manipulation.robot.Robot Class Reference

Load and handle a composite robot for manipulation planning. More...

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)
	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	insertRobotModelOnFrame (self, robotName, frameName, rootJointType, packageName, modelName, urdfSuffix, srdfSuffix)
	Insert robot model as a child of a frame of the Device. More...
def	insertRobotModelFromString (self, robotName, rootJointType, urdfString, srdfString)
	Same as Robot.insertRobotModel. 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	loadEnvironmentModel (self, packageName, modelName, urdfSuffix, srdfSuffix, envName)
	Load environment model and store in local map. More...
Joints
def	setRootJointPosition (self, robotName, position)
	Set the position of root joint of a robot in world frame. More...
Bodies
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...

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

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

Constructor.

Parameters

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

References hpp::corbaserver::robot::Robot.__init__().

Member Function Documentation

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

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

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

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

def manipulation.robot.Robot.insertHumanoidModel	(		self,
			robotName,
			rootJointType,
			packageName,
			modelName,
			urdfSuffix,
			srdfSuffix
	)

Load humanoid robot model and insert it in the device.

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows:

• "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
• "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

References hpp::corbaserver::robot::RobotXML.load, manipulation.robot.Robot.load, hpp::corbaserver::robot::Robot.rebuildRanks(), hpp::corbaserver::robot::Robot.rootJointType, and manipulation.robot.Robot.rootJointType.

Referenced by manipulation.robot.Robot.loadHumanoidModel(), and manipulation.robot.HumanoidRobot.loadModel().

def manipulation.robot.Robot.insertRobotModel	(		self,
			robotName,
			rootJointType,
			packageName,
			modelName,
			urdfSuffix,
			srdfSuffix
	)

Load robot model and insert it in the device.

Parameters

robotName	key of the robot in hpp::manipulation::ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows:

• "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
• "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

References hpp::corbaserver::robot::RobotXML.load, manipulation.robot.Robot.load, hpp::corbaserver::robot::Robot.rebuildRanks(), hpp::corbaserver::robot::Robot.rootJointType, and manipulation.robot.Robot.rootJointType.

Referenced by manipulation.robot.Robot.loadModel().

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

Same as Robot.insertRobotModel.

Parameters

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

References hpp::corbaserver::robot::RobotXML.load, manipulation.robot.Robot.load, hpp::corbaserver::robot::Robot.rebuildRanks(), hpp::corbaserver::robot::Robot.rootJointType, and manipulation.robot.Robot.rootJointType.

def manipulation.robot.Robot.insertRobotModelOnFrame	(		self,
			robotName,
			frameName,
			rootJointType,
			packageName,
			modelName,
			urdfSuffix,
			srdfSuffix
	)

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

Parameters

robotName	key of the robot in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
frameName	name of the existing frame that will the root of the added robot,
rootJointType	type of root joint among "anchor", "freeflyer", "planar",
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,

The ros url are built as follows: "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf" "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

References hpp::corbaserver::robot::RobotXML.load, manipulation.robot.Robot.load, hpp::corbaserver::robot::Robot.rebuildRanks(), hpp::corbaserver::robot::Robot.rootJointType, and manipulation.robot.Robot.rootJointType.

def manipulation.robot.Robot.insertRobotSRDFModel	(		self,
			robotName,
			packageName,
			modelName,
			srdfSuffix
	)

Load a SRDF for the robot.

Several SRDF can thus be loaded for the same robot

Parameters

robotName	key of the robot in hpp::manipulation::Device object map (see hpp::manipulation::Device)
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
srdfSuffix	suffix for srdf file,

The ros url are built as follows:

• "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

References hpp::corbaserver::robot::RobotXML.load, and manipulation.robot.Robot.load.

def manipulation.robot.Robot.loadEnvironmentModel	(		self,
			packageName,
			modelName,
			urdfSuffix,
			srdfSuffix,
			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.

Parameters

envName	key of the object in ProblemSolver object map (see hpp::manipulation::ProblemSolver::addRobot)
packageName	Name of the ROS package containing the model,
modelName	Name of the package containing the model
urdfSuffix	suffix for urdf file,
srdfSuffix	suffix for srdf file.

The ros url are built as follows:

• "package://${packageName}/urdf/${modelName}${urdfSuffix}.urdf"
• "package://${packageName}/srdf/${modelName}${srdfSuffix}.srdf"

References hpp::corbaserver::robot::RobotXML.load, manipulation.robot.Robot.load, hpp::corbaserver::robot::Robot.rootJointType, and manipulation.robot.Robot.rootJointType.

def manipulation.robot.Robot.loadHumanoidModel	(		self,
			robotName,
			rootJointType,
			packageName,
			modelName,
			urdfSuffix,
			srdfSuffix
	)

References hpp::corbaserver::manipulation::Robot.insertHumanoidModel(), and manipulation.robot.Robot.insertHumanoidModel().

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

Virtual function to load the robot model.

References hpp::corbaserver::manipulation::Robot.insertRobotModel(), manipulation.robot.Robot.insertRobotModel(), hpp::corbaserver::robot::RobotXML.load, manipulation.robot.Robot.load, hpp::corbaserver::robot::Robot.loadModel(), hpp::core::continuousValidation::SolidSolidCollision.name(), hpp::core::ProblemSolverPlugin.name(), hpp::core::ParameterDescription.name(), IntervalValidation< CollisionValidationReportPtr_t >.name(), hpp::core::continuousValidation::IntervalValidation< ValidationReportTypePtr_t >.name(), hpp::core::Constraint.name(), hpp::corbaserver::robot::Robot.name, hpp::manipulation::Handle.name(), hpp::manipulation::graph::GraphComponent.name(), hpp::manipulation::parser::ObjectFactory.name(), hpp::corbaServer::BasicServer.name(), hpp::manipulation::graph::helper::ObjectDef_t.name, hpp::core_idl::Constraint.name(), hpp::pinocchio_idl::Device.name(), hpp::corbaServer::constraints_idl::DifferentiableFunctionServant< class, class >.name(), hpp::constraints_idl::DifferentiableFunction.name(), hpp::corbaServer::ServerPlugin.name(), hpp::GraphComp.name, hpp::manipulation_idl::graph_idl::GraphComponent.name(), hpp::manipulation::Server.name(), manipulation.constraint_graph.ConstraintGraph.name, and manipulation.constraint_graph_factory.ConstraintGraphFactory.StateAndManifold.name.

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

Set the position of root joint of a robot in world frame.

Parameters

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

References hpp::corbaserver::robot::Robot.setRootJointPosition().

Member Data Documentation

manipulation.robot.Robot.load

Referenced by manipulation.robot.Robot.insertHumanoidModel(), manipulation.robot.Robot.insertRobotModel(), manipulation.robot.Robot.insertRobotModelFromString(), manipulation.robot.Robot.insertRobotModelOnFrame(), manipulation.robot.Robot.insertRobotSRDFModel(), manipulation.robot.Robot.loadEnvironmentModel(), and manipulation.robot.Robot.loadModel().

manipulation.robot.Robot.robotNames

manipulation.robot.Robot.rootJointType

Referenced by manipulation.robot.Robot.insertHumanoidModel(), manipulation.robot.Robot.insertRobotModel(), manipulation.robot.Robot.insertRobotModelFromString(), manipulation.robot.Robot.insertRobotModelOnFrame(), and manipulation.robot.Robot.loadEnvironmentModel().