mj_kdl_wrapper._mj_kdl_wrapper.Robot Class Reference

Public Member Functions
None	update (self)
bool	step (self)
bool	step_n (self, int n)
None	set_joint_pos (self, Union[Sequence[float], kdl.JntArray] q, bool call_forward=True)
list[float]	gravity_torques (self, float gravity_z=-9.81)
kdl.Chain	kdl_chain (self)
list[str]	ft_sensor_names (self)
kdl.Wrench	ft_sensor (self, str name)
kdl.Frame	ft_sensor_frame (self, str name)
kdl.Frame	fk_frame (self, Optional[Union[Sequence[float], kdl.JntArray]] q=None)
bool	has_tcp_frame (self)
str	tcp_site (self)
kdl.Frame	tip_to_tcp (self)

Static Public Member Functions
"Robot"	from_scene (Scene scene, str base_body, str tip_body, str prefix="", Optional[ToolFrameSpec] tool=None)

Static Public Attributes
list	joint_names [str]
list	joint_limits [tuple[float, float]]
list	jnt_pos_msr [float]
list	jnt_vel_msr [float]
list	jnt_trq_msr [float]
list	jnt_pos_cmd [float]
list	jnt_trq_cmd [float]

Detailed Description

Robot handle synchronized with a Scene or Env and backed by a wrapper-built KDL chain.

Definition at line 193 of file _mj_kdl_wrapper.pyi.

Member Function Documentation

fk_frame()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Robot.fk_frame	(		self,
		Optional[Union[Sequence[float], kdl.JntArray]]	q = None )

Definition at line 230 of file _mj_kdl_wrapper.pyi.

from_scene()

"Robot" mj_kdl_wrapper._mj_kdl_wrapper.Robot.from_scene ( Scene scene, str base_body, str tip_body, str prefix = "", Optional[ToolFrameSpec] tool = None )

static

Definition at line 206 of file _mj_kdl_wrapper.pyi.

ft_sensor()

kdl.Wrench mj_kdl_wrapper._mj_kdl_wrapper.Robot.ft_sensor	(		self,
		str	name )

Definition at line 226 of file _mj_kdl_wrapper.pyi.

ft_sensor_frame()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Robot.ft_sensor_frame	(		self,
		str	name )

Definition at line 228 of file _mj_kdl_wrapper.pyi.

ft_sensor_names()

list[str] mj_kdl_wrapper._mj_kdl_wrapper.Robot.ft_sensor_names

(

self

)

Definition at line 225 of file _mj_kdl_wrapper.pyi.

gravity_torques()

list[float] mj_kdl_wrapper._mj_kdl_wrapper.Robot.gravity_torques	(		self,
		float	gravity_z = -9.81 )

Definition at line 221 of file _mj_kdl_wrapper.pyi.

has_tcp_frame()

bool mj_kdl_wrapper._mj_kdl_wrapper.Robot.has_tcp_frame

(

self

)

Definition at line 236 of file _mj_kdl_wrapper.pyi.

kdl_chain()

kdl.Chain mj_kdl_wrapper._mj_kdl_wrapper.Robot.kdl_chain

(

self

)

Definition at line 222 of file _mj_kdl_wrapper.pyi.

set_joint_pos()

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.set_joint_pos	(		self,
		Union[Sequence[float], kdl.JntArray]	q,
		bool	call_forward = True )

Definition at line 216 of file _mj_kdl_wrapper.pyi.

step()

bool mj_kdl_wrapper._mj_kdl_wrapper.Robot.step

(

self

)

Definition at line 214 of file _mj_kdl_wrapper.pyi.

step_n()

bool mj_kdl_wrapper._mj_kdl_wrapper.Robot.step_n	(		self,
		int	n )

Definition at line 215 of file _mj_kdl_wrapper.pyi.

tcp_site()

str mj_kdl_wrapper._mj_kdl_wrapper.Robot.tcp_site

(

self

)

Definition at line 238 of file _mj_kdl_wrapper.pyi.

tip_to_tcp()

kdl.Frame mj_kdl_wrapper._mj_kdl_wrapper.Robot.tip_to_tcp

(

self

)

Definition at line 240 of file _mj_kdl_wrapper.pyi.

update()

None mj_kdl_wrapper._mj_kdl_wrapper.Robot.update

(

self

)

Definition at line 213 of file _mj_kdl_wrapper.pyi.

Member Data Documentation

jnt_pos_cmd

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_pos_cmd [float]

static

Definition at line 203 of file _mj_kdl_wrapper.pyi.

jnt_pos_msr

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_pos_msr [float]

static

Definition at line 200 of file _mj_kdl_wrapper.pyi.

jnt_trq_cmd

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_trq_cmd [float]

static

Definition at line 204 of file _mj_kdl_wrapper.pyi.

jnt_trq_msr

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_trq_msr [float]

static

Definition at line 202 of file _mj_kdl_wrapper.pyi.

jnt_vel_msr

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.jnt_vel_msr [float]

static

Definition at line 201 of file _mj_kdl_wrapper.pyi.

joint_limits

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.joint_limits [tuple[float, float]]

static

Definition at line 199 of file _mj_kdl_wrapper.pyi.

joint_names

list mj_kdl_wrapper._mj_kdl_wrapper.Robot.joint_names [str]

static

Definition at line 198 of file _mj_kdl_wrapper.pyi.

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

• python/mj_kdl_wrapper/_mj_kdl_wrapper.pyi