rwsim module

class rwsim.AssemblySimulator(dwc, engineID, contactDetector=0)

Bases: object

__init__(dwc, engineID, contactDetector=0)

Initialize self. See help(type(self)) for accurate signature.

getMaxSimTime()
getResults()
isRunning()
setMaxSimTime(maxTime)
setStoreExecutionData(enable)
setTasks(tasks)
start(task=0)
stopCancelCurrent()
stopFinishCurrent()
storeExecutionData()
class rwsim.AssemblySimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getMaxSimTime()
getResults()
isNull()
isRunning()
isShared()
setMaxSimTime(maxTime)
setStoreExecutionData(enable)
setTasks(tasks)
start(task=0)
stopCancelCurrent()
stopFinishCurrent()
storeExecutionData()
class rwsim.Body(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
wTbf(state)
wTcom(state)
class rwsim.BodyController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rwsim.BodyControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
isNull()
isShared()
class rwsim.BodyInfo

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

property inertia
property integratorType
property mass
property masscenter
property material
property objectType
class rwsim.BodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
get()
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
wTbf(state)
wTcom(state)
class rwsim.BodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.Constraint(name, type, b1, b2)

Bases: object

Fixed = 0
Free = 8
Piston = 5
Prismatic = 1
PrismaticRotoid = 6
PrismaticUniversal = 7
Revolute = 2
Spherical = 4
Universal = 3
__init__(name, type, b1, b2)

Initialize self. See help(type(self)) for accurate signature.

getBody1()
getBody2()
getDOF()
getDOFAngular()
getDOFLinear()
getSpringParams()
getTransform()
getType()
setSpringParams(params)
setTransform(parentTconstraint)
class rwsim.ConstraintPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getBody1()
getBody2()
getDOF()
getDOFAngular()
getDOFLinear()
getSpringParams()
getTransform()
getType()
isNull()
isShared()
setSpringParams(params)
setTransform(parentTconstraint)
class rwsim.ConstraintPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.Contact

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

aTb()
getDepth()
getFrameA()
getFrameB()
getNormal()
getPointA()
getPointB()
setDepth(*args)
setFrameA(frame)
setFrameB(frame)
setNormal(normal)
setPointA(pointA)
setPointB(pointB)
setPoints(pointA, pointB)
setTransform(aTb)
class rwsim.ContactDetector(workcell)

Bases: object

__init__(workcell)

Initialize self. See help(type(self)) for accurate signature.

addContactStrategy(strategy, priority=0)
clearStrategies()
findContacts(*args)
getTimer()
printStrategyTable()
removeContactStrategy(priority=0)
setDefaultStrategies(*args)
setTimer(value=0)
updateContacts(state, data, tracking)
class rwsim.ContactDetectorData(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
class rwsim.ContactDetectorDataPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
get()
isNull()
isShared()
class rwsim.ContactDetectorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addContactStrategy(strategy, priority=0)
clearStrategies()
findContacts(*args)
get()
getTimer()
isNull()
isShared()
printStrategyTable()
removeContactStrategy(priority=0)
setDefaultStrategies(*args)
setTimer(value=0)
updateContacts(state, data, tracking)
class rwsim.ContactDetectorTracking(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
getSize()
remove(index)
class rwsim.ContactDetectorTrackingPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
get()
getSize()
isNull()
isShared()
remove(index)
class rwsim.ContactStrategy(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

clear()
getName()
getPropertyMap(*args)
match(geoA, geoB)
setPropertyMap(map)
class rwsim.ContactStrategyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

clear()
get()
getName()
getPropertyMap(*args)
isNull()
isShared()
match(geoA, geoB)
setPropertyMap(map)
class rwsim.ContactVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.DynamicDevice(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getBase()
getJointVelocities(state)
getKinematicModel()
getQ(state)
getVelocity(state)
setJointVelocities(vel, state)
setQ(q, state)
setVelocity(vel, state)
class rwsim.DynamicDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getBase()
getJointVelocities(state)
getKinematicModel()
getQ(state)
getVelocity(state)
isNull()
isShared()
setJointVelocities(vel, state)
setQ(q, state)
setVelocity(vel, state)
class rwsim.DynamicDevicePtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.DynamicSimulator(*args, **kwargs)

Bases: rw.Simulator

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableBodyControl(*args)
exitPhysics()
getBodyController()
getPropertyMap()
getSensors()
getTime()
init(state)
static make()
removeController(controller)
removeSensor(sensor)
reset(state)
setDynamicsEnabled(body, enabled)
setEnabled(*args)
setTarget(*args)
step(dt)
class rwsim.DynamicSimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableBodyControl(*args)
exitPhysics()
get()
getBodyController()
getPropertyMap()
getSensors()
getState()
getTime()
init(state)
isNull()
isShared()
make(dworkcell, pengine)
removeController(controller)
removeSensor(sensor)
reset(state)
setDynamicsEnabled(body, enabled)
setEnabled(*args)
setTarget(*args)
step(dt)
toSimulator()
toSimulator1()
toSimulator2()
class rwsim.DynamicWorkCell(workcell, bodies, allbodies, constraints, devices, controllers)

Bases: object

__init__(workcell, bodies, allbodies, constraints, devices, controllers)

Initialize self. See help(type(self)) for accurate signature.

addBody(body)
addConstraint(constraint)
addController(manipulator)
findBody(name)
findConstraint(name)
findController(name)
findDevice(name)
findFTSensor(name)
findFixedBody(name)
findKinematicBody(name)
findPDController(name)
findRigidBody(name)
findRigidDevice(name)
findSensor(name)
findSerialDeviceController(name)
findSuctionCup(name)
getBodies()
getBody(*args)
getCollisionMargin()
getConstraints()
getEngineSettings()
getGravity()
getWorkcell()
inDevice(body)
setCollisionMargin(margin)
setGravity(*args)
class rwsim.DynamicWorkCellLoader

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

static load()
class rwsim.DynamicWorkCellPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body)
addConstraint(constraint)
addController(manipulator)
findBody(name)
findConstraint(name)
findController(name)
findDevice(name)
findFTSensor(name)
findFixedBody(name)
findKinematicBody(name)
findPDController(name)
findRigidBody(name)
findRigidDevice(name)
findSensor(name)
findSerialDeviceController(name)
findSuctionCup(name)
get()
getBodies()
getBody(*args)
getCollisionMargin()
getConstraints()
getEngineSettings()
getGravity()
getWorkcell()
inDevice(body)
isNull()
isShared()
setCollisionMargin(margin)
setGravity(*args)
class rwsim.FixedBody(*args, **kwargs)

Bases: rwsim.Body

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rwsim.FixedBodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
get()
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
wTbf(state)
wTcom(state)
class rwsim.FixedBodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.GraspTaskSimulator(dwc, nrThreads=1)

Bases: object

__init__(dwc, nrThreads=1)

Initialize self. See help(type(self)) for accurate signature.

getNrTargets()
getNrTargetsDone()
getResult()
getSimulator()
getSimulators()
getStat(*args)
getStatDescription()
getTasks()
init(dwc, initState)
isFinished()
isRunning()
load(*args)
pauseSimulation()
resumeSimulation()
setAlwaysResting(alwaysResting)
setSimTimeLimit(limit)
setStepDelay(delay)
setWallTimeLimit(limit)
startSimulation(initState)
class rwsim.GraspTaskSimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getNrTargets()
getNrTargetsDone()
getResult()
getSimulator()
getSimulators()
getStat(*args)
getStatDescription()
getTasks()
init(dwc, initState)
isFinished()
isNull()
isRunning()
isShared()
load(*args)
pauseSimulation()
resumeSimulation()
setAlwaysResting(alwaysResting)
setSimTimeLimit(limit)
setStepDelay(delay)
setWallTimeLimit(limit)
startSimulation(initState)
class rwsim.KinematicBody(*args, **kwargs)

Bases: rwsim.Body

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rwsim.KinematicBodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEnergy(state)
get()
getBodyFrame()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getMaterialID()
getName()
getParentFrame(state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setForce(f, state)
setForceW(f, state)
setMass(*args)
setTorque(t, state)
setTorqueW(t, state)
wTbf(state)
wTcom(state)
class rwsim.KinematicBodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.ODESimulator(dwc, detector=0)

Bases: rwsim.PhysicsEngine

WorldFast1 = 2
WorldQuickStep = 1
WorldStep = 0
__init__(dwc, detector=0)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addEmulatedContact(pos, force, normal, b)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableCollision(b1, b2)
emitPropertyChanged()
enableCollision(b1, b2)
exitPhysics()
getContactCnt()
getDynamicWorkCell()
getGravity()
getMaxSeperatingDistance()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
isInitialized()
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setContactLoggingEnabled(enable)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
setStepMethod(method)
step(dt, state)
class rwsim.ODESimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addEmulatedContact(pos, force, normal, b)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
disableCollision(b1, b2)
emitPropertyChanged()
enableCollision(b1, b2)
exitPhysics()
get()
getContactCnt()
getDynamicWorkCell()
getGravity()
getMaxSeperatingDistance()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
isInitialized()
isNull()
isShared()
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setContactLoggingEnabled(enable)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
setStepMethod(method)
step(dt, state)
class rwsim.PDController(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

getControlModes()
getController()
getControllerName()
getParameters()
getQ()
getQd()
getSampleTime()
isEnabled()
reset(state)
setControlMode(mode)
setEnabled(enabled)
setParameters(params)
setSampleTime(stime)
setTargetAcc(vals)
setTargetPos(target)
setTargetVel(vals)
update(info, state)
class rwsim.PDControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getControlModes()
getController()
getControllerName()
getParameters()
getQ()
getQd()
getSampleTime()
isEnabled()
isNull()
isShared()
reset(state)
setControlMode(mode)
setEnabled(enabled)
setParameters(params)
setSampleTime(stime)
setTargetAcc(vals)
setTargetPos(target)
setTargetVel(vals)
update(info, state)
class rwsim.PDParam(*args)

Bases: object

property D
property P
__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

class rwsim.PDParamVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.PhysicsEngine(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
emitPropertyChanged()
exitPhysics()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
step(dt, state)
class rwsim.PhysicsEngineFactory(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

static getEngineIDs()
static hasEngineID()
static makePhysicsEngine()
class rwsim.PhysicsEnginePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addBody(body, state)
addController(controller)
addDevice(dev, state)
addSensor(sensor, state)
attach(b1, b2)
detach(b1, b2)
emitPropertyChanged()
exitPhysics()
get()
getPropertyMap()
getSensors()
getTime()
initPhysics(state)
isNull()
isShared()
load(dwc)
removeController(controller)
removeSensor(sensor)
resetScene(state)
setContactDetector(detector)
setDynamicsEnabled(body, enabled)
setEnabled(body, enabled)
step(dt, state)
class rwsim.PoseController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getControllerName()
getSampleTime()
isEnabled()
setEnabled(enabled)
setSampleTime(stime)
setTarget(*args)
class rwsim.RigidBody(*args, **kwargs)

Bases: rwsim.Body

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

calcEffectiveMass(wPc, state)
calcEffectiveMassW(wPc, state)
calcInertiaTensor(state)
calcInertiaTensorInv(state)
getAngVel(state)
getAngVelW(state)
getBodyInertia()
getBodyInertiaInv()
getLinVel(state)
getLinVelW(state)
getMass()
getMovableFrame()
getPTBody(state)
getParent(state)
getPointVel(p, state)
getWTBody(state)
getWTParent(state)
setAngVel(avel, state)
setAngVelW(avel, state)
setLinVel(lvel, state)
setLinVelW(lvel, state)
setPTBody(pTb, state)
class rwsim.RigidBodyPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForce(force, state)
addForceToPos(force, pos, state)
addForceW(force, state)
addForceWToPosW(force, pos, state)
addTorque(t, state)
addTorqueW(t, state)
calcEffectiveMass(wPc, state)
calcEffectiveMassW(wPc, state)
calcEnergy(state)
calcInertiaTensor(state)
calcInertiaTensorInv(state)
get()
getAngVel(state)
getAngVelW(state)
getBodyFrame()
getBodyInertia()
getBodyInertiaInv()
getForce(state)
getForceW(state)
getFrames()
getInertia()
getInfo(*args)
getLinVel(state)
getLinVelW(state)
getMass()
getMaterialID()
getMovableFrame()
getName()
getPTBody(state)
getParent(state)
getParentFrame(state)
getPointVel(p, state)
getPointVelW(p, state)
getTorque(state)
getTorqueW(state)
getTransformW(state)
getWTBody(state)
getWTParent(state)
isNull()
isShared()
pTbf(state)
pTcom(state)
place(*args)
reset(state)
setAngVel(avel, state)
setAngVelW(avel, state)
setForce(f, state)
setForceW(f, state)
setLinVel(lvel, state)
setLinVelW(lvel, state)
setMass(*args)
setPTBody(pTb, state)
setTorque(t, state)
setTorqueW(t, state)
wTbf(state)
wTcom(state)
class rwsim.RigidBodyPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.RigidDevice(*args, **kwargs)

Bases: rwsim.DynamicDevice

Force = 0
Velocity = 1
__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getJointDevice()
getJointVelocities(state)
getJointVelocity(i, state)
getMotorForceLimits()
getMotorMode(i, state)
getMotorTarget(i, state)
getMotorTargets(state)
setJointVelocities(q, state)
setJointVelocity(vel, i, state)
setMotorForceLimits(force)
setMotorForceTarget(force, i, state)
setMotorForceTargets(force, state)
setMotorTarget(q, i, state)
setMotorTargets(q, state)
setMotorVelocityTarget(vel, i, state)
setMotorVelocityTargets(vel, state)
class rwsim.RigidDevicePtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getBase()
getJointDevice()
getJointVelocities(state)
getJointVelocity(i, state)
getKinematicModel()
getMotorForceLimits()
getMotorMode(i, state)
getMotorTarget(i, state)
getMotorTargets(state)
getQ(state)
getVelocity(state)
isNull()
isShared()
setJointVelocities(q, state)
setJointVelocity(vel, i, state)
setMotorForceLimits(force)
setMotorForceTarget(force, i, state)
setMotorForceTargets(force, state)
setMotorTarget(q, i, state)
setMotorTargets(q, state)
setMotorVelocityTarget(vel, i, state)
setMotorVelocityTargets(vel, state)
setQ(q, state)
setVelocity(vel, state)
class rwsim.RigidDevicePtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.SerialDeviceController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

getControllerName()
getQ()
getQd()
isEnabled()
isMoving()
moveLin(target, speed=100, blend=0)
moveLinFC(target, wtarget, selection, refframe, offset, speed=100, blend=0)
movePTP(target, speed=100, blend=0)
movePTP_T(target, speed=100, blend=0)
moveVelQ(target_joint_velocity)
moveVelT(vel)
pause()
reset(state)
setEnabled(enabled)
setSafeModeEnabled(enable)
stop()
class rwsim.SerialDeviceControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getControllerName()
getQ()
getQd()
isEnabled()
isMoving()
isNull()
isShared()
moveLin(target, speed=100, blend=0)
moveLinFC(target, wtarget, selection, refframe, offset, speed=100, blend=0)
movePTP(target, speed=100, blend=0)
movePTP_T(target, speed=100, blend=0)
moveVelQ(target_joint_velocity)
moveVelT(vel)
pause()
reset(state)
setEnabled(enabled)
setSafeModeEnabled(enable)
stop()
class rwsim.SimulatedController(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rwsim.SimulatedControllerPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
isNull()
isShared()
class rwsim.SimulatedControllerPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.SimulatedFTSensor(name, body, body1, frame=None)

Bases: object

__init__(name, body, body1, frame=None)

Initialize self. See help(type(self)) for accurate signature.

acquire()
addForce(point, force, cnormal, state, body=0)
addForceW(point, force, cnormal, state, body=0)
addWrenchToCOM(force, torque, state, body=0)
addWrenchWToCOM(force, torque, state, body=0)
getBody1()
getBody2()
getForce(state)
getSensorFrame()
getTorque(state)
getTransform()
reset(state)
update(info, state)
class rwsim.SimulatedFTSensorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

acquire()
addForce(point, force, cnormal, state, body=0)
addForceW(point, force, cnormal, state, body=0)
addWrenchToCOM(force, torque, state, body=0)
addWrenchWToCOM(force, torque, state, body=0)
get()
getBody1()
getBody2()
getForce(state)
getSensorFrame()
getTorque(state)
getTransform()
isNull()
isShared()
reset(state)
update(info, state)
class rwsim.SimulatedSensor(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

class rwsim.SimulatedSensorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
isNull()
isShared()
class rwsim.SimulatedSensorPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.SpringParams

Bases: object

__init__()

Initialize self. See help(type(self)) for accurate signature.

property compliance
property damping
property enabled
class rwsim.SuctionCup(*args, **kwargs)

Bases: rwsim.DynamicDevice

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

addForceTorque(forceTorque, state)
getBaseBody()
getContactBody(state)
getEndBody()
getHeight()
getJointVelocities(state)
getOffset()
getPressure(state)
getRadius()
getSpringParamsClosed()
getSpringParamsOpen()
isClosed(state)
setClosed(closed, state)
setContactBody(b, state)
setJointVelocities(vel, state)
setPressure(pressure, state)
class rwsim.SuctionCupPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

addForceTorque(forceTorque, state)
get()
getBase()
getBaseBody()
getContactBody(state)
getEndBody()
getHeight()
getJointVelocities(state)
getKinematicModel()
getOffset()
getPressure(state)
getQ(state)
getRadius()
getSpringParamsClosed()
getSpringParamsOpen()
getVelocity(state)
isClosed(state)
isNull()
isShared()
setClosed(closed, state)
setContactBody(b, state)
setJointVelocities(vel, state)
setPressure(pressure, state)
setQ(q, state)
setVelocity(vel, state)
class rwsim.SwigPyIterator(*args, **kwargs)

Bases: object

__init__(*args, **kwargs)

Initialize self. See help(type(self)) for accurate signature.

advance(n)
copy()
decr(n=1)
distance(x)
equal(x)
incr(n=1)
next()
previous()
value()
class rwsim.ThreadSimulator(simulator, state)

Bases: object

__init__(simulator, state)

Initialize self. See help(type(self)) for accurate signature.

getSimulator()
getState()
getTime()
isInError()
isRunning()
postStop()
reset(state)
setInError(inError)
setRealTimeScale(scale)
setState(state)
setStepCallBack(cb)
setTimeStep(dt)
start()
step()
stop()
class rwsim.ThreadSimulatorPtr(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

get()
getSimulator()
getState()
getTime()
isInError()
isNull()
isRunning()
isShared()
postStop()
reset(state)
setInError(inError)
setRealTimeScale(scale)
setState(state)
setStepCallBack(cb)
setTimeStep(dt)
start()
step()
stop()
class rwsim.ThreadSimulatorPtrVector(*args)

Bases: object

__init__(*args)

Initialize self. See help(type(self)) for accurate signature.

append(x)
assign(n, x)
back()
begin()
capacity()
clear()
empty()
end()
erase(*args)
front()
get_allocator()
insert(*args)
iterator()
pop()
pop_back()
push_back(x)
rbegin()
rend()
reserve(n)
resize(*args)
size()
swap(v)
class rwsim.ThreadSimulatorStepCallback(cb)

Bases: object

__init__(cb)

Initialize self. See help(type(self)) for accurate signature.