootJointType=None, load=True, client=None, hppcorbaClient=None) |
| def | rebuildRanks (self) |
| Rebuild inner variables rankInConfiguration and rankInVelocity. More... | |
| def | loadModel (self, robotName, rootJointType) |
| def | urdfPath (self) |
| 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 | getJointTypes (self) |
| Get joint types 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 | getRootJointPosition (self) |
| Get constant position of root joint in world frame in initial position. More... | |
| def | setRootJointPosition (self, position) |
| Set position of root joint in world frame in initial configuration. More... | |
| def | setJointPosition (self, jointName, position) |
| Set the static position of joint WRT its parent. More... | |
| def | getCurrentTransformation (self, jointName) |
| Get joint transformation in world frame for current configuration. 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 | getLinkPosition (self, linkName) |
| Get link position in world 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) |
| Remove an obstacle from outer objects of a joint body. 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) |
| Get the aligned axes bounding box around the robot. 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... | |
| Public Member Functions inherited from hpp.corbaserver.robot.StaticStabilityConstraintsFactory | |
| def | createSlidingStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0) |
| Create static stability constraints where the robot slides on the ground, and store them into ProblemSolver. More... | |
| def | createStaticStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0) |
| Create static stability constraints where the feet are fixed on the ground, and store them into ProblemSolver. More... | |
| def | createAlignedCOMStabilityConstraint (self, prefix, comName, leftAnkle, rightAnkle, q0, sliding) |
| Create static stability constraints where the COM is vertically projected on the line between the two ankles, and the feet slide (or are fixed) on the ground. More... | |
Additional Inherited Members | |
| Public Attributes inherited from hpp.corbaserver.robot.Robot | |
| client | |
| hppcorba | |
| name | |
| rootJointType | |
| displayName | |
| jointNames | |
| allJointNames | |
| rankInConfiguration | |
| rankInVelocity | |
Detailed Description
Humanoid robot.
Method loadModel builds a humanoid robot.
Constructor & Destructor Documentation
◆ __init__()
| def hpp.corbaserver.robot.HumanoidRobot.__init__ | ( | self, | |
robotName = None, |
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rootJointType = None, |
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load = True, |
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client = None, |
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hppcorbaClient = None |
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| ) |
Member Function Documentation
◆ loadModel()
| def hpp.corbaserver.robot.HumanoidRobot.loadModel | ( | self, | |
| robotName, | |||
| rootJointType | |||
| ) |
