Choreonoid Python Module (Body)

cnoid.Body

Choreonoid Body module

cnoid.Body.DeviceList(arg0: list) → list

cnoid.Body.ForceSensorList(arg0: list) → list

cnoid.Body.getCustomJointPath(arg0: cnoid.Body.Body, arg1: cnoid.Body.Link, arg2: cnoid.Body.Link) → cnoid.Body.JointPath

cnoid.Body.Body

class cnoid.Body.Body

Bases: Referenced

__init__(*args, **kwargs)

Overloaded function.

1. __init__(self: cnoid.Body.Body) -> None

2. __init__(self: cnoid.Body.Body, arg0: str) -> None

static addCustomizerDirectory(arg0: str) → None

addDevice(self: cnoid.Body.Body, arg0: cnoid::Device, arg1: cnoid::Link) → None

calcCenterOfMass(self: cnoid.Body.Body) → numpy.ndarray[numpy.float64[3, 1]]

calcForwardKinematics(self: cnoid.Body.Body, calcVelocity: bool = False, calcAcceleration: bool = False) → None

calcInverseDynamics(self: cnoid.Body.Body) → numpy.ndarray[numpy.float64[6, 1]]

calcTotalMomentum(self: cnoid.Body.Body) → tuple

clearDevices(self: cnoid.Body.Body) → None

clearExternalForces(self: cnoid.Body.Body) → None

clearExtraJoints(self: cnoid.Body.Body) → None

clone(self: cnoid.Body.Body) → cnoid.Body.Body

createLink(self: cnoid.Body.Body, org: cnoid::Link = None, cloneMap: cnoid.Util.CloneMap = None) → cnoid::Link

device(self: cnoid.Body.Body, arg0: int) → cnoid::Device

findDevice(self: cnoid.Body.Body, arg0: str) → cnoid::Device

findUniqueEndLink(self: cnoid.Body.Body) → cnoid::Link

getAccelerations(*args, **kwargs)

Overloaded function.

1. getAccelerations(self: cnoid.Body.Body) -> numpy.ndarray[numpy.float64]

2. getAccelerations(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) -> None

getAngles(*args, **kwargs)

Overloaded function.

1. getAngles(self: cnoid.Body.Body) -> numpy.ndarray[numpy.float64]

2. getAngles(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) -> None

getCenterOfMass(self: cnoid.Body.Body) → numpy.ndarray[numpy.float64[3, 1]]

getDefaultPosition(self: cnoid.Body.Body) → numpy.ndarray[numpy.float64[4, 4]]

getDevice(self: cnoid.Body.Body, arg0: int) → cnoid::Device

getInfo(self: cnoid.Body.Body, arg0: str, arg1: object) → object

getJoint(self: cnoid.Body.Body, arg0: int) → cnoid::Link

getLink(*args, **kwargs)

Overloaded function.

1. getLink(self: cnoid.Body.Body, arg0: int) -> cnoid::Link

2. getLink(self: cnoid.Body.Body, arg0: str) -> cnoid::Link

getMass(self: cnoid.Body.Body) → float

getModelName(self: cnoid.Body.Body) → str

getName(self: cnoid.Body.Body) → str

getNumAllJoints(self: cnoid.Body.Body) → int

getNumDevices(self: cnoid.Body.Body) → int

getNumExtraJoints(self: cnoid.Body.Body) → int

getNumJoints(self: cnoid.Body.Body) → int

getNumLinks(self: cnoid.Body.Body) → int

getNumVirtualJoints(self: cnoid.Body.Body) → int

getRootLink(self: cnoid.Body.Body) → cnoid::Link

getTargetAngles(*args, **kwargs)

Overloaded function.

1. getTargetAngles(self: cnoid.Body.Body) -> numpy.ndarray[numpy.float64]

2. getTargetAngles(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) -> None

getTargetVelocities(*args, **kwargs)

Overloaded function.

1. getTargetVelocities(self: cnoid.Body.Body) -> numpy.ndarray[numpy.float64]

2. getTargetVelocities(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) -> None

getTorques(*args, **kwargs)

Overloaded function.

1. getTorques(self: cnoid.Body.Body) -> numpy.ndarray[numpy.float64]

2. getTorques(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) -> None

getVelocities(*args, **kwargs)

Overloaded function.

1. getVelocities(self: cnoid.Body.Body) -> numpy.ndarray[numpy.float64]

2. getVelocities(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) -> None

hasVirtualJointForces(self: cnoid.Body.Body) → bool

initializeDeviceStates(self: cnoid.Body.Body) → None

initializePosition(self: cnoid.Body.Body) → None

initializeState(self: cnoid.Body.Body) → None

isFixedRootModel(self: cnoid.Body.Body) → bool

isStaticModel(self: cnoid.Body.Body) → bool

joint(*args, **kwargs)

Overloaded function.

1. joint(self: cnoid.Body.Body, arg0: int) -> cnoid::Link

2. joint(self: cnoid.Body.Body, arg0: str) -> cnoid::Link

link(*args, **kwargs)

Overloaded function.

1. link(self: cnoid.Body.Body, arg0: int) -> cnoid::Link

2. link(self: cnoid.Body.Body, arg0: str) -> cnoid::Link

linkTraverse(self: cnoid.Body.Body) → cnoid::LinkTraverse

removeDevice(self: cnoid.Body.Body, arg0: cnoid::Device) → bool

removeDevicesOfLink(self: cnoid.Body.Body, arg0: cnoid::Link) → None

resetDefaultPosition(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64[4, 4], flags.c_contiguous]) → None

resetJointSpecificName(*args, **kwargs)

Overloaded function.

1. resetJointSpecificName(self: cnoid.Body.Body, arg0: cnoid::Link) -> None

2. resetJointSpecificName(self: cnoid.Body.Body, arg0: cnoid::Link, arg1: str) -> None

resetLinkName(self: cnoid.Body.Body, arg0: cnoid::Link, arg1: str) → None

resetParent(self: cnoid.Body.Body) → None

setAccelerations(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) → None

setAngles(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) → None

setModelName(self: cnoid.Body.Body, arg0: str) → None

setName(self: cnoid.Body.Body, arg0: str) → None

setParent(self: cnoid.Body.Body, arg0: cnoid::Link) → None

setRootLink(self: cnoid.Body.Body, arg0: cnoid::Link) → None

setRootLinkFixed(self: cnoid.Body.Body, arg0: bool) → None

setTargetAngles(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) → None

setTargetVelocities(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) → None

setTorques(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) → None

setVelocities(self: cnoid.Body.Body, arg0: numpy.ndarray[numpy.float64]) → None

setVirtualJointForces(self: cnoid.Body.Body, arg0: float) → None

syncPositionWithParentBody(self: cnoid.Body.Body, doForwardKinematics: bool = True) → None

updateLinkTree(self: cnoid.Body.Body) → None

cnoid.Body.Link

class cnoid.Body.Link

Bases: Referenced

class JointType

Bases: pybind11_object

Members:

RevoluteJoint

PrismaticJoint

FreeJoint

FixedJoint

PseudoContinuousTrackJoint

ROTATIONAL_JOINT

SLIDE_JOINT

FREE_JOINT

FIXED_JOINT

__init__(self: cnoid.Body.Link.JointType, value: int) → None

property name

class StateFlag

Bases: pybind11_object

Members:

StateNone

JointDisplacement

JointAngle

JointVelocity

JointAcceleration

JointEffort

JointForce

JointTorque

LinkPosition

LinkTwist

LinkExtWrench

LinkContactState

__init__(self: cnoid.Body.Link.StateFlag, value: int) → None

property name

__init__(*args, **kwargs)

addCollisionShapeNode(self: cnoid.Body.Link, arg0: cnoid.Util.SgNode) → None

addExternalForce(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: numpy.ndarray[numpy.float64[3, 1]]) → None

addExternalForceAtGlobalPosition(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: numpy.ndarray[numpy.float64[3, 1]]) → None

addExternalForceAtLocalPosition(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]], arg1: numpy.ndarray[numpy.float64[3, 1]]) → None

addShapeNode(self: cnoid.Body.Link, arg0: cnoid.Util.SgNode) → None

addVisualShapeNode(self: cnoid.Body.Link, arg0: cnoid.Util.SgNode) → None

appendChild(self: cnoid.Body.Link, arg0: cnoid.Body.Link) → None

calcRfromAttitude(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 3], flags.f_contiguous]) → numpy.ndarray[numpy.float64[3, 3], flags.f_contiguous]

clearShapeNodes(self: cnoid.Body.Link) → None

floatInfo(self: cnoid.Body.Link, arg0: str) → float

getAttitude(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 3], flags.f_contiguous]

getCenterOfMass(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 1]]

getCenterOfMassGlobal(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 1]]

getChild(self: cnoid.Body.Link) → cnoid.Body.Link

getCollisionShape(self: cnoid.Body.Link) → cnoid.Util.SgGroup

getFloatInfo(self: cnoid.Body.Link, arg0: str) → float

getIndex(self: cnoid.Body.Link) → int

getInfo(*args, **kwargs)

Overloaded function.

1. getInfo(self: cnoid.Body.Link, arg0: str, arg1: object) -> object

2. getInfo(self: cnoid.Body.Link) -> cnoid.Util.Mapping

getJointAxis(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 1]]

getJointId(self: cnoid.Body.Link) → int

getJointType(self: cnoid.Body.Link) → cnoid::Link::JointType

getMass(self: cnoid.Body.Link) → float

getMaterialId(self: cnoid.Body.Link) → int

getMaterialName(self: cnoid.Body.Link) → str

getName(self: cnoid.Body.Link) → str

getOffsetRotation(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 3], flags.f_contiguous]

getOffsetTranslation(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 1]]

getParent(self: cnoid.Body.Link) → cnoid.Body.Link

getPosition(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[4, 4]]

getRotation(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 3], flags.writeable, flags.f_contiguous]

getShape(self: cnoid.Body.Link) → cnoid.Util.SgGroup

getSibling(self: cnoid.Body.Link) → cnoid.Body.Link

getStateModeString(self: int) → str

getTranslation(self: cnoid.Body.Link) → numpy.ndarray[numpy.float64[3, 1], flags.writeable]

getVisualShape(self: cnoid.Body.Link) → cnoid.Util.SgGroup

hasActualJoint(self: cnoid.Body.Link) → bool

hasJointDisplacementLimits(self: cnoid.Body.Link) → bool

hasJointEffortLimits(self: cnoid.Body.Link) → bool

hasJointVelocityLimits(self: cnoid.Body.Link) → bool

initializeState(self: cnoid.Body.Link) → None

isEndLink(self: cnoid.Body.Link) → bool

isFixedJoint(self: cnoid.Body.Link) → bool

isFixedToRoot(self: cnoid.Body.Link) → bool

isFreeJoint(self: cnoid.Body.Link) → bool

isOwnerOf(self: cnoid.Body.Link, arg0: cnoid.Body.Link) → bool

isPrismaticJoint(self: cnoid.Body.Link) → bool

isRevoluteJoint(self: cnoid.Body.Link) → bool

isRoot(self: cnoid.Body.Link) → bool

isRotationalJoint(self: cnoid.Body.Link) → bool

isSlideJoint(self: cnoid.Body.Link) → bool

isStatic(self: cnoid.Body.Link) → bool

isValid(self: cnoid.Body.Link) → bool

mergeSensingMode(self: cnoid.Body.Link, arg0: int) → None

prependChild(self: cnoid.Body.Link, arg0: cnoid.Body.Link) → None

removeChild(self: cnoid.Body.Link, arg0: cnoid.Body.Link) → bool

removeShapeNode(self: cnoid.Body.Link, arg0: cnoid.Util.SgNode) → None

resetJointSpecificName(self: cnoid.Body.Link) → None

setActuationMode(self: cnoid.Body.Link, arg0: int) → None

setAttitude(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 3], flags.c_contiguous]) → None

setCenterOfMass(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]]) → None

setEquivalentRotorInertia(self: cnoid.Body.Link, arg0: float) → None

setGravityAsExt(self: cnoid.Body.Link) → None

setIndex(self: cnoid.Body.Link, arg0: int) → None

setInertia(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 3]]) → None

setInitialJointAngle(self: cnoid.Body.Link, arg0: float) → None

setInitialJointDisplacement(self: cnoid.Body.Link, arg0: float) → None

setJointAxis(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]]) → None

setJointEffortRange(self: cnoid.Body.Link, arg0: float, arg1: float) → None

setJointId(self: cnoid.Body.Link, arg0: int) → None

setJointName(self: cnoid.Body.Link, arg0: str) → None

setJointRange(self: cnoid.Body.Link, arg0: float, arg1: float) → None

setJointType(self: cnoid.Body.Link, arg0: cnoid::Link::JointType) → None

setJointVelocityRange(self: cnoid.Body.Link, arg0: float, arg1: float) → None

setMass(self: cnoid.Body.Link, arg0: float) → None

setMaterial(*args, **kwargs)

Overloaded function.

1. setMaterial(self: cnoid.Body.Link, arg0: int) -> None

2. setMaterial(self: cnoid.Body.Link, arg0: str) -> None

setName(self: cnoid.Body.Link, arg0: str) → None

setOffsetPosition(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[4, 4], flags.c_contiguous]) → None

setOffsetRotation(*args, **kwargs)

Overloaded function.

1. setOffsetRotation(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 3], flags.c_contiguous]) -> None

2. setOffsetRotation(self: cnoid.Body.Link, arg0: cnoid.Util.AngleAxis) -> None

setOffsetTranslation(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]]) → None

setParent(self: cnoid.Body.Link, arg0: cnoid.Body.Link) → None

setPosition(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[4, 4], flags.c_contiguous]) → None

setRotation(*args, **kwargs)

Overloaded function.

1. setRotation(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 3], flags.c_contiguous]) -> None

2. setRotation(self: cnoid.Body.Link, arg0: cnoid.Util.AngleAxis) -> None

setSensingMode(self: cnoid.Body.Link, arg0: int) → None

setTranslation(self: cnoid.Body.Link, arg0: numpy.ndarray[numpy.float64[3, 1]]) → None

setUnlimitedEffortRange(self: cnoid.Body.Link) → None

setUnlimitedJointDisplacementRange(self: cnoid.Body.Link) → None

setUnlimitedJointVelocityRange(self: cnoid.Body.Link) → None

cnoid.Body.Device

class cnoid.Body.Device

Bases: Referenced

__init__(*args, **kwargs)

clearState(self: cnoid.Body.Device) → None

clone(self: cnoid.Body.Device) → cnoid.Body.Device

getId(self: cnoid.Body.Device) → int

getIndex(self: cnoid.Body.Device) → int

getLink(self: cnoid.Body.Device) → cnoid.Body.Link

getName(self: cnoid.Body.Device) → str

hasStateOnly(self: cnoid.Body.Device) → bool

link(self: cnoid.Body.Device) → cnoid.Body.Link

setId(self: cnoid.Body.Device, arg0: int) → None

setIndex(self: cnoid.Body.Device, arg0: int) → None

setLink(self: cnoid.Body.Device, arg0: cnoid.Body.Link) → None

setName(self: cnoid.Body.Device, arg0: str) → None